| 摘要 |
<p>PURPOSE:To realize a satisfactory feeling of steering when the load from a road surface is large and the steering speed is slow by adding a correction quantity determined from the variation in a current sent to an electric motor to a basic auxiliary steering force determined on the basis of a target control torque and a steering torque to control the electric motor. CONSTITUTION:To a basic auxiliary steering force determined by the output signal of a steering torque detecting means 7, a correction quantity determined from the change quantity of a current leading to an electric motor 6 is added to determine an electric motor control quantity, whereby the electric motor 6 is controlled. Namely, the correction quantity determined from the variation in the current leading to the electric motor 6 is added to the basic auxiliary steering force determined on the basis of the target control torque and the steering torque to obtain an electric motor control quantity, whereby the electric motor 6 can be controlled to suppress the fluctuation of the current at the time of extremely low rotation apt to cause a fluctuation in the current. Thus, when the load from a road surface is large, and the steering speed is low, the fluctuation of the steering torque is suppressed, and a satisfactory feeling of steering can be realized.</p> |
