| 摘要 |
<p>PURPOSE:To improve the steering feeling and the recovering characteristic of a steering wheel when a driver release it by calculating a compensation value of motor inertia by the detected steering acceleration of a steering system and calculating an upper inertia compensation value of a steering wheel from the steering acceleration and the steering torque to control the drive of the motor according to both compensation values. CONSTITUTION:The steering acceleration of a steering system output by a steering acceleration sensor 45 is inputted to a motor inertia compensation part 40 to calculate an inertia compensation value of a motor. The output of a torque sensor 21 is inputted to a differential operation part 51 and a multiplication operation art 52 to calculate the steering angle acceleration of the upper part of a steering wheel. The calculated acceleration is added to the output of a steering angle acceleration sensor 45 and input to a handle upper inertia compensation part 30 to calculate a steering wheel upper inertia compensation value. The motor inertia compensation value and the handle upper inertia compensation value are added to a command value of an assist command part 20 and inputted to a control means 100 to control the drive of the motor 6.</p> |
