Electric power steering apparatus
An electric power steering apparatus is provided, which has a first device for detection of steering torque, a motor, a motor drive unit, a second device for determining a target current based upon at least a signal of steering torque, a third device for detection of a motor current, and a control unit for generating a signal for motor drive based upon at least a deviation between the target current and motor current and transmitting the signal for motor drive to the motor drive unit. The apparatus has a feature that the control unit includes a fourth device for weakening a magnetic field within the motor according to the deviation or a value computed based upon the deviation.
1. An electric power steering apparatus comprising:
a first device for detection of steering torque of a steering line;
a motor for exerting assist steering torque on the steering line;
a motor drive unit for driving the motor;
a second device for detection of a motor current running through the motor; and
a control unit including a third device for determining a target current to be supplied to the motor based on at least a signal of steering torque delivered by the first device and means for generating a signal for motor drive based on at least a deviation between the target current and the motor current and for transmitting the signal for motor drive to the motor drive unit, said target current being based on a compensation current being added to a command current where the command current is determined based on a function of the steering torque and where the compensation current is based on a function of the motor current and not based on a deviation of the target current and motor current,
wherein the signal generating means also comprises means for weakening a magnetic field within the motor according to the motor current.
2. The apparatus of claim 1 , wherein said magnetic field weakening means executes a conversion in accordance with:
C 2= G 2( Iqr )
where C 2 is the compensation current and G 2 is the function of motor current, and
where C 2 =0 for a range of large q-axis actual said motor current Iqr and C 2 ≠0 when said Iqr is smaller than said range of large said Iqr wherein for this latter case said magnetic field is weakened.