| 摘要 |
PURPOSE:To heighten the astringency and origin returnability of steering mecha nism and improve steering responsiveness. CONSTITUTION:The compensation value for compensating a steering characteristic, that is, the value for compensating the damping force and restoring force of a motor 6 and a steering wheel according to the state by grasping the respective positions (angles) and speed (angular velocity) of the motor 6 and steering wheel, is computed in a compensation value computing part 33 by four parameters detected by a steering system state estimating part 30. This compenstion value is added to the output (reference current command value) of an assist command part 20 and supplied as the target current value to a current control part 40 to control the driving of the motor 6. The compensation value for compensating the respective damping force and restoring force of the motor 6 and steering wheel is thereby changed to improve the astringency and origin returnability of steering mechanism and the follow-up performance of a steering angle to steering force and to heighten responsiveness. |
