Control device for electric power steering apparatus

An electric power steering and control device technology, which is applied to automatic steering control components, motor control, power steering mechanisms, etc., can solve the problem of large return torque and achieve the effect of easy to predict constant design

Inactive Publication Date: 2018-11-09
NSK LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In addition, in the vehicle steering device disclosed in Patent Document 4, the centering torque is increased as the steering angle increases.

Method used

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  • Control device for electric power steering apparatus
  • Control device for electric power steering apparatus
  • Control device for electric power steering apparatus

Examples

Experimental program
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Embodiment Construction

[0080] The present invention is a control device of an electric power steering device, which constitutes a control system based on a physical model of a rack (steering rack) mechanism, sets a viscoelastic model (spring constant, viscous friction coefficient) as a standard model, and constitutes a model The following control makes the output of the control object (rack position) follow the normative model, makes the driver feel an appropriate reaction force, and suppresses the driver's uncomfortable feeling due to the "tendency to pull the steering wheel".

[0081] The model following control is constituted by the viscoelastic model following control unit, the viscoelastic model following control unit is constituted by the feedback control unit, and the virtual reaction force is generated by the feedback control with the force equivalent to the road surface reaction force as input, so that it is possible to suppress "Tendency to pull the steering wheel" and also return the steer...

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Abstract

An object of the present invention is to provide a control unit of an electric power steering apparatus that configures a control system on the basis of a physical model of a rack (steering rack) mechanism, configures a model following control where an output of a controlled object follows an output of a reference model, makes a driver feel an appropriate reaction force, and suppresses uncomfortable feeling to the driver by pulling-tendency. A control unit of an electric power steering apparatus that assists and controls a steering system by driving a motor based on a current command value, comprises a configuration of a model following control setting a viscoelastic model for a rack displacement as a reference model; performs a feedback control which inputs a shaft force corresponding toa road surface reaction force, and generates a virtual reaction force, by the configuration of the model following control.

Description

technical field [0001] The present invention relates to a control device of an electric power steering device, which drives an electric motor based on a current command value to assist in controlling a steering system of a vehicle. In particular, the present invention relates to a control device for an electric power steering device, which uses a viscoelastic model as a normative model, and by generating a virtual reaction force at the time of steering, thereby suppressing "the force that pulls the steering wheel toward the end of the rack of the steering system." Tendency (hereinafter, it will be simply referred to as "the tendency to pull the steering wheel")". Background technique [0002] An Electric Power Steering (EPS) applies an assisting force to the steering system of a vehicle using the rotational force of an electric motor, which imparts the driving force of the electric motor to a steering shaft or teeth through a transmission mechanism such as a gear or a belt t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D6/00H02P29/00B62D101/00B62D119/00B62D137/00
CPCB62D5/0469B62D6/008H02P6/34B62D5/0421B62D5/0463B62D15/021
Inventor 坂口徹尾上利和
Owner NSK LTD
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