Electric power steering apparatus
An ECU includes two drive circuits corresponding to the motor coils of two systems independent of each other, and a microcomputer that outputs control signals of two independent systems to the drive circuits. The microcomputer includes a first control signal output portion that outputs the control signal to the drive circuit of the first system by executing an electric current control so as to generate a motor torque that corresponds to the assist force. The microcomputer further includes a second control signal output portion that outputs the control signal to the drive circuit of the second system by executing a position control on the basis of a steering angle command value that is input from a superior ECU via an in-vehicle network so as to change the steering angle of the steering road wheels.
1. An electric power steering apparatus comprising:
a steering force assist device that gives an assist force to a steering system based on magnetomotive force that is generated by motor coils of two systems that are provided independently of each other, the two systems including a first system and a second system; and
a controller configured to control operation of the steering force assist device through supply of electric power to the motor coils,
the controller including:
a drive circuit of the first system and a drive circuit of the second system that are provided independently of each other, the first system being configured to control the assist force given to the steering system and the second system being configured to control a steering angle of a steering road wheel independently of a steering operation of a driver;
a first control signal output unit configured to output a first control signal to the drive circuit of the first system by executing an electric current control so as to generate a motor torque that corresponds to the assist force; and
a second control signal output unit configured to output a second control signal to the drive circuit of the second system by executing a position control based on a position command that is input so as to change the steering angle of the steering road wheel.
2. The electric power steering apparatus according to claim 1 , wherein the steering force assist device uses, as a drive source, an electric motor that includes a stator and a rotor.
3. The electric power steering apparatus according to claim 2 , wherein the electric motor is a brushless electric motor.
4. The electric power steering apparatus according to claim 1 , wherein the controller executes a position feedback loop of the position control, and executes, as a minor loop of the position feedback loop, a feedback loop of at least one of a speed control, an electric current control and a voltage control.