Steering apparatus for vehicles

A steering apparatus for vehicles that comprises at least a torsion bar having an arbitrary spring constant and a sensor detecting a torsional angle, drives and controls a motor, and assists and controls a steering system, comprising:

• a target steering torque generating section that comprises a basic map section that obtains a first torque signal in accordance with vehicle driving information by using a basic map being vehicle speed sensitive, and a damper calculating section that obtains a second torque signal based on angular velocity information by using a damper gain map being vehicle speed sensitive, and calculates a target steering torque by said first torque signal and said second torque signal;
• a converting section that converts said target steering torque into a target torsional angle;
• and
• a torsional angle control section that calculates a motor current command value based on said target torsional angle and said torsional angle;
• wherein said torsional angle control section comprises
• a torsional angle feedback compensating section that calculates a target torsional angular velocity by a deviation between said target torsional angle and said torsional angle,
• a torsional angular velocity calculating section that calculates a torsional angular velocity by said torsional angle,
• a velocity control section that calculates a pre-limitation motor current command value by performing proportional compensation based on said target torsional angular velocity and said torsional angular velocity, and
• an output limiting section that limits upper and lower limit values of said pre-limitation motor current command value, and outputs said motor current command value;
• and
• wherein said steering apparatus for vehicles drives and controls said motor based on said motor current command value.

A steering apparatus for vehicles that comprises at least a torsion bar having an arbitrary spring constant and a sensor detecting a torsional angle, drives and controls a motor, and assists and controls a steering system, comprising:

• a target steering torque generating section that comprises a basic map section that obtains a first torque signal in accordance with vehicle driving information by using a basic map being vehicle speed sensitive, and a damper calculating section that obtains a second torque signal based on angular velocity information by using a damper gain map being vehicle speed sensitive, and calculates a target steering torque by said first torque signal and said second torque signal;
• a converting section that converts said target steering torque into a target torsional angle;
• and
• a torsional angle control section that calculates a motor current command value based on said target torsional angle, said torsional angle, a first rotation angle and a second rotation angle;
• wherein said torsional angle control section comprises
• a torsional angle feedback compensating section that calculates a target torsional angular velocity by a deviation between said target torsional angle and said torsional angle,
• a first angular velocity calculating section that calculates a first angular velocity by said first rotation angle,
• a second angular velocity calculating section that calculates a second angular velocity by said second rotation angle,
• a velocity control section that calculates a pre-limitation motor current command value by performing proportional compensation based on a target angular velocity that is obtained by said target torsional angular velocity and said first angular velocity, and said second angular velocity, and
• an output limiting section that limits upper and lower limit values of said pre-limitation motor current command value, and outputs said motor current command value;
• and
• wherein said steering apparatus for vehicles drives and controls said motor based on said motor current command value.

A steering apparatus for vehicles that comprises at least a torsion bar having an arbitrary spring constant and a sensor detecting a torsional angle, drives and controls a motor, and assists and controls a steering system, comprising:

• a target steering torque generating section that comprises a basic map section that obtains a first torque signal in accordance with vehicle driving information by using a basic map being vehicle speed sensitive, and a damper calculating section that obtains a second torque signal based on angular velocity information by using a damper gain map being vehicle speed sensitive, and calculates a target steering torque by said first torque signal and said second torque signal;
• a converting section that converts said target steering torque into a target torsional angle;
• and
• a torsional angle control section that calculates a motor current command value based on said target torsional angle, a first rotation angle and a second rotation angle;
• wherein said torsional angle control section comprises
• a torsional angle feedback compensating section that calculates a target torsional angular velocity by a deviation between a target rotation angle that is obtained by said target torsional angle and said first rotation angle and said second rotation angle, a first angular velocity calculating section that calculates a first angular velocity by said first rotation angle,
• a second angular velocity calculating section that calculates a second angular velocity by said second rotation angle,
• a velocity control section that calculates a pre-limitation motor current command value by performing proportional compensation based on a target angular velocity that is obtained by said target torsional angular velocity and said first angular velocity, and said second angular velocity, and
• an output limiting section that limits upper and lower limit values of said pre-limitation motor current command value, and outputs said motor current command value;
• and
• wherein said steering apparatus for vehicles drives and controls said motor based on said motor current command value.