Controller for motor power steering system
First Claim
1. A control unit for an electric power steering apparatus that controls a motor for giving steering auxiliary force to a steering mechanism, the control unit comprising:
- a calculating section that calculates a steering auxiliary command value, wherein the calculation is based on steering torque generated in a steering shaft and on a complementary sensitivity function, wherein the complementary sensitivity function relative to a frequency is set to a level that approaches 1 in a band in which disturbance to be suppressed exists, and is set to a level that approaches 0 in a band in which disturbance to be transmitted exists; and
a control section that calculates a current control value for controlling the motor, wherein the calculation of the current control value is based on the steering auxiliary command value, and on a current value of the motor;
wherein an eigenvalue of the power steering apparatus that is set to 10 to 13 Hz, an eigenvalue of suspension that is set to 13 to 17 Hz, a flutter oscillation area that is set to 15 to 25 Hz, and a motor torque ripple area that is set to 15 to 30 Hz, are included in the band in which the disturbance to be suppressed exists.
1 Assignment
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Accused Products
Abstract
In a control unit for an electric power steering apparatus, a mechanical system and a control system are designed to match a desirable complementary sensitivity function, and the steering is improved to obtain stable and comfortable steering feeling. For this purpose, there is provided a control unit for an electric power steering apparatus that controls a motor for giving steering auxiliary force to a steering mechanism based on a current control value calculated from a steering auxiliary command value calculated based on the steering torque generated in the steering shaft, and a current value of the motor. In this control unit, the complementary sensitivity function relative to a frequency is set to a level that approaches 1 in a band in which disturbance to be suppressed exists, and is set to a level that approaches 0 in a band in which disturbance to be transmitted exists.
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Citations
3 Claims
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1. A control unit for an electric power steering apparatus that controls a motor for giving steering auxiliary force to a steering mechanism, the control unit comprising:
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a calculating section that calculates a steering auxiliary command value, wherein the calculation is based on steering torque generated in a steering shaft and on a complementary sensitivity function, wherein the complementary sensitivity function relative to a frequency is set to a level that approaches 1 in a band in which disturbance to be suppressed exists, and is set to a level that approaches 0 in a band in which disturbance to be transmitted exists; and
a control section that calculates a current control value for controlling the motor, wherein the calculation of the current control value is based on the steering auxiliary command value, and on a current value of the motor;
wherein an eigenvalue of the power steering apparatus that is set to 10 to 13 Hz, an eigenvalue of suspension that is set to 13 to 17 Hz, a flutter oscillation area that is set to 15 to 25 Hz, and a motor torque ripple area that is set to 15 to 30 Hz, are included in the band in which the disturbance to be suppressed exists. - View Dependent Claims (2, 3)
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Specification