Motor control device

A motor control device that controls drive of an electric motor for steering angle control, the motor control device comprising:

• an assist torque instruction value generation unit that generates an assist torque instruction value using steering torque;
• a manual steering instruction value generation unit that generates a manual steering instruction value using the steering torque and the assist torque instruction value;
• an integrated angle instruction value computation unit that computes an integrated angle instruction value by adding the manual steering instruction value to an automatic steering instruction value for driving assist;
• and
• a switching unit that switches between a first control mode, in which the electric motor is controlled based on the assist torque instruction value or the manual steering instruction value, and a second control mode, in which the electric motor is controlled based on the integrated angle instruction value, according to the steering torque when in a driving assist mode, wherein the switching unit includes:
• a third weighting unit that performs a third weighting process on the automatic steering instruction value based on the steering torque;
• and
• a motor torque instruction value computation unit that computes a motor torque instruction value based on the automatic steering instruction value after the third weighting process and the manual steering instruction value.

A motor control device that controls drive of an electric motor for steering angle control, the motor control device comprising:

• an assist torque instruction value generation unit that generates an assist torque instruction value using steering torque;
• a manual steering instruction value generation unit that generates a manual steering instruction value using the steering torque and the assist torque instruction value;
• an integrated angle instruction value computation unit that computes an integrated angle instruction value by adding the manual steering instruction value to an automatic steering instruction value for driving assist;
• and
• a switching unit that switches between a first control mode, in which the electric motor is controlled based on the assist torque instruction value or the manual steering instruction value, and a second control mode, in which the electric motor is controlled based on the integrated angle instruction value, according to the steering torque when in a driving assist mode, wherein the switching unit includes:
• a first weighting unit that performs a first weighting process of multiplying the assist torque instruction value or the manual steering instruction value by a first weight based on the steering torque;
• a second weighting unit that performs a second weighting process of multiplying the integrated angle instruction value by a second weight based on the steering torque;
• and
• a motor torque instruction value computation unit that computes a motor torque instruction value based on the assist torque instruction value or the manual steering instruction value after the first weighting process and the integrated angle instruction value after the second weighting process,
• the switching unit determines whether the absolute value of the steering torque is equal to or greater than a predetermined threshold value at each predetermined time interval, and
• when the switching unit determines that the absolute value of the steering torque is equal to or greater than the threshold value, the switching unit increases the first weight and decreases the second weight.