Electric power steering apparatus

1. An electric power steering apparatus that calculates a current command value based on a steering torque and a vehicle speed, drives and controls a motor which assists and controls a steering system based on said current command value, and has a function of convergence control of correcting said current command value, comprising:

a hardware controller which controls said motor and which executes the following operations:

calculates a turning or returning state index being analog based on said steering torque and a motor angle velocity;

calculates a turning or returning state ratio being analog with a variable nominal value as a reference based on said turning or returning state index; and

calculates a turning gain and a returning gain based on said steering torque, said vehicle speed and said motor angle velocity, performs gain correction for said turning gain and said returning gain by said turning or returning state ratio, and outputs a convergence control value by performing output processing of a gain signal based on an absolute value and a sign inversion signal of a yaw rate estimation value;

wherein said nominal value is variable between 0.0 and 1.0, said turning or returning state ratio is smaller than said nominal value with making a positive region of said turning or returning state index a turning state, said turning or returning state ratio is larger than said nominal value with making a negative region of said turning or returning state index a returning state, and said turning or returning state ratio changes continuously and nonlinearly; and

wherein said hardware controller drives and controls said motor based on said current command value corrected by said convergence control value.

2. The electric power steering apparatus according to claim 1 , wherein

low pass filter (LPF) inputs said steering torque, an said hardware controller further calculates an angle velocity index ranging between ±1.0 based on said motor angle velocity, and outputs said turning or returning state index by multiplying an output of said LPF and said angle velocity index.

3. The electric power steering apparatus according to claim 2 , wherein

said angle velocity index has a constant value when an absolute value of said motor angle velocity is larger than or equal to a predetermined value and changes linearly or nonlinearly when the absolute value of said motor angle velocity is smaller than said predetermined value.

4. The electric power steering apparatus according to claim 3 , wherein

said hardware controller further multiplies said returning gain and said turning or returning state ratio to provide a second multiplication result, subtracts said turning or returning state ratio from a fixed value to provide a subtraction result, multiplies said subtraction result and said turning gain to provide a third multiplication result, and adds said second multiplication result and said third multiplication result to provide an addition result.

5. The electric power steering apparatus according to claim 4 , wherein

said hardware controller further obtains an absolute value of said yaw rate estimation value, inverts a sign of said yaw rate estimation value and outputs an inverted sign value, multiplies said absolute value and said addition result to provide a fourth multiplication result, multiplies said inverted sign value and said fourth multiplication result to provide a filth multiplication result, and outputs said convergence control value based on said fifth multiplication result.

6. The electric power steering apparatus according to claim 2 , wherein

said hardware controller further multiplies said returning gain and said turning or returning state ratio to provide a second multiplication result, subtracts said turning or returning state ratio from a fixed value to provide a subtraction result, multiplies said subtraction result and said turning gain to provide a third multiplication result, and adds said second multiplication result and said third multiplication result to provide an addition result.

7. The electric power steering apparatus according to claim 6 , wherein

said hardware controller further obtains an absolute value of said yaw rate estimation value, inverts a sign of said yaw rate estimation value to provide an inverted sign value, multiplies said absolute value and said addition result to provide a fourth multiplication result multiplies said inverted sign value and said fourth multiplication result to provide a fifth multiplication result, and outputs said convergence control value based on said fifth multiplication result.

8. The electric power steering apparatus according to claim 1 , wherein

said hardware controller further multiplies said returning gain and said turning or returning state ratio to provide a second multiplication result, subtracts said turning or returning state ratio from a fixed value to provide a subtraction result, multiplies said subtraction result and said turning gain to provide a third multiplication result, and adds said second multiplication result and said third multiplication result to provide an additional result.

9. The electric power steering apparatus according to claim 8 , wherein

said hardware controller further obtains an absolute value of said yaw rate estimation value, inverts a sign of said yaw rate estimation value to provide an inverted sign value, multiplies said absolute value and said addition result to provide a fourth multiplication result, and multiplies an output of inverted sign value said fourth multiplication result to provide a fifth multiplication result, and outputs said convergence control value based on said fifth multiplication result.