| 摘要 |
<p>PURPOSE:To enhance stability and responsiveness of a control system by constituting an assisting torque control means, which is used to control a motor for outputting assisting torque, in such a manner that control gains of both a proportional action element and a differential action element can be set depending on the intensity of driving current of the motor. CONSTITUTION:An electric, power steering equipment is provided with a motor 300, which outputs assisting torque Tm corresponding to steering torque Td of a steering system, and its driving current Im is controlled by an assisting torque control means 200 including at least a proportional action element 202 and a differential action element 203, depending on a control error, which is obtained by comparing a preset target steering torque Tt with the actual steering torque Td. In other words, when Td>Tt, the motor torque of the motor 300 is made larger, and when Td<Tt, the motor torque is made smaller, so that the actual steering torque is controlled or adjusted to approach the target steering torque. In this case, the assisting torque control means 200 is provided with a control gain setting means 204, in which control gains K2, K3 of the proportional action element 202 and differential action element 203 are set, depending on the driving current Im of the motor 300.</p> |
