Electric power steering control apparatus
View Patent ↗An electric power steering control includes a torque sensor for detecting steering torque as torque information, a motor for generating assist torque, a calculation section for calculating a motor current command value based on the torque information at each predetermined sampling period, and a motor current control section for driving and controlling the motor based on the motor current command value. The calculation section includes a first target current calculation section for calculating a first target current based on the torque information detected in a time series manner at a first control period corresponding to the sampling period, and a second target current calculation section for calculating a second target current based on the first target current at a second control period shorter than the first control period. The motor current control section controls the motor by using the second target current as the motor current command value.
1. An electric power steering control apparatus comprising:
a steering system including a steering wheel;
a torque sensor that detects steering torque applied to said steering system as torque information;
a motor that generates assist torque for said steering system;
a calculation section that calculates a motor current command value for said motor based on said torque information at each predetermined sampling period; and
a motor current control section that drives and controls said motor based on said motor current command value;
wherein said calculation section includes:
a first target current calculation section that calculates a first target current based on said torque information detected from said torque sensor in a time series manner at a first control period corresponding to said sampling period; and
a second target current calculation section that calculates a second target current based on said first target current at a second control period that is shorter than said first control period; and
wherein said motor current control section controls said motor by using said second target current as said motor current command value.
2. The electric power steering control apparatus as set forth in claim 1 , wherein said second target current calculation section executes moving average processing.
3. The electric power steering control apparatus as set forth in claim 1 , wherein said second target current calculation section executes low-pass filter processing.
4. The electric power steering apparatus as set forth in claim 1 , wherein said second target current calculation section executes interpolation processing.
5. The electric power steering apparatus as set forth in claim 1 , wherein said second control period is set to a short period enough to shift a control sound of said motor to a high frequency region of 4 kHz or above.