PROBLEM TO BE SOLVED: To provide an electric power steering device which is capable of compensating friction generated in a power column and has a control system which is not vibrated and is fast in responsiveness.SOLUTION: An ECU (Electronic Control Unit) 12 includes: a rotation angle calculation section 41; an assist torque command value calculation section 42; a reference model 43; an angle deviation calculation section 44; a PD control section 45; an addition section 47; and a plant observer 48. Proportional gain and differential gain to be used in the PD control section 45 and first gain and second gain to be used in a first gain multiplication section and a second gain multiplication section of the plant observer 48 are set so that a characteristic equation corresponding to a motion equation showing a behavior of the electric power steering device has a double root.SELECTED DRAWING: Figure 2
【課題】パワーコラム内で発生する摩擦を補償でき、制御系が非振動でかつ応答性が速い系となる電動パワーステアリング装置を提供する。【解決手段】ECU12は、回転角演算部41と、アシストトルク指令値演算部42と、リファレンスモデル43と、角度偏差演算部44と、PD制御部45と、加算部47と、プラントオブザーバ48とを含む。電動パワーステアリング装置の挙動を表す運動方程式に対応する特性方程式が2重根を持つように、PD制御部45で用いられる比例ゲインおよび微分ゲインならびにプラントオブザーバ48の第1ゲイン乗算部および第2ゲイン乗算部で用いられる第1ゲインおよび第2ゲインが設定される。【選択図】図2
ELECTRIC POWER STEERING DEVICE AND GAIN SETTING METHOD IN ELECTRIC POWER STEERING DEVICE
電動パワーステアリング装置および電動パワーステアリング装置におけるゲイン設定方法
2016-10-13
Patent
Electronic Resource
Japanese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
ELECTRIC POWER STEERING SYSTEM AND GAIN SETTING METHOD THEREOF
European Patent Office | 2016
|ELECTRIC POWER STEERING SYSTEM AND GAIN SETTING METHOD THEREOF
European Patent Office | 2019
|Electric power steering system and gain setting method thereof
European Patent Office | 2017
|Electric power steering control device and electric power steering device
European Patent Office | 2022
|