Electric power steering apparatus

摘要

An electric power steering apparatus for recovering a steering wheel to its neutral position based on the speeds of the steered wheels of a vehicle, wherein in response to a steering torque signal from a torque sensor (1), an assisting torque by a motor (13) is controlled in a torque servo system from a phase compensating filter (2) to a current detecting unit (9). A microcomputer (20) calculates a speed ratio of the inner and the outer wheels based on wheel speeds detected by wheel speed sensors (18 and 19). A recovery compensating torque is obtained from the speed ratio of the inner and outer wheels, and a signal representing it is output to an addition calculating unit (3). The addition calculating unit (3) adds the steering torque signal and the signal representing the recovery compensating torque to obtain a recovery compensated signal. Based on the recovery compensated signal, the above-mentioned assisting torque is controlled to recover the steering to its neutral position. <IMAGE>