| 摘要 |
PROBLEM TO BE SOLVED: To solve a problem of imparting a sense of incompatibility to a driver by preventing a frequency component of high steering wheel operation force from appearing as abnormally large steering wheel return force in this operation of obtaining road surface reaction torque by passing this through primary filters by subtracting motor inertia torque from a value obtained by adding steering wheel steering torque and motor torque in a conventional power steering control device. SOLUTION: A road surface reaction torque detecting means 115S is arranged for obtaining the road surface reaction torque by passing this through the two- series two-stage primary filters 100, 101 by subtracting the motor inertia torque from the value obtained by adding the steering wheel steering torque and the motor torque. In this operation, an inertia term of the steering wheel operation force loses dependency on a frequency, and a high frequency component does not appear as the abnormally large steering wheel return force, so that the sense of incompatibility is not imparted to the driver. |
