| 摘要 |
PURPOSE:To reduce the cost of an electric power steering device by detecting the voltage and current of a steering assisting motor, and calculating at least acceleration of the steering assisting motor using detected values of the voltage and current. CONSTITUTION:The armature current ia of a motor 10 is detected by an armature current detecting portion 66 and a voltage (v) applied to the motor 10 is detected by an applied voltage detecting portion 51. The applied voltage (v) detected and the armature current i3 are given to a steering angle speed estimating means 52 via respective low-pass filtering means 55, 56. The steering angle speed estimating means 52 is an observer for estimating the rotating speed of the motor 10 according to the voltage v and current i3 of the motor. The estimated speed obtained by the steering angle speed estimating means 52 is output through a low-pass filtering means 57 and is converted into estimated acceleration when differentiated by a differential operating portion 53 and is converted into an estimated angle position when integrated by an integration operating portion 54. |
