The invention relates to a control device, a steering system, a control method, and a storage medium. The control device is configured to execute: a process of calculating a command torque applied to a steering mechanism; an adjustment gain calculation process for calculating an adjustment gain with respect to the command torque on the basis of the steering torque; a process for calculating an adjusted command torque obtained by applying an adjustment gain to the command torque; and controlling processing of the torque steering mechanism according to the adjustment instruction. Here, the adjustment gain calculation process includes: a process for calculating, on the basis of the steering torque, an adjustment steering torque having a prescribed hysteresis characteristic with respect to a change in the steering torque; and a process for converting the adjustment steering torque into an adjustment gain.
本公开涉及控制装置、转向操纵装置、控制方法、存储介质,该控制装置构成为执行下述处理:计算对转向机构赋予的指令转矩的处理;调整增益计算处理,基于转向操纵转矩来计算对于指令转矩的调整增益;计算对指令转矩施行了调整增益而得的调整指令转矩的处理;以及根据调整指令来控制转矩转向机构的处理。这里,调整增益计算处理包括:基于转向操纵转矩来计算相对于转向操纵转矩的变化具有规定的滞后特性的调整转向操纵转矩的处理;和将调整转向操纵转矩变换为调整增益的处理。
CONTROL DEVICE, STEERING DEVICE, CONTROL METHOD, AND STORAGE MEDIUM
控制装置、转向操纵装置、控制方法、存储介质
2023-09-05
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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