Method for controlling electric power steering apparatus, electric power steering apparatus and vehicle equipped with the same
First Claim
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1. A method for controlling an electric power steering apparatus comprising:
- detecting an upper-side angle of a torsion bar by a first angle sensor provided at a handle side of a column shaft of said electric power steering apparatus for said torsion bar;
detecting a lower-side angle of said torsion bar by a second angle sensor provided at steered-wheels side of said column shaft of said electric power steering apparatus for said torsion bar;
calculating a road-surface reaction force and a road-surface information based on said upper-side angle of said torsion bar, a motor current, and a vehicle information;
calculating an angle target value based on said road-surface reaction force and said road-surface information;
calculating a deviation between said angle target value and said lower-side angle of said torsion bar; and
performing an angle follow-up feedback control based on said calculated deviation.
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Abstract
A method for controlling an electric power steering apparatus, the electric power steering apparatus and a vehicle equipped with the same. The method includes detecting an upper-side angle of a torsion bar; detecting a lower-side angle; setting an angle target value of an opposite side by using one of the upper-side angle or the lower-side angle; detecting an actual angle of the opposite side; and performing an angle follow-up feedback control based on a deviation between the angle target value and the actual angle.
7 Citations
17 Claims
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1. A method for controlling an electric power steering apparatus comprising:
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detecting an upper-side angle of a torsion bar by a first angle sensor provided at a handle side of a column shaft of said electric power steering apparatus for said torsion bar; detecting a lower-side angle of said torsion bar by a second angle sensor provided at steered-wheels side of said column shaft of said electric power steering apparatus for said torsion bar; calculating a road-surface reaction force and a road-surface information based on said upper-side angle of said torsion bar, a motor current, and a vehicle information; calculating an angle target value based on said road-surface reaction force and said road-surface information; calculating a deviation between said angle target value and said lower-side angle of said torsion bar; and performing an angle follow-up feedback control based on said calculated deviation.
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2. An electric power steering apparatus that assist-controls a steering system by driving a motor based on a current command value, comprising:
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a first angle sensor to detect an upper-side angle of a torsion bar, which is provided at a handle side of a column shaft of said electric power steering apparatus for said torsion bar; a second angle sensor to detect a lower-side angle of said torsion bar, which is provided at steered-wheels side of said column shaft of said electric power steering apparatus for said torsion bar; and an electronic control unit (ECU) which sets an angle target value by using said upper-side angle of said torsion bar, a motor current, and a vehicle information, calculates said current command value based on a deviation between said angle target value and said lower-side angle of said torsion bar, and performs an angle follow-up control by said current command value, wherein said ECU receives said upper-side angle of said torsion bar, said motor current, and said vehicle information and calculates a road-surface reaction force, a road-surface information, and said angle target value based on said road-surface reaction force and said road-surface information. - View Dependent Claims (3, 4, 5, 6, 7, 8, 9, 16)
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10. An electric power steering apparatus that assist-controls a steering system with engagement of a worm and a worm wheel by driving a motor based on a current command value, comprising:
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a first angle sensor to detect an upper-side angle of a torsion bar, which is provided at a handle side of a column shaft of said electric power steering apparatus for said torsion bar; a second angle sensor to detect a lower-side angle of said torsion bar, which is provided at steered-wheels side of said column shaft of said electric power steering apparatus for said torsion bar; and an electronic control unit (ECU) which calculates a road-surface information by using said upper-side angle of said torsion bar, a motor current, and a vehicle speed, which further calculates an angle target value based on said road-surface reaction force and said road-surface information, and which further calculates said current command value based on a deviation between said angle target value and said lower-side angle of said torsion bar, and perform an angle follow-up control by said current command value, wherein an engagement gap of said worm and said worm wheel is zero or minus. - View Dependent Claims (11, 12, 13, 14, 15, 17)
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Specification