Motor-driven power steering apparatus
In a rack and pinion type motor-driven power steering apparatus, the motor-driven power steering apparatus is provided with a rack position detecting means for detecting a position of the rack, a rack speed arithmetically operating means for calculating a moving speed (s) of the rack, a memory means for storing a relation between a predetermined rack speed (s) near a stroke end of the rack and a motor damping control start rack position in which a distance from the stroke end is farther in accordance with the rack speed (s) as a relation curve (C) of a coordinate map A collating means is provided for collating with the relation curve (C) between the rack speed (s) stored in the memory means and the motor damping control start rack position so as to determine whether or not a point coordinate (s, p) of the combination between the rack speed (s) calculated by the rack speed arithmetically operating means and the rack position (p) detected by the rack position detecting means gets over the relation curve (C). A motor drive control means is provided for controlling the motor in a damping state on the basis of a predetermined motor assist decreasing rate (As) where the collating means determines that the point coordinate (s, p) of the combination gets over the relation curve (C).
1. A rack and pinion type motor-driven power steering apparatus for assisting a steering operation by transmitting a drive force of a motor to a steered wheel from a pinion shaft via a laterally moving rack, comprising:
a rack position detecting means for detecting a position of the rack;
a rack speed arithmetically operating means for calculating a rack speed corresponding to a moving speed of the rack;
a memory means for storing a relation between a predetermined rack speed near a stroke end of the rack and a motor damping control start rack position in which a distance from the stroke end is farther in accordance with the rack speed with respect to a relation curve of a coordinate;
a collating means for collating with the relation curve between the rack speed stored in the memory means and the motor damping control start rack position so as to discriminate whether or not a combination position coordinate between the rack speed calculated by the rack speed arithmetically operating means and the rack position detected by the rack position detecting means gets over the relation curve; and
a motor drive control means for controlling the motor in a damping state on the basis of a predetermined motor assist decreasing rate where the collating means determines that the combination position coordinate gets over the relation curve.
2. A motor-driven power steering apparatus according to claim 1 , wherein the rack speed arithmetically operating means calculates the rack speed by differentiating the rack moving position detected by the rack position detecting means.
3. A motor-driven power steering apparatus according to claim 1 , further comprising a motor rotating speed detecting means for detecting the rotating speed of the motor,
wherein the rack speed is calculated by multiplying the motor rotating speed detected by the motor rotating speed-detecting means by a predetermined change gear ratio from the motor to the rack and pinion.
4. A motor-driven power steering apparatus according to claim 1 , further comprising a torque inversion detecting means for detecting inversion of a torque direction of the steering torque,
wherein the motor drive control means executes a normal motor assist control when the torque inversion detecting means detects the torque inversion where the collating means determines that the combination position coordinate gets over the relation curve.
5. A motor-driven power steering apparatus according to claim 2 , further comprising a torque inversion detecting means for detecting an inversion of a torque direction of the steering torque,
wherein the motor drive control means executes a normal motor assist control when the torque inversion detecting means detects the torque inversion where the collating means determines that the combination position coordinate gets over the relation curve.
6. A motor-driven power steering apparatus according to claim 3 , further comprising a torque inversion detecting means for detecting an inversion of a torque direction of the steering torque,
wherein the motor drive control means executes a normal motor assist control when the torque inversion detecting means detects the torque inversion where the collating means determines that the combination position coordinate gets over the relation curve.
7. A motor-driven power steering apparatus according to claim 1 , wherein the motor drive control means executes a Pulse Width Modulation control for driving and controlling the motor by changing a time ratio corresponding to a rate of time for circulating current at a fixed period.
8. A motor-driven power steering apparatus according to claim 7 , further comprising a vehicle speed sensor for detecting vehicle speed and a torque sensor for detecting steering torque,
wherein a time ratio which is previously determined in correspondence to the vehicle speed and the steering torque is stored in the memory means, and the motor-driven power steering apparatus is provided with a normal time ratio extracting means for extracting a normal time ratio from the memory means on the basis of the vehicle speed detected by the vehicle speed sensor and the steering torque detected by the torque sensor.