| 摘要 |
<p>PURPOSE:To prevent worsening of responsiveness due to the sampling delay of a torsional torque signal, etc., by providing a second phase compensation unit for generating a signal proportional to the differentiated value of an input signal such as an assist direction current command value, in addition to a phase compensating unit for the torsional torque signal. CONSTITUTION:When an assist direction motor current command value (i) is generated from an output torque command function unit 2 according to a torsional torque signal to perform powre assist control, output from a first phase compensation unit 3 for generating a signal proportional to the differentiated value of the torsional torque signal is added to the torsional torque signal. A phase compensation motor current command value (ip) from a phase compensation command function unit 4 to which the output of the first phase compensation unit 3 is output is added to the abovementioned command value (i). A signal proportional to the differentiated value of an input signal indicated by the added signal is generated by a second phase compensation unit 81 of a second phase advance compensation means 8 and the signal is added 82 to the abovementioned input signal. A third phase compensation unit 56 for conducting primary delay simulated integration compensation is provided in a control circuit 5.</p> |
