Steering controller and steering control method
A steering controller includes processing circuitry. The processing circuitry is configured to execute an operation process for calculating a torque command value corresponding to a sum of an amount by which the steering-side operation amount is converted into the torque required for the electric motor and an amount by which the steerable wheel-side operation amount is converted into the torque required for the electric motor and operate a drive circuit of the electric motor to adjust the torque of the electric motor to the torque command value.
1. A steering controller for operating a steering actuator that incorporates an electric motor and steers a steerable wheel, wherein
the steering controller comprises processing circuitry configured to execute:
a torque feedback process for calculating a steering-side operation amount, the steering-side operation amount being used for feedback control that adjusts a steering torque input by a driver to a target torque and being convertible into torque required for the electric motor;
an angle command value calculation process for calculating an angle command value based on the steering-side operation amount, the angle command value being a command value of a convertible angle that is convertible into a steerable angle of the steerable wheel;
an angle feedback control process for calculating a steerable wheel-side operation amount, the steerable wheel-side operation amount being used for feedback control that adjusts the convertible angle to the angle command value and being convertible into the torque required for the electric motor; and
an operation process for calculating a torque command value corresponding to a sum of an amount by which the steering-side operation amount is converted into the torque required for the electric motor and an amount by which the steerable wheel-side operation amount is converted into the torque required for the electric motor and operating a drive circuit of the electric motor to adjust the torque of the electric motor to the torque command value.
2. The steering controller according to claim 1 , wherein the angle feedback control process includes
an angle estimation process for calculating an estimated value of the convertible angle based on the convertible angle and the torque required for the electric motor, and
a process for adjusting the estimated value to the angle command value through feedback control.
3. The steering controller according to claim 1 , wherein the angle feedback control process includes
calculating a feedback operation amount using a differential element,
obtaining an additional value by adding, to the feedback operation amount, a feedforward operation amount based on a second order time differential value of the angle command value, and
calculating the steerable wheel-side operation amount based on the additional value.
4. The steering controller according to claim 1 , wherein
the processing circuitry is configured to execute a target torque calculation process for calculating the target torque, and
the target torque calculation process includes
obtaining a conversion amount by converting each of the steering-side operation amount and the steering torque into force acting on a same object, and
calculating the target torque based on a sum of the conversion amounts.
5. A steering control method for operating a steering actuator that incorporates an electric motor and steers a steerable wheel, the steering control method comprising:
calculating a steering-side operation amount, the steering-side operation amount being used for feedback control that adjusts a steering torque input by a driver to a target torque and being convertible into torque required for the electric motor;
calculating an angle command value based on the steering-side operation amount, the angle command value being a command value of a convertible angle that is convertible into a steerable angle of the steerable wheel;
calculating a steerable wheel-side operation amount, the steerable wheel-side operation amount being used for feedback control that adjusts the convertible angle to the angle command value and being convertible into the torque required for the electric motor; and
calculating a torque command value corresponding to a sum of an amount by which the steering-side operation amount is converted into the torque required for the electric motor and an amount by which the steerable wheel-side operation amount is converted into the torque required for the electric motor and operating a drive circuit of the electric motor to adjust the torque of the electric motor to the torque command value.