Electric power steering apparatus
An electric power steering apparatus includes a high-frequency compensation unit that outputs a high-frequency compensation signal obtained by filtering the high-frequency components of an assist torque command signal and multiplying the filtered high-frequency components by a gain; a corrected steering torque signal obtained by negatively or positively feeding back the high-frequency compensation signal to a steering torque signal is inputted to an assist torque command calculation unit; the assist torque command calculation unit outputs the assist torque command signal in accordance with the corrected steering torque signal.
1. An electric power steering apparatus comprising:
a motor that outputs assist torque, based on a steering torque signal from a torque sensor for detecting steering torque; and
a control apparatus to control the assist torque of the motor,
wherein the control apparatus includes
an assist torque command calculator to calculate and output an assist torque command signal for making the motor generate the assist torque, and
a high-frequency compensator to output a high-frequency compensation signal obtained by filtering high-frequency components of the assist torque command signal and multiplying the filtered high-frequency components by a gain,
wherein the assist torque command calculator receives a corrected steering torque signal produced by negatively or positively feeding back the high-frequency compensation signal to the steering torque signal and then outputs the assist torque command signal in accordance with the inputted corrected steering torque signal.
2. The electric power steering apparatus according to claim 1 , further including a first phase compensator that compensates the phase of the steering torque signal and then outputs a compensated steering torque signal, wherein the high-frequency compensation signal outputted from the high-frequency compensation unit is negatively or positively fed back to the compensated steering torque signal.
3. The electric power steering apparatus according to claim 1 , wherein there is provided a second phase compensator that compensates the phase of the assist torque command signal outputted from the assist torque command calculation unit and then outputs a compensated assist torque command signal.
4. The electric power steering apparatus according to claim 1 , further including a motor speed detector to detect a rotation speed of a rotor shaft of the motor, wherein a motor speed corrected signal generated based on a motor speed signal from the motor speed detector is negatively fed back to the steering torque signal.
5. The electric power steering apparatus according to claim 1 , further including a motor speed detector to detect a rotation speed of a rotor shaft of the motor, wherein a motor speed corrected signal generated based on a motor speed signal from the motor speed detector is negatively fed back to the assist torque command signal.
6. The electric power steering apparatus according to claim 2 , further including a motor speed detector to detect a rotation speed of a rotor shaft of the motor, wherein a motor speed corrected signal generated based on a motor speed signal from the motor speed detector is negatively fed back to the steering torque signal.
7. The electric power steering apparatus according to claim 3 , further including a motor speed detector to detect a rotation speed of a rotor shaft of the motor, wherein a motor speed corrected signal generated based on a motor speed signal from the motor speed detector is negatively fed back to the steering torque signal.
8. The electric power steering apparatus according to claim 2 , further including a motor speed detector to detect a rotation speed of a rotor shaft of the motor, wherein a motor speed corrected signal generated based on a motor speed signal from the motor speed t detector is negatively fed back to the assist torque command signal.
9. The electric power steering apparatus according to claim 3 , further including a motor speed detector to detect a rotation speed of a rotor shaft of the motor, wherein a motor speed corrected signal generated based on a motor speed signal from the motor speed detector is negatively fed back to the assist torque command signal.