ELECTRIC POWER STEERING DEVICE
First Claim
1. An electric power steering device comprising:
- an assist mechanism that applies assist force from a motor to a steering mechanism of a vehicle; and
a control unit that controls drive of the motor based on an assist command value associated with a target value for the assist force, whereinthe control unit includes;
a basic assist component calculation unit that calculates a first assist component serving as a basic component for the assist force based on steering torque applied by the steering mechanism in response to steering operation of the vehicle;
a compensation component calculation unit that calculates a compensation component associated with a reverse input acting on the steering mechanism from steered wheels of the vehicle; and
an assist command value calculation unit that calculates the assist command value by compensating the first assist component based on the compensation component, whereinthe compensation component calculation unit includes;
a reverse input detection unit that detects or estimates the reverse input;
a filter unit that extracts a specific frequency component belonging to a certain frequency band from the detected or estimated reverse input; and
a phase adjustment unit that adjusts the phase of the specific frequency component extracted by the filter unit, whereinthe compensation component calculation unit calculates the compensation component based on the phase-adjusted specific frequency component.
1 Assignment
0 Petitions
Accused Products
Abstract
A control device in an electric power steering device calculates a first assist component based on steering torque and a vehicle speed. The control device also calculates a compensation component associated with an reverse input and calculates a steered angle command value based on an addition value of the compensation component and basic drive torque that is an addition value of the steering torque and the first assist component, produces a second assist component by performing steered angle feedback control that causes the steered angle of a vehicle to follow the steered angle command value. The control device controls drive of a motor based on an assist command value that is an addition value of the first assist component and the second assist component.
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Citations
8 Claims
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1. An electric power steering device comprising:
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an assist mechanism that applies assist force from a motor to a steering mechanism of a vehicle; and a control unit that controls drive of the motor based on an assist command value associated with a target value for the assist force, wherein the control unit includes; a basic assist component calculation unit that calculates a first assist component serving as a basic component for the assist force based on steering torque applied by the steering mechanism in response to steering operation of the vehicle; a compensation component calculation unit that calculates a compensation component associated with a reverse input acting on the steering mechanism from steered wheels of the vehicle; and an assist command value calculation unit that calculates the assist command value by compensating the first assist component based on the compensation component, wherein the compensation component calculation unit includes; a reverse input detection unit that detects or estimates the reverse input; a filter unit that extracts a specific frequency component belonging to a certain frequency band from the detected or estimated reverse input; and a phase adjustment unit that adjusts the phase of the specific frequency component extracted by the filter unit, wherein the compensation component calculation unit calculates the compensation component based on the phase-adjusted specific frequency component. - View Dependent Claims (3, 4, 5)
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2. An electric power steering device comprising:
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an assist mechanism that applies assist force from a motor to a steering mechanism of a vehicle; and a control unit that controls drive of the motor based on an assist command value associated with a target value for the assist force, wherein the control unit includes; a basic assist component calculation unit that calculates a first assist component serving as a basic component for the assist force based on steering torque applied by the steering mechanism in response to steering operation of the vehicle; a steered angle command value calculation unit that calculates a steered angle command value associated with a target value for a steered angle of steered wheels of the vehicle based on the steering torque; a steered angle feedback control unit that calculates a second assist component by performing steered angle feedback control that causes the steered angle of the steered wheels to follow the steered angle command value; a compensation component calculation unit that calculates a compensation component associated with a reverse input acting on the steering mechanism from the steered wheels; and an assist command value calculation unit that calculates the assist command value based on an addition value of the first assist component and the second assist component, and changes the assist command value based on the compensation component, wherein the compensation component calculation unit includes; a reverse input detection unit that detects or estimates the reverse input; a filter unit that extracts a specific frequency component belonging to a certain frequency band from the detected or estimated reverse input; and a phase adjustment unit that adjusts the phase of the specific frequency component extracted by the filter unit, wherein the compensation component calculation unit is configured to calculate the compensation component based on the phase-adjusted specific frequency component. - View Dependent Claims (6, 7, 8)
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Specification