ELECTRIC POWER STEERING CONTROL DEVICE
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Accused Products
Abstract
An electric power steering control device includes: a vibration extracting filter for performing filter processing on a rotation speed of a motor to reduce a gain on a low frequency side so as to output a vibration-component signal; a current variable gain map for detecting a current flowing through the motor as a first state quantity so as to calculate a current variable gain based on the current; a rotation-speed variable gain map for detecting the rotation speed of the motor as a second state quantity so as to calculate a rotation-speed variable gain based on the rotation speed; a correction mechanism calculating a vibration suppression current; and current controller calculating a target current so as to control the current flowing through the motor.
36 Citations
17 Claims
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1-7. -7. (canceled)
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8. An electric power steering control device, comprising:
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an assist map for outputting an assist torque current based on a steering torque applied to a steering wheel by a driver; a vibration extracting filter for performing filter processing on the steering torque or a rotation speed of a motor for generating an assist torque to reduce a gain on a low frequency side so as to output a vibration-component signal; a current variable gain map for detecting a current flowing through the motor as a first state quantity so as to calculate a current variable gain based on the current; a rotation-speed variable gain map for detecting the rotation speed of the motor or a rotation speed of the steering wheel as a second state quantity so as to calculate a rotation-speed variable gain based on the rotation speed; correction means for calculating a vibration suppression current based on the vibration-component signal, the current variable gain, and the rotation-speed variable gain; and current control means for calculating a signal obtained by correcting the assist torque current with the vibration suppression current as a target current so as to control the current flowing through the motor, wherein; the current variable gain map sets the current variable gain to a small value or zero in a predetermined range of the current where a disturbance transmission characteristic indicating an amplification factor of transmission from a disturbance to the steering wheel has a small value; and the rotation-speed variable gain map sets the rotation-speed variable gain to a small value or zero in a predetermined range of the rotation speed where the disturbance transmission characteristic has a small value. - View Dependent Claims (9, 10, 11, 12, 13)
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14. An electric power steering control device, comprising:
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an assist map for outputting an assist torque current based on a steering torque applied to a steering wheel by a driver; a vibration extracting filter for performing filter processing on the steering torque or a rotation speed of a motor for generating an assist torque to reduce a gain on a low frequency side so as to output a vibration-component signal; a gradient variable gain map for detecting a gradient of the assist torque current with respect to the steering torque on the assist map as a third state quantity so as to output a gradient variable gain based on the gradient; a rotation-speed variable gain map for detecting the rotation speed of the motor or a rotation speed of the steering wheel as a second state quantity so as to output a rotation-speed variable gain based on the rotation speed; correction means for calculating a vibration suppression current based on the vibration-component signal, the gradient variable gain, and the rotation-speed variable gain; and current control means for calculating a signal obtained by correcting the assist torque current with the vibration suppression current as a target current so as to control a current flowing through the motor, wherein; the gradient variable gain map sets the gradient variable gain to a small value or zero in a predetermined range of the gradient where a disturbance transmission characteristic indicating an amplification factor of transmission from a disturbance to the steering wheel has a small value; and the rotation-speed variable gain map sets the rotation-speed variable gain to a small value or zero in a predetermined range of the rotation speed where the disturbance transmission characteristic has a small value. - View Dependent Claims (15, 16, 17)
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Specification