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1. (WO2018084190) ELECTRIC POWER STEERING APPARATUS

Pub. No.:    WO/2018/084190    International Application No.:    PCT/JP2017/039584
Publication Date: Sat May 12 01:59:59 CEST 2018 International Filing Date: Thu Nov 02 00:59:59 CET 2017
IPC: B62D 6/00
B62D 5/04
H02P 29/00
B62D 101/00
B62D 113/00
B62D 137/00
Applicants: NSK LTD.
日本精工株式会社
Inventors: TSUBAKI Takahiro
椿 貴弘
Title: ELECTRIC POWER STEERING APPARATUS
Abstract:
[Problem] To provide an electric power steering apparatus capable of easily achieving a steering torque equivalent to vehicle information, such as a steering angle, without being affected by the condition of the road surface and the changes over time in the mechanism characteristics of a steering system. [Solution] An electric power steering apparatus which performs assist control of a steering system comprises: a target steering torque generation unit which generates a target steering torque on the basis of vehicle driving information; a conversion unit which converts the target steering torque to a target torsion angle; and a torsion angle control unit which calculates a current command value on the basis of the target torsion angle, the torsion angle of a torsion bar, and a motor angular speed. The torsion angle control unit is comprises: a torsion angle feedback compensation unit which outputs a target torsion angular speed corresponding to the deviation between the target torsion angle and the torsion angle; a speed control unit which outputs a current command value on the basis of the target torsion angle speed; and a stabilizing compensation unit which sets a transfer function to at least one item of angle related information and applies feedback on the current command value.