Steering apparatus for vehicle
A steering apparatus for a vehicle includes an operating lever, an operating amount sensor that detects the operating amount of the operating lever, an operating reaction force motor that imparts an operating reaction force to the operating lever, a steering mechanism section that steers a steered wheel of a vehicle, a rack position sensor that detects the steered amount of the steered wheel, an operating torque sensor that detects an operating torque, and a control device that determines the control amount for the operating reaction force motor and the control amount for the steering mechanism section in accordance with a deviation between the above operating amount and the above steered amount. The control device includes a feedforward control device that feedforward-controls the steering mechanism section in accordance with the operating torque, and a band-pass filter that increases or decreases the feedforward effect in accordance with the operating frequency. By adjusting the feedforward effect with the band-pass filter in accordance with the operating frequency of the operating element, the responsiveness can be adjusted.
1. A steering apparatus for a vehicle comprising:
an operating element with which a driver of a vehicle operates the vehicle;
an operating amount detecting device that detects an operating amount of said operating element;
a reaction force imparting device that imparts to said operating element an operating reaction force in opposition to an operating direction of said operating element;
a steering device that steers a steered wheel of said vehicle through a rack axis, said steering device being mechanically separated from said operating element;
a steered amount detecting device that detects a steered amount of said steered wheel;
a target rack position setting device that sets a target rack position of said rack axis based on the operating amount detected by said operating amount detecting device; and
a control device that determines a control amount for said reaction force imparting device and a control amount for said steering device in accordance with a deviation between the target rack position set by said target rack position setting device and the steered amount detected by said steered amount detecting device, wherein
said steering apparatus for a vehicle further comprises an operating torque detecting device that detects an operating torque acting on said operating element, and
said control device comprises a feedforward control device that feedforward-controls said steering device in accordance with the operating torque detected by said operating torque detecting device; and a frequency compensating device that increases or decreases a feedforward effect in accordance with an operating frequency of said operating element.
2. The steering apparatus for a vehicle according to claim 1 , wherein said control device further comprises an integral control device that increases or decreases an integral effect in control of said steering device in accordance with at least a road surface condition.
3. The steering apparatus for a vehicle according to claim 2 , wherein said control device further comprises a proportional and differential control device that cooperates with said integral control device to provide a proportional, integral and differential control value for said steering device.
4. The steering apparatus for a vehicle according to claim 1 , wherein said feedforward control device calculates a feedforward control value for feedforward-controlling said steering device by multiplying an original feedforward control value that is determined based on a map of the operating torque detected by said operating torque detecting device and a drive amount of said steering motor, by a feedforward gain set by said frequency compensating device.
5. The steering apparatus for a vehicle according to claim 2 , wherein said control device further comprises a proportional and differential control device that cooperates with said integral control device to provide a proportional, integral and differential control value for said steering device, wherein said feedforward control device calculates a feedforward control value for feedforward-controlling said steering device by multiplying an original feedforward control value that is determined based on a map of the operating torque detected by said operating torque detecting device and a drive amount of said steering motor, by a feedforward gain set by said frequency compensating device, and wherein said proportional, integral and differential control value and said feedforward control value are synthesized to control a drive current for said steering motor.