| 摘要 |
PROBLEM TO BE SOLVED: To enhance a steering feeling and controllability of a steering wheel during acceleration. SOLUTION: Torque values TA, TD1, and TD2 are determined on the basis of a torque signal 6 (steering torqueτ), a vehicle speed signal 7 (speed v of the vehicle), and the rotational speed 8 of the steering wheel (angular velocityωof a steering mechanism). For example, an assist control part 4 calculates assist torque TA using a function f (v,τ') whose arguments are phase- compensated steering torqueτ' and the speed v of the vehicle. A first damper control part 10 calculates damper torque TD1 using a function g (v,ω). Further, a newly added second damper control part 20 calculates damper torque TD2 using an equation: TD2=MIN (TD2max, c2 aω) wherein TD2max and c2 are constants. Thus, when the damper torque (TD1+TD2) which increases according to acceleration (a) is outputted together with the torque TA to a steering system, disturbance (self-aligning torque) transmitted more violently during acceleration than at other times is smoothly reduced. |
