Electric Power Steering Yaw Rate Deviation Control

The patent applies parameter changes by dynamically adjusting the steering assist control amount based on the deviation between actual and norm yaw rates. The control amount is modified according to the magnitude of yaw rate deviation, allowing the system to adapt the assist torque in real-time. This resolves the contradiction by preventing excessive assist torque in initial steering-pull states (when yaw rate deviation is small) while maintaining adequate assist torque when needed (when yaw rate deviation is large), thus suppressing steering-pull without degrading steering feel.

The patent implements feedback by continuously monitoring the actual yaw rate, comparing it with the norm yaw rate, and adjusting the steering assist control amount based on the deviation. This closed-loop feedback mechanism allows the system to automatically adapt to changing steering conditions without requiring complex manual intervention or overly sophisticated control algorithms, thus suppressing steering-pull while keeping the control system relatively simple.

The patent applies dynamics by making the steering assist control amount variable rather than fixed. The control amount dynamically changes based on the real-time deviation between actual and norm yaw rates. In the initial state of steering-pull when yaw rate deviation is small, the control amount is reduced to prevent excessive torque. As the steering-pull phenomenon develops and yaw rate deviation increases, the control amount is increased to suppress the phenomenon effectively. This dynamic adjustment resolves the contradiction by preventing both excessive torque and insufficient torque control.