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Pub. No.:    WO/2017/150445    International Application No.:    PCT/JP2017/007487
Publication Date: Sat Sep 09 01:59:59 CEST 2017 International Filing Date: Tue Feb 28 00:59:59 CET 2017
IPC: B62D 6/00
B62D 5/04
B62D 119/00
Applicants: NSK LTD.
Inventors: TSUBAKI Takahiro
椿 貴弘
[Problem] To provide an electric power steering apparatus capable of eliminating the vibrations due to response characteristics using I-P control, and eliminating the vibrations caused by the spring properties of a torsion bar and the moment of inertia of a steering wheel during automatic mode, using a steering wheel vibration eliminating unit. [Solution] An electric power steering apparatus which is configured so as to output a first motor current instruction value in assist mode and a second motor current instruction value in automatic mode is equipped with: a steering wheel vibration eliminating unit which blocks the frequency components near a predetermined central frequency with respect to a target steering angle and outputs a value; a positional control unit which receives the difference between the actual steering angle and the output value of the steering wheel vibration eliminating unit, and outputs a motor angular speed instruction value; and a speed control unit provided with an integration unit which receives the deviation between the motor angular speed instruction value and the motor angular speed calculated by the speed control unit, and a proportional unit which receives the motor angular speed. The speed control unit subtracts the output of the proportional unit from the output of the integration unit, and outputs the second motor current instruction value.