Steering device
A steering device is connected to a turning mechanism to which a part of a turning force is applied by a hydraulic mechanism. The steering device includes an electric motor, a rotation angle detector, and a steering control device. The steering control device is configured to acquire a target turning angle which is a target value of a turning angle of turning wheels, to control the electric motor such that a turning angle of the turning wheels reaches the target turning angle, to estimate a delay of an actual turning angle of the turning wheels with respect to the target turning angle based on a delay model with the detected rotation angle as an input, to output delay information, and to correct the target turning angle based on the delay information.
1. A steering device that is connected to a turning mechanism to which a part of a turning force is applied by a hydraulic mechanism, the steering device comprising:
an electric motor that outputs a driving force which is applied to the turning mechanism;
a rotation angle detector that detects a rotation angle based on rotation of the electric motor and outputs the detected rotation angle; and
a steering control device configured to
acquire a target turning angle which is a target value of a turning angle of turning wheels,
control the electric motor such that a turning angle of the turning wheels reaches the target turning angle,
estimate a delay of an actual turning angle of the turning wheels with respect to the target turning angle based on a delay model with the detected rotation angle as an input and output delay information, and
correct the target turning angle based on the delay information.
2. The steering device according to claim 1 , wherein the delay model which is provided in the steering control device is a transfer function of a delay system.
3. The steering device according to claim 1 , wherein the delay model which is provided in the steering control device is a nonlinear model.
4. The steering device according to claim 1 , wherein the steering control device is configured to acquire model information on the delay model which is acquired based on the target turning angle and the actual turning angle of the turning wheels.