Controller for steering device
In a controller for a steering device, the steering device includes a structure where motive power transmission between a steering unit and a turning unit is separated. The controller includes a control circuit configured to control operation of a steering-side motor that is provided in the steering unit to give steering reaction force that is force against the steering input into the steering unit. In a case where turning of the turning wheels to one direction is restricted, the control circuit is configured to calculate restriction reaction force for restricting steering that is to turn the turning wheels to the one direction. The control circuit is configured to calculate the restriction reaction force based on information on the steering unit.
1. A controller for a steering device of a vehicle that has a steering wheel and turning wheels, the steering device including a structure where motive power transmission between a steering unit and a turning unit is separated, the turning unit being configured to turn the turning wheels in accordance with steering that is input into the steering wheel that is coupled with the steering unit,
the controller comprising a control circuit configured to control operation of a steering-side motor of the steering unit so as to give the steering wheel a steering reaction force that is force against the steering input into the steering wheel of the steering unit, wherein:
the control circuit is configured to, in a case where turning of the turning wheels to one direction is restricted, calculate a restriction reaction force for restricting steering that is to turn the turning wheels to the one direction; and
the control circuit is configured to calculate the restriction reaction force based on information on the steering unit by:
(i) storing a steering end angle of the steering wheel that is set closer to a neutral position than a steering limit position of the steering wheel;
(ii) setting a changed steering end angle based on the steering end angle that is stored and a vehicle speed of the vehicle;
(iii) calculating an end reaction force based on the changed steering end angle that has been set and a present steering angle of the steering wheel;
(iv) calculating a contact-with-obstacle reaction force based on a current value of a turning-side motor of the turning unit, the contact-with-obstacle reaction force being calculated in parallel with the end reaction force; and
(v) selecting one of the end reaction force and the contact-with-obstacle reaction force as the restriction reaction force.
2. The controller according to claim 1 , wherein:
the control circuit is configured to set a contact position, the contact position being obtained by converting a turning position of the turning wheels, when the control circuit determines that one of the turning wheels comes into contact with an obstacle, into a steering position of the steering wheel based on a correspondence relation of a steering range of the steering wheel to a turning range of the turning wheels; and
the control circuit calculates the contact-with-obstacle reaction force based on deviation between the contact position and a present steering position of the steering wheel.
3. The controller according to claim 1 , wherein:
the control circuit selects as the restriction reaction force, the one of the end reaction force and the contact-with-obstacle reaction force whose absolute value is largest.
4. The controller according to claim 1 , wherein:
the control circuit calculates the end reaction force based on an angle margin Δθie which is a value obtained by subtracting an absolute value of a target steering angle from the changed steering end angle that has been set.
5. The controller according to claim 4 , wherein:
an absolute value of the end reaction force increases as the angle margin Δθie decreases.