Electric power steering control system
In an electric power steering control system, a phase compensator of the steering torque is made of an analog circuit and an anti-phase compensator is made by the software of a microcomputer, thereby to eliminate the changes in the gain and the phase by the phase compensator of the analog circuit near the oscillation frequency, so that the steering torque signal equivalent to that of no phase compensation necessary for the computation at the observer is computed from the phase-compensated steering torque signal.
1. An electric power steering control system, comprising:
a torque detection means that detects a steering torque caused by a driver;
an analog phase compensator that performs phase compensation on the output of the torque detection means by means of an analog circuit;
a torque signal converter that A/D-converts the output of the analog phase compensator and fetches the output into a microcomputer;
a torque controller that computes an auxiliary torque current, which assists the steering torque, using the output of the torque signal converter;
a motor that generates a torque which assists the steering torque;
a current detection means that detects a current value to be conducted to the motor;
a rotating speed estimation means that estimates the rotating speed of the motor; and
a damping controller that computes a damping current, which is added to the auxiliary torque current, using the estimate value of the motor rotating speed estimated by the rotating speed estimation means, wherein:
the rotating speed estimation means includes a rotating speed observer that computes the estimate value of the rotating speed of the motor using the output of a torque opposite phase compensator which adjusts the phase and gain of the output of the torque signal converter, and the output of the current detection means.
2. The electric power steering control system according to claim 1 , wherein the torque opposite phase compensator adjusts the output of the torque signal converter by performing opposite characteristic computation for the analog phase compensator so as to convert the opposite characteristic into the frequency characteristic identical to that for the output of the torque detection means.
3. The electric power steering control system according to claim 2 , wherein the torque opposite phase compensator determines the opposite characteristic of the analog phase compensator so that a gain will diminish within a frequency range equal to or higher than a cutoff frequency on a high-frequency side of the analog phase compensator.
4. The electric power steering control system according to claim 3 , wherein the torque opposite phase compensator is formed with a low-pass filter.
5. The electric power steering control system according to claim 1 , wherein the rotating speed estimation means further comprises:
motor current steering component removal means that removes a component caused by steering from the output of the current detection means; and torque steering component removal means that removes a component caused by steering from the output of the torque detection means;
wherein the rotating speed observer computes the estimate value of the rotating speed of the motor using the current which has the steering component thereof removed by the motor current steering component removal means, and the steering torque outputted from the torque steering component removal means, and
wherein at least one of a motor current phase lead reducer that diminishes a phase lead caused by the motor current steering component removal means, and a torque phase lead reducer that diminishes a phase lead caused by the torque steering component removal means is included.