Steering wheel position compensating apparatus in steering apparatus

A steering apparatus of a vehicle provided with a steered tire wheel which is steered in correspondence to an operation of a steering wheel, comprising:

• first detecting means for detecting an actual position indicating a present rotational position of the steering wheel;
• second detecting means for detecting a wheel angle of the steered tire wheel;
• electric type drive means for driving the steered tire wheel, said drive means outputting a power output for operating the steered tire wheel in correspondence to a steering wheel operation;
• and
• compensating means for executing a first compensation for compensating an actual position of said steering wheel, said compensating means controlling the power output of said drive means at a time when a deviation is detected between the actual position of said steering wheel detected by said first detecting means and a wheel angle of said steered tire wheel detected by said second detecting means, thereby reducing said deviation, wherein said steering wheel can be rotated at a plurality of turns, and said first detecting means detects the actual position of the steering wheel on the basis of a relative angle per one rotation of the steering wheel.

A steering apparatus of a vehicle provided with a steered tire wheel which is steered in correspondence to an operation of a steering wheel, comprising:

• first detecting means for detecting an actual position indicating a present rotational position of the steering wheel;
• second detecting means for detecting a wheel angle of the steered tire wheel;
• third detecting means for detecting an operating speed of said steering wheel;
• compensation executing means for executing a compensation of a steering wheel position so as to cancel a deviation in a positional relation between an actual position of said steering wheel and a wheel angle of said steered tire wheel at a time of operating the steering wheel, on the basis of a detection value output from said first detecting means and said second detecting means, in the case where the deviation is generated;
• and
• compensation inhibiting means for inhibiting the compensation of the steering wheel position executed by said compensation executing means at a time when the steering wheel is operated at a high speed, in such a manner that the operating speed of said steering wheel detected by said third detecting means becomes over a first threshold value.

A steering apparatus of an industrial vehicle which is provided with a steered tire wheel steered in correspondence to an operation of a steering wheel and transfers a load, comprising:

• first detecting means for detecting an actual position indicating a present rotational position of a steering wheel;
• second detecting means for detecting a wheel angle of the steered tire wheel;
• height detecting means for detecting a vertical position of the load;
• lateral acceleration detecting means for detecting a lateral acceleration of the vehicle;
• compensation executing means for executing a compensation of a steering wheel position so as to cancel a deviation in a positional relation between an actual position of said steering wheel and a wheel angle of said steered tire wheel at a time of operating said steering wheel, on the basis of a detection value output from said first and second detecting means;
• threshold value changing means for changing a threshold value of the lateral acceleration in correspondence to the height detected by said height detecting means;
• and
• compensation inhibiting means for inhibiting the compensation of the steering wheel position executed by said compensation executing means at a time when the lateral acceleration detected by said lateral acceleration detecting means becomes over said threshold value.

A steering apparatus of a vehicle which is provided with a steered tire wheel steered in correspondence to an operation of a steering wheel, comprising:

• first detecting means for detecting an actual position indicating a present rotational position of a steering wheel;
• second detecting means for detecting a wheel angle of the steered tire wheel;
• vehicle speed detecting means for detecting a vehicle speed;
• compensation executing means for executing a compensation of a steering wheel position so as to cancel a deviation in a positional relation between an actual position detected by said first detecting means and a wheel angle detected by said second detecting means at a time of operating said steering wheel, in the case where the deviation is generated;
• and
• compensation inhibiting means for inhibiting the compensation of the steering wheel position executed by said compensation executing means at a time when the vehicle travels around a curve with a predetermined turning radius which is determined on the basis of the vehicle speed detected by said vehicle speed detecting means and the wheel angle detected by the second detecting means.

A steering apparatus of an industrial vehicle which is provided with a steered tire wheel steered in correspondence to an operation of a steering wheel and transfers a load, comprising:

• first detecting means for detecting an actual position indicating a present rotational position of a steering wheel;
• second detecting means for detecting a wheel angle of the steered tire wheel;
• vehicle speed detecting means for detecting a vehicle speed;
• height detecting means for detecting a height of the load;
• compensation executing means for executing a compensation of a steering wheel position at a time of operating said steering wheel so as to cancel a deviation in a positional relation between an actual position of said steering wheel and a wheel angle of said steered tire wheel, on the basis of the detection values output from said first and second detecting means;
• and
• compensation inhibiting means for previously determining a compensation inhibiting area on the basis of the detection values output from said vehicle speed detecting means, the second detecting means and the height detecting means and inhibiting the compensation of the steering wheel position in the compensation inhibiting area.

A steering apparatus of a vehicle which is provided with a steered tire wheel steered in correspondence to an operation of a steering wheel, comprising:

• first detecting means for detecting an operation angle of the steering wheel;
• second detecting means for detecting a wheel angle of the steered tire wheel;
• drive means for driving the steered tire wheel, said drive means having a predetermined link ratio set between said steering wheel and said steered tire wheel;
• control means for controlling said drive means in such a manner that the wheel angle of said steered tire wheel catches up with the operation angle of the steering wheel, with reference to said link ratio and on the basis of the operation angle of the steering wheel and the wheel angle detected by said first and second detecting means;
• steering wheel operation detecting means for detecting a stop of the steering wheel operation and a turning back;
• and
• stopping means for stopping the drive of said drive means, at a time when said steering wheel operation detecting means detects the stop of said steering wheel operation or the turning back.

A steering apparatus of a vehicle which is provided with a steered tire wheel steered in correspondence to an operation of a steering wheel, comprising:

• first detecting means for detecting an operation angle of the steering wheel;
• second detecting means for detecting a wheel angle of the steered tire wheel;
• drive means for driving the steered tire wheel, said drive means having a predetermined link ratio set between said steering wheel and said steered tire wheel;
• computing means for computing an angle difference between the operation angle of said steering wheel and the wheel angle of the steered tire wheel, with reference to said link ratio;
• control means for controlling said drive means in such a manner that a drive force in correspondence to said angle difference can be obtained;
• steering wheel operation detecting means for detecting a stop of the steering wheel operation and a turning back;
• and
• stopping means for stopping the drive of said drive means, at a time when said steering wheel operation detecting means detects the stop of said steering wheel operation or the turning back.