Steering system
A steering system includes 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. The control unit is configured to control the motor such that a rotation speed of the steering wheel decreases gradually to zero when automatic rotation of the steering wheel is stopped, in a case where the steering wheel is automatically rotated as an adjustment process of adjusting a rotational position of the steering wheel.
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 is configured to
control the motor such that a rotation speed of the steering wheel decreases gradually to zero when automatic rotation of the steering wheel is stopped, in a case where the steering wheel is automatically rotated as an adjustment process of adjusting a rotational position of the steering wheel,
control the motor such that the rotation speed of the steering wheel increases gradually when the automatic rotation of the steering wheel is started, in the case where the steering wheel is automatically rotated as the adjustment process,
perform 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 adjustment of the rotational position of the steering wheel, and
gradually change the rotation speed of the steering wheel by gradually changing a value of the target steering angle to a final target steering angle that is set based on the point of view of the adjustment while limiting the value of the target steering angle, when the automatic rotation of the steering wheel is started and when the automatic rotation of the steering wheel is stopped.
2. The steering system according to claim 1 , wherein the adjustment process is 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.
3. The steering system according to claim 1 , further comprising
a stopper mechanism configured to restrict rotation of the steering wheel,
wherein the control unit is configured to cause the steering wheel to perform a rotating operation to a first operation end and then cause the steering wheel to perform a reverse rotating operation to a second operation end by controlling the motor, and to calculate 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, as the adjustment process.
4. 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.
5. The steering system according to claim 1 , wherein the control unit is configured to switch to normal reaction force control after the adjustment process is completed.