| 摘要 |
A control apparatus to be employed in electric power steering system for controlling the output of a motor aiding a steering operation in accordance with the value of a current control signal computed from a detected motor current and the value of a current command signal computed in accordance with a steering torque. The control apparatus comprises an electronic control circuit including a CPU. A stabilization compensator is inserted into a later stage of a torque sensor for detecting a steering torque in order to improve the stability and responsiveness of the control system. The characteristic of the stabilization compensator is expressed by the following characteristic C(s) which has a functions to eliminate a peak at a resonance frequency of a resonance system including inertia and spring elements in the electric power steering system:C(s)=(s2+a1s +a2)/(s2+b1s+b2)where notation s is the Laplacean operator and symbols a1, a2, b1 and b2 denote parameters determined by the resonance frequency of the resonance system.
|
