To provide a turning controller capable of making a value of a derivative gain dependent on various required elements.SOLUTION: Through steering manipulation quantity calculation processing M16, a steering manipulation quantity Ts* is calculated as a manipulation quantity for feed-back controlling a steering torque Th into a target steering toque Th*. An axial force Taf that is a sum of the steering manipulation quantity Ts* and the steering torque Th is used as an input to calculate a pinion angle command value θp* in standard model arithmetic processing M20. Through angle manipulation quantity calculation processing M40, an angle manipulation quantity Tt* for controlling a pinion angle θp into a pinion angle command value θp* is calculated. An electric motor is operated based on a sum of the steering manipulation quantity Ts* and the angle manipulation quantity Tt*. A value obtained by multiplying a time differential value of the steering torque Th by a derivative gain is employed in the steering manipulation quantity calculation processing M16. The derivative gain is varied and designated depending on the axial force Taf and a vehicle speed.SELECTED DRAWING: Figure 2

    【課題】微分ゲインの値を様々な要求要素に応じたものとすることができるようにした転舵制御装置を提供する。【解決手段】操舵操作量算出処理M16により操舵トルクThを目標操舵トルクTh*にフィードバック制御するための操作量としての操舵操作量Ts*が算出される。操舵操作量Ts*と操舵トルクThとの和である軸力Tafを入力として規範モデル演算処理M20において、ピニオン角指令値θp*が算出される。角度操作量算出処理M40では、ピニオン角θpをピニオン角指令値θp*に制御するための角度操作量Tt*が算出される。操舵操作量Ts*と角度操作量Tt*との和に基づき電動機が操作される。操舵操作量算出処理M16において操舵トルクThの時間微分値に微分ゲインを乗算した値が用いられる。微分ゲインは、軸力Tafおよび車速に応じて可変設定される。【選択図】図2


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    Title :

    TURNING CONTROLLER


    Additional title:

    転舵制御装置


    Contributors:

    Publication date :

    2020-12-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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