Electric power steering apparatus and method controlling the same
View Patent ↗The present invention relates to a technology for controlling an electric power steering apparatus. According to the present invention, a difference in steering feeling according to a change of a mechanical characteristic of an electric power steering apparatus can be corrected so that the sense of difference in steering felt by a driver when using the steering apparatus can be minimized and the reliability in relation to the apparatus can be enhanced.
1. An electric power steering apparatus comprising:
a steering angle use frequency confirmation unit configured to confirm a use frequency value corresponding to a steering angle value received from a steering wheel sensor based on a steering angle use frequency graph stored in advance;
a cumulative time calculation unit configured to calculate a cumulative operating time of the electric power steering apparatus;
a compensating torque calculation unit configured to calculate a compensating torque based on the use frequency value and the cumulative operating time; and
a drive control unit configured to calculate a target torque, to apply the compensating torque to the target torque, and to apply the target torque applied compensating torque to a motor.
2. The electric power steering apparatus of claim 1 , further comprising: a reduced amount of friction calculation unit configured to calculate a reduced amount of friction based on the use frequency value and the cumulative operating time and to transmit the calculated reduced amount of friction to the compensating torque calculation unit.
3. The electric power steering apparatus of claim 2 , wherein the reduced amount of friction calculation unit calculates in such a manner that the shorter the cumulative use time, the more the reduced amount of friction is increased for the same steering angle value or steering angle range.
4. A method of controlling an electric power steering apparatus, comprising, wherein the apparatus having a processor configured to process steps of:
sensing a steering angle and confirming a cumulative operating time;
confirming a use frequency value based on a steering angle use frequency graph stored in advance for the sensed steering angle;
calculating a compensating torque based on the use frequency value and the cumulative operating time; and
applying the compensating torque to the target torque to drive a motor.