A control unit for an electric power steering apparatus that constitutes a model following control that an output of a controlled object follows-up to an output of a reference model, eliminates or reduces the occurrences of a noisy sound and a shock force at an end hitting without giving any uncomfortable steering feeling, takes a safety countermeasure against the model following control and suppresses the variation of the control output in a case that the safety countermeasure is excessively operated. The control unit calculates a current command value based on at least a steering torque and performs an assist-control of a steering system by driving a motor based on the current command value, comprising: a configuration of a model following control including a viscoelastic model as a reference model within a predetermined angle at front of a rack end, wherein shift correction is performed against displacement information which is used in the model following control; and wherein rack end hitting is suppressed by limiting a range of a control amount in the model following control by using a limit value which is set based on at least steering velocity.
CONTROL UNIT FOR ELECTRIC POWER STEERING APPARATUS
2020-11-05
Patent
Electronic Resource
English
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |