| 摘要 |
<p>PURPOSE:To compensate for mechanical loss by comparing a motor terminal voltage corresponding to a reading of assistant motor driving current to a motor terminal voltage during detection of a handle torque value, and adding and subtracting a correction value in accordance with the decision result: whether the rotational direction of a motor conforms to the direction of the reading or not. CONSTITUTION:When a vehicle is operated, CPU 4 calculates a reading of driving current corresponding to a handle torque value detected by a torque sensor 1 to obtain a motor terminal voltage corresponding to the reading. A motor terminal voltage read out through analog switches 22, 23 and a buffer 24 is compared to the motor terminal voltage corresponding to the above reading to judge whether the rotational direction of a motor 18 is the same as an indicated direction. When the rotational direction is judged to be proper, a specified correction value is added to the reading, and when the rotational direction is judged to be reverse, a specified correction value is subtracted from the reading. The motor 18 is thus driven and controlled by the obtained reading to assist steering force due to a handle.</p> |
