Steering control device and electric power steering device
A steering control device includes: an electric motor configured to apply an assist force to steering of a steering wheel; a torque sensor configured to detect steering torque of the steering wheel; a base target current setting unit configured to set a base driving force of the electric motor on the basis of the steering torque detected by the torque sensor; and an addition determination unit configured to determine whether a driving force larger than the base driving force is to be set, on the basis of a rotation speed of the electric motor.
1. A steering control device comprising:
an electric motor configured to apply an assist force to steering of a steering member;
a torque detection unit configured to detect steering torque of the steering member;
a base driving force setting unit configured to set a base driving force of the electric motor based on the steering torque detected by the torque detection unit;
a determination unit configured to determine whether a driving force larger than the base driving force is to be set, based on a rotation speed of the electric motor;
an additional driving force setting unit configured to set an additional driving force to be added to the base driving force, based on a steering angle of the steering member; and
a final driving force setting unit configured to set a final driving force larger than the base driving force by adding the additional driving force to the base driving force, wherein
the additional driving force setting unit is configured to calculate a corrected steering angle by adding the steering angle calculated based on a rotation angle of the electric motor and a correcting steering angle calculated by multiplying the steering torque detected by the torque detection unit by a predetermined coefficient, and set the additional driving force based on a change in the corrected steering angle such that the final driving force overcomes a frictional force that is produced during a driving force of the electric motor being transmitted to a rolling wheel.
2. The steering control device according to claim 1 , wherein the determination unit is configured to determine whether the driving force larger than the base driving force is to be set, further based on a steering angle speed of the steering member and a steering angle of the steering member.
3. The steering control device according to claim 2 , wherein, when the rotation speed of the electric motor is not more than a predetermined rotation speed, the determination unit is configured to determine that the driving force larger than the base driving force is to be set.
4. The steering control device according to claim 3 , wherein the additional driving force setting unit is configured to determine whether the additional driving force is to be set to zero, based on a steering angle speed of the steering member and a steering angle of the steering member.
5. The steering control device according to claim 2 , wherein the additional driving force setting unit is configured to determine whether the additional driving force is to be set to zero, based on a steering angle speed of the steering member and a steering angle of the steering member.
6. The steering control device according to claim 1 , wherein, when the rotation speed of the electric motor is not more than a predetermined rotation speed, the determination unit is configured to determine that the driving force larger than the base driving force is to be set.
7. The steering control device according to claim 6 , wherein the additional driving force setting unit is configured to determine whether the additional driving force is to be set to zero, based on a steering angle speed of the steering member and a steering angle of the steering member.
8. The steering control device according to claim 1 , wherein the additional driving force setting unit is configured to determine whether the additional driving force is to be set to zero, based on a steering angle speed of the steering member and a steering angle of the steering member.
9. An electric power steering device configured to control, by use of the steering control device according to claim 1 , steering of a steering wheel provided in a vehicle as the steering member.
10. An electric power steering device comprising:
an electric motor configured to apply an assist force to steering of a steering wheel of a vehicle;
a torque detection unit configured to detect steering torque of the steering wheel; and
a controller configured to, when the electric motor is unable to rotate under a base driving force of the electric motor that is based on the steering torque detected by the torque detection unit, set a driving force larger than the base driving force, wherein
the controller comprises:
a base driving force setting unit configured to set the base driving force of the electric motor based on the steering torque detected by the torque detection unit;
a determination unit configured to determine whether a driving force larger than the base driving force is to be set, based on a rotation speed of the electric motor;
an additional driving force setting unit configured to set an additional driving force to be added to the base driving force, based on a steering angle of the steering wheel; and
a final driving force setting unit configured to set a final driving force larger than the base driving force by adding the additional driving force to the base driving force, and
the additional driving force setting unit is configured to calculate a corrected steering angle by adding the steering angle calculated based on a rotation angle of the electric motor and a correcting steering angle calculated by multiplying the steering torque detected by the torque detection unit by a predetermined coefficient, and set the additional driving force based on a change in the corrected steering angle such that the final driving force overcomes a frictional force that is produced during a driving force of the electric motor being transmitted to a rolling wheel.