Electric power steering apparatus
AssigneeNsk Ltd.
InventorTakahiro TSUBAKI
Life of this patent
Estimating the term…
Abstract
An electric power steering apparatus that reduces uncomfortable feeling to a driver in steering angle control by improving followability of an actual steering angle to a target steering angle, and performs efficient damping to a vibration of a vehicle. The apparatus includes a torque control section that calculates a first motor current command value based on a steering torque and so on, a target steering angle generating section that generates a target steering angle based on vehicle information, and a steering angle control section that calculates a second motor current command value based on the target steering angle, an actual steering angle and so on, and calculates the motor current command value by the first and second motor current command values.
Claims21
1-13. (canceled)
An electric power steering apparatus that drives a motor based on a motor current command value, and performs assist control and steering angle control to a steering system by driving and controlling said motor, comprising:
- a torque control section that calculates a first motor current command value for said assist control based on at least a steering torque;
- a target steering angle generating section that generates a target steering angle being a target value in said steering angle control based on vehicle information;
- and
- a steering angle control section that calculates a second motor current command value for said steering angle control based on at least said target steering angle and an actual steering angle;
- wherein said electric power steering apparatus calculates said motor current command value by said first motor current command value and said second motor current command value;
- and
- wherein said target steering angle generating section comprises
- a lateral position control section that calculates a lateral velocity command value by a deviation between a lateral position command value that is obtained based on said vehicle information and a lateral position,
- a lateral velocity calculating section that calculates a lateral velocity by said lateral position,
- a lateral velocity control section that calculates a basic target steering angle based on said lateral velocity command value and said lateral velocity, and
- a vehicle behavior stabilizing section that calculates a compensatory target steering angle for damping by a lateral acceleration that is obtained based on said vehicle information, and generates said target steering angle by said basic target steering angle and said compensatory target steering angle.
Dependencies are inferred from the claim text.