| 摘要 |
<p>PROBLEM TO BE SOLVED: To restrain the quick change of a steering torque at the emergency steering time of a handle, in the case of a danger avoidance, by measuring the angular velocity of a motor for giving a steering auxiliary force to a steering mechanism and adding to a current control value after a fixed number of times by the gain followed to a measured angular velocity. SOLUTION: This device is provided with a phase compensator 31 and handle return controller 310 for inputting the steering torque T from a torque sensor 10, the handle return controller 310, an convergence controller 311 and a steering auxiliary order value calculator 320 for inputting the car speed V from a car speed sensor 12. The current detection value (i) from a motor current detection circuit 38 is inputted to the angular velocity estimator 331 in an estimator 330 and an estimation value PR3 differentiated the estimated angular velocityωby a proximate differentiator 333 is outputted as a motor angular acceleration. In a steering state detection circuit 350, the steering state of the handle is detected from the motor current value (i) and angular velocityωand a gain changeover signal GS is given to the convergence controller 311 at the emergency steering detection time.</p> |
