| 摘要 |
PURPOSE:To provide both proper steering force and behavior restraining force respectively in a normal time and disturbance time by reducing a high parameter gain of a reaction component of a steering torque commanding value given to a motor near the neutral steering angle along with the increase of a steering angle. CONSTITUTION:A steering shaft is provided with a steering angle sensor 15 and torque sensor 16, and a car body is provided in the proper positions with a lateral acceleration sensor 17, yaw rate sensor 18 and vehicle speed sensor 19. The outputs of the respective sensors 15-19 are sent to a control unit 20 to obtain the deviation of an actual steering torque of the torque sensor 16 from a desired steering torque value by an output current determining means 24. A steering torque commanding value is given to a motor 10 according to the deviation. A parameter gain of a reaction component included in the commanding value is high near the neutral steering angle point and corrected to be reduced along with the increase of the steering angle, so that an excessive steering reaction is not needed in the normal traveling to provide a proper steering force in the normal traveling. Thus, both proper steering force in the normal time and deflection restraining performance in the disturbance time are provided at the same time. |
