To provide a steering control method and apparatus of a motor-driven power steering system, where a characteristic of the steering system is variously changed by use of a virtual steering model so as to allow prediction of steering performance.SOLUTION: The method includes: setting a virtual steering model VM including a steering wheel 1, a reaction force mechanism 3 and a rack gear 5; inducing, for the virtual steering model VM, an equation of state having momenta of the steering wheel 1, the reaction force mechanism 3 and the rack gear 5 as state variables; determining a target steering torque acting on the reaction force mechanism 3 through numerical integration of the equation of state; and feedback-controlling a steering motor control amount to bring a steering torque into agreement with the target steering torque.SELECTED DRAWING: Figure 1
【課題】仮想の操舵系モデルによって操舵系システムの特性を多様に変更して操舵性能を予測することができる電動式操舵システムの操舵制御方法及び装置を提供する。【解決手段】操舵ホイール1と反力機構3とラックギア5を含む仮想の操舵系モデルVMを設定し、仮想の操舵系モデルVMに対して操舵ホイール1と反力機構3とラックギア5の運動量を状態変数として有する状態方程式を誘導し、状態方程式の数値積分によって、反力機構3に作用する目標操舵トルクを算出し、操舵トルクを目標操舵トルクと一致させるように操舵モータの制御量をフィードバック制御する。【選択図】図1
STEERING CONTROL METHOD AND APPARATUS OF MOTOR-DRIVEN POWER STEERING SYSTEM
電動式操舵システムの操舵制御方法及び装置
18.06.2020
Patent
Elektronische Ressource
Japanisch
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