Steering system
A steering system includes a steering shaft; a motor configured to generate a torque applied to the steering shaft; and a control unit configured to control the motor. The control unit has a function of performing steering angle feedback control for causing a steering angle that is a rotation angle of a steering wheel to reach a target steering angle that is set based on a point of view of adjusting a rotational position of the steering wheel, as an adjustment process of adjusting the rotational position of the steering wheel. The control unit is configured to set a limit value for limiting a change range of the target steering angle with respect to the steering angle at each moment in a period in which automatic rotation of the steering wheel is hindered in a case where the automatic rotation is hindered while the adjustment process is being performed.
1. A steering system comprising:
a steering shaft that rotates along with an operation of a steering wheel;
a motor configured to generate a torque that is applied to the steering shaft; and
a control unit configured to control the motor,
wherein the control unit has a function of performing steering angle feedback control for causing a steering angle that is a rotation angle of the steering wheel to reach a target steering angle that is set based on a point of view of adjusting a rotational position of the steering wheel, as an adjustment process of adjusting the rotational position of the steering wheel, and
wherein the control unit is configured to:
in response to detecting that automatic rotation of the steering wheel is hindered while the adjustment process is being performed, set a limit value for limiting a change range of the target steering angle with respect to the steering angle at each moment in a period, such that a difference between the target steering angle and the steering angle is the limit value at each moment in the period.
2. The steering system according to claim 1 , wherein:
the control unit has a limiting function of limiting a change amount of the target steering angle per unit time; and
the control unit is configured to disable the limiting function in the period in which the automatic rotation of the steering wheel is hindered in the case where the automatic rotation is hindered while the adjustment process is being performed.
3. The steering system according to claim 1 , wherein the adjustment process includes a process of causing the rotational position of the steering wheel to correspond to a turning position of turning wheels of a vehicle when a power supply of the vehicle is switched from an off state to an on state.
4. The steering system according to claim 1 , further comprising
a stopper mechanism configured to restrict rotation of the steering wheel,
wherein the adjustment process includes a process of causing the steering wheel to perform a rotating operation to a first operation end and then causing the steering wheel to perform a reverse rotating operation to a second operation end by controlling the motor, and calculating a neutral position of the steering wheel based on rotation angles of the motor at a start time point and an end time point of the reverse rotating operation of the steering wheel.
5. The steering system according to claim 1 , wherein:
transmission of power between the steering shaft and turning wheels of a vehicle is cut off; and
the motor is configured to generate a steering reaction force that is applied to the steering shaft and that is the torque in a direction opposite to a steering direction.
6. The steering system according to claim 1 , wherein the limit value is a constant value, such that the difference between the target steering angle and the steering angle is the constant value at each moment in the period.