A steering device is provided with: an electric motor that is capable of steering a turning wheel connected to a steering wheel; and a control unit that changes a steering angle of the turning wheel by controlling the electric motor. The control unit comprises: an angle feedback control unit capable of executing automatic traveling control in which feedback control is performed such that a first target steering angle, which is calculated to cause a vehicle to travel along a preset target path in a travel route, matches the actual steering angle and also capable of executing automatic parking control in which feedback control is performed such that a second target steering angle, which is calculated to cause the vehicle to move from a current position to a parking position, matches the actual steering angle; and a gain setting unit which sets a feedback gain for the automatic parking control to a value smaller than a feedback gain for the automatic traveling control.
转向操作装置具备:电动机,能够使与方向盘连接的转向轮转向;及控制部,控制所述电动机而改变所述转向轮的转向角,所述控制部包括:角度反馈控制部,能够执行自动行驶控制和自动停车控制,所述自动行驶控制以使实际转向角与为使车辆沿着设定于行驶道路内的目标路径行驶而运算出的第一目标转向角一致的方式进行反馈控制,所述自动停车控制以使实际转向角与为使所述车辆从当前位置移动至停车位置而运算出的第二目标转向角一致的方式进行反馈控制;及增益设定部,将所述自动停车控制中的反馈增益设定为比所述自动行驶控制中的反馈增益小的值。
Steering device and motor control method for steering device
转向操作装置及转向操作装置中的电动机控制方法
2021-07-23
Patent
Electronic Resource
Chinese
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