Control method for electric power steering apparatus
Control method for an electric power steering apparatus feeds back a motor current, flowing through a motor whose operation is controlled in accordance with a target motor current, so that the driving of the motor is controlled with the fed-back motor current. Peak value of the motor current is detected, and, for feedback control based on the detected peak value, the detected peak value is corrected to decrease. The thus-corrected peak value is fed back to control the motor current to conform to a target motor current value.
1. A control method for an electric power steering apparatus, said control method comprising:
a step of detecting a peak value of a motor current flowing through a steering assisting motor whose operation is controlled on the basis of a PWM signal generated in accordance with a target motor current signal;
a step of correcting the peak value detected by said step of detecting; and
a step of performing feedback control of the motor current on the basis of the peak value corrected by said step of correcting.
2. A control method as claimed in claim 1 wherein said step of correcting corrects the detected peak value to a smaller value.
3. A control method as claimed in claim 1 wherein said step of correcting corrects the detected peak value on the basis of a current correction table defining current correcting amounts.
4. A control method as claimed in claim 3 wherein the current correction table is prepared on the basis of relationship between average values of a motor current flowing through the steering assisting motor and detected peak values of the motor current.
5. A control method as claimed in claim 3 wherein said step of correcting corrects the detected peak value by searching the current correction table for a particular current correcting amount that corresponds to the detected peak value and then performing an arithmetic operation to subtract the particular current correcting amount from the detected peak value.
6. A control method as claimed in claim 1 wherein said step of correcting corrects the detected peak value only when the target motor current signal is set at a small value such that a ratio of the detected peak value to an average value of the motor current flowing through the steering assisting motor exceeds a predetermined value.
7. A control method as claimed in claim 5 wherein the current correction table is prepared on the basis of relationship between average values of a motor current flowing through the steering assisting motor and detected peak values of the motor current.