| 摘要 |
<p>PURPOSE:To always obtain an adequate feeling by providing constitution such that an assist motor is controlled by a command signal obtained by adding this corrected viscosity compensation value, to the assist command. CONSTITUTION:A steering angle speed theta is given to a viscosity compensation value command function part 31. This function part 31 outputs a viscosity compensation value for generating torque such that the larger is the steering angle speed theta the larger an absolute value is increased further with a reverse direction. Next in a multiplication arithmetic part 32, the viscosity compensation value, output from the function part 31, is multiplied by a car speed arithmetic constant. A result of this multiplication is added to a reference current command value output from an assist command part 20. In this way, action is performed in an output of a viscosity command part 30 in a manner wherein the larger is the steering angle speed theta the more larger an output of the assist command part 20 is decreased. Also a larger constant is multiplier as a car speed Vs increases, resulting in enlargement of output so that a viscosity breaking effect may be increased.</p> |
