| 摘要 |
<p>PURPOSE:To prevent braking force from being generated by a motor, when it is rotated from a tire side, by giving driving force in a direction reverse to the torque indicating direction to the assist motor when the torque indicating direction is right (or left) with motor terminal voltage negative (positive). CONSTITUTION:When steering is controlled by a handle, a CPU3 fetches motor terminal voltage through an operational amplifier 32 while calculating a motor indication value, that is, a direction of motor rotation and a level of torque from a handle torque signal from a handle torque sensor 1. And from these motor terminal voltage and indicating direction (torque indicating direction) of the motor rotation, a predetermined control is performed. That is, when the motor 14 is rotated to left (rotary speed in a negative condition) in a right- driving force signal or when the motor 14 is rotated to right (rotary speed in a positive condition) in a left-driving force signal, the CPU3, judging the motor 14 to be placed in a condition that it is turned from a tire side, controls the motor 14 so as to be given driving force in a direction reverse to the torque indicating direction.</p> |
