Electric power steering apparatus
An electric power steering apparatus includes: a detector that detects a value corresponding to a steering torque of a steering wheel; a correcting unit that corrects a detection value detected by the detector by taking into account a hysteresis between an actual steering torque and the detection value detected by the detector; and a target current calculating unit that calculates a target current which is supplied to an electric motor on the basis of a corrected detection value corrected by the correcting unit. The correcting unit makes a correction by using a correction value corresponding to the detection value detected by the detector so as to make the hysteresis small in a case where the steering torque is small and large in a case where the steering torque is large.
1. An electric power steering apparatus comprising:
a detector that detects a value corresponding to a steering torque of a steering wheel;
a correcting unit that corrects the detection value detected by the detector; and
a target current calculating unit that calculates a target current which is supplied to an electric motor on the basis of the detection value corrected by the correcting unit, wherein
the correcting unit makes a correction by using a correction value corresponding to the detection value detected by the detector so as to make a hysteresis between the detection value corrected by the correcting unit in one rotating direction of the steering wheel and the detection value corrected by the correcting unit in the other rotating direction of the steering wheel small in a case where an absolute value of the detection value detected by the detector is smaller than a predetermined value and large in a case where the absolute value is larger than the predetermined value, the detection value corrected by the correcting unit in the one rotating direction being obtained by correcting the detection value detected by the detector in the one rotating direction, the detection value corrected by the correcting unit in the other rotating direction being obtained by correcting the detection value detected by the detector in the other rotating direction.
2. The electric power steering apparatus according to claim 1 , wherein
a sign of the correction value of the correcting unit is inverted between a case where an absolute value of the detection value detected by the detector is smaller than a predetermined value and a case where the absolute value is larger than the predetermined value.
3. The electric power steering apparatus according to claim 2 , wherein
the correcting unit comprises a determination unit that determines the correction value on the basis of the detection value detected by the detector, and an output unit that corrects the detection value detected by the detector by performing four arithmetic operations using the correction value determined by the determination unit with regard to the detection value detected by the detector and outputs the corrected detection value.
4. The electric power steering apparatus according to claim 3 , wherein
on condition that a direction of the steering torque is set to be positive in a case where the direction is one rotating direction of the steering wheel and is set to be negative in a case where the direction is the other rotating direction, the determination unit of the correcting unit determines that a sign of the correction value is positive in a case where an absolute value of the detection value detected by the detector is smaller than a predetermined value, and negative in a case where the absolute value is larger than the predetermined value, and the output unit corrects the detection value detected by the detector by adding the correction value determined by the determination unit to the detection value detected by the detector in a case where the steering torque increases, and by subtracting the correction value determined by the determination unit from the detection value detected by the detector in a case where the steering torque decreases.
5. The electric power steering apparatus according to claim 1 , wherein
the correcting unit comprises a determination unit that determines the correction value on the basis of the detection value detected by the detector, and an output unit that corrects the detection value detected by the detector by performing four arithmetic operations using the correction value determined by the determination unit with regard to the detection value detected by the detector and outputs the corrected detection value.
6. The electric power steering apparatus according to claim 5 , wherein
on condition that a direction of the steering torque is set to be positive in a case where the direction is one rotating direction of the steering wheel and is set to be negative in a case where the direction is the other rotating direction, the determination unit of the correcting unit determines that a sign of the correction value is positive in a case where an absolute value of the detection value detected by the detector is smaller than a predetermined value, and negative in a case where the absolute value is larger than the predetermined value, and the output unit corrects the detection value detected by the detector by adding the correction value determined by the determination unit to the detection value detected by the detector in a case where the steering torque increases, and by subtracting the correction value determined by the determination unit from the detection value detected by the detector in a case where the steering torque decreases.