| 摘要 |
<p>PURPOSE:To attenuate the variation of the rudder angle due to the external disturbance supplied from a tire or in noncontrolled drive by reducing the instruction signal for controlling the revolution direction and revolution torque of an electric motor for power assistance in accordance with the increase of the rudder angle speed and suppressing the power assistance force. CONSTITUTION:A driving control part 2 which controls the direction of revolution and the revolution torque of an electric motor 1 on the basis of the instruction signal is installed, and an assisting instruction part 3, return instruction part 4, phase compensation instruction part 5, and a rudder angle phase compensation instruction part 6 are installed as the instruction part for outputting the instruction signal into the driving control part 2. The rudder angle phase compensation instruction part 6 is constituted so as to generate the damping signal in the direction reverse to the direction of advance of rudder in accordance with the steering speed obtained from the output of a rudder angle sensor 41. Into the driving control part 2, the assistance signal supplied from the assisting instruction part 3, return signal supplied from the return instruction part 4, assistance auxiliary signal supplied from the phase compensation instruction part 5, and the addition signal with the damping signal supplied from the instruction part 6 are input as the instruction signal.</p> |
