| 摘要 |
<p>PURPOSE:To eliminate the rotor inertia without using the special device such as steering angle sensor by calculating the number of revolution of an electric motor from the motor voltage and the motor electric current and obtaining the accelerating speed of the motor from the motor revolution speed and outputting the electric current for the cancellation of the rotor inertia. CONSTITUTION:The value V of car speed pulse which is obtained by the counting by a counter 34, and the value T which is obtained by the A/D-conversion 35 of the steering torque are converted 36, 37 to the constant values V' and T', and the aimed value I' of the motor electric current is obtained by the multiplication of these constants. Further, the value which is obtained by the differentiation 38 of the digital value T is added to the aimed value I' of the motor electric current, together with the differential value of the number N of motor revolution, and the final aimed value I of the motor electric current is determined. Then, the value I which is obtained by the A/D-conversion 35 of the motor electric current (i) is compared with the aimed value I of the motor electric current, and the value proportional to the deviation (e) and the value which is obtained by the integration 40 of the deviation (e) are added to form the motor voltage control value, and the above-described number N of revolution of the motor is obtained from the motor voltage control value and the motor electric current I, and the value after differentiation 41 is added to the aimed value I of the motor electric current.</p> |
