ELECTRIC POWER STEERING APPARATUS
1 Assignment
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Accused Products
Abstract
An electric power steering apparatus that realizes vibration suppression of response characteristics and has a control performance having resistance properties against disturbances such as a road surface change by using a velocity I-P control (a proportional-lead type PI control) in a vehicle having functions of an automatic steering control and a manual steering control.
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Citations
32 Claims
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1-12. -12. (canceled)
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13. An electric power steering apparatus that calculates a first motor current command value on a basis of a steering torque and a vehicle velocity, performs an assist control of a steering system by driving a motor on the basis of said first motor current command value, and has a function for switching between an automatic steering control and a manual steering control, comprising:
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a steering angle control section that calculates a second motor current command value in said automatic steering control so as to bring an actual steering angle close to a target steering angle; and a switching section that inputs said first motor current command value and said second motor current command value and switches between said first motor current command value and said second motor current command value depending on a switching signal, wherein said steering angle control section comprises; a rate limiter that performs smoothing with respect to said target steering angle; a position control section that inputs a first deviation between an output of said rate limiter and said actual steering angle; and a velocity control section that inputs a first motor velocity command value from said position control section, obtains a second deviation between said first motor velocity command value and said motor angular velocity, comprises an integral section for inputting said second deviation and a proportional section for inputting said motor angular velocity, subtracts an output of said proportional section from an output of said integral section, and outputs said second motor current command value. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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21. An electric power steering apparatus that calculates a first motor current command value on a basis of a steering torque and a vehicle velocity, performs an assist control of a steering system by driving a motor on the basis of said first motor current command value, and has a function for switching between an automatic steering control and a manual steering control, comprising:
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a steering angle control section that calculates a second motor current command value on the basis of said steering torque, a target steering angle, an actual steering angle and a motor angular velocity of said motor; and a switching section that inputs said first motor current command value and said second motor current command value to switch, wherein said steering angle control section comprises; a position control section that outputs a motor velocity command depending on a deviation angle between said target steering angle and said actual steering angle; a velocity control section that inputs said motor velocity command and said motor angular velocity to perform a velocity control; a steering wheel damping control section that inputs said steering torque to perform a steering wheel damping control; and an output section that processes a third motor current command value from said velocity control section and a fourth motor current command value from said steering wheel damping control section to output said second motor current command value, wherein said velocity control section comprises; an integral section that integrates a deviation between said motor velocity command and said motor angular velocity; a second gain section that multiplies said motor angular velocity by a gain; and a subtraction section that obtains a deviation between an output of said integral section and an output of said second gain section, wherein said switching section is switched depending on a switching command of said automatic steering control and said manual steering control, said motor is drive-controlled on the basis of said second motor current command value in said automatic steering control. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32)
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Specification