Electric Power Steering Apparatus, Control Method Thereof and Program for Electric Power Steering Apparatus
First Claim
1. An electric power steering apparatus controlling a steering assist motor based on a steering assist command value calculated based on at least steering torque occurring to a steering system of a vehicle, and a current detection value of said steering assist motor which gives a steering assist force to said steering system, comprising:
- compensation control means conducting compensation control that compensates steering characteristics of said steering system by compensating said steering assist command value, and determining a compensation amount of said compensation control based on longitudinal acceleration of said vehicle.
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Accused Products
Abstract
It is an object to provide an electric power steering apparatus capable of preventing torque steer or deflection during braking, a control method thereof and a program for the electric power steering apparatus. An electric power steering apparatus controlling a steering assist motor 20 based on a steering assist command value I calculated based on steering torque T occurring to a steering system of a vehicle and a vehicle speed V, and a current detection value Im of the steering assist motor 20 which gives a steering assist force to the steering system, wherein a compensation control section 70 conducts compensation control that compensates steering characteristics of the steering system by compensating the steering assist command value I, and changes a compensation amount of the compensation control based on longitudinal acceleration αx of the vehicle.
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Citations
21 Claims
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1. An electric power steering apparatus controlling a steering assist motor based on a steering assist command value calculated based on at least steering torque occurring to a steering system of a vehicle, and a current detection value of said steering assist motor which gives a steering assist force to said steering system, comprising:
compensation control means conducting compensation control that compensates steering characteristics of said steering system by compensating said steering assist command value, and determining a compensation amount of said compensation control based on longitudinal acceleration of said vehicle. - View Dependent Claims (2, 3, 4, 5, 6)
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7. An electric power steering apparatus including steering torque detecting means detecting steering torque which is inputted in a steering system turning a steering control wheel, a steering assist motor generating steering assist torque which is given to said steering system, and steering assist force control means calculating a current command value based on at least the steering torque detected by said steering torque detecting means to conduct drive control of said steering assist motor, comprising:
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self-aligning torque estimating means estimating self-aligning torque which is inputted in said steering system from said steering control wheel side; and longitudinal acceleration and deceleration detecting means detecting vehicle longitudinal acceleration and deceleration, wherein said steering assist force control means includes steering assist force correcting means correcting a steering assist force generated by said steering assist motor so as to suppress instability behavior of a vehicle occurring during acceleration and deceleration, based on the self-aligning torque estimated by said self-aligning torque estimating means, and the acceleration and deceleration detected by said longitudinal acceleration and deceleration detecting means. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14)
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15. An electric power steering apparatus including steering torque detecting means detecting steering torque which is inputted in a steering system turning a steering control wheel, a steering assist motor generating steering assist torque which is given to said steering system, and steering assist force control means calculating a current command value based on at least the steering torque detected by said steering torque detecting means to conduct drive control of said steering assist motor, comprising:
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deceleration detecting means detecting vehicle deceleration, wherein said steering assist force control means includes steering assist force correcting means calculating a correction value for suppressing instability behavior of a vehicle occurring during deceleration based on the deceleration detected by said deceleration detecting means, and correcting a steering assist force generated by said steering assist motor based on the calculated correction value. - View Dependent Claims (16, 17, 18, 19, 20, 21)
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Specification