Electric power-steering control apparatus
A steering-torque detecting unit detects a steering torque applied by a driver as a steering torque signal. A phase-lag compensation unit performs an operation having a frequency response characteristic of multiplying a phase-lag compensation by a constant for the steering torque signal based on a signal obtained by applying an amplification by a first gain and a low pass filter on the steering torque signal and a signal obtained by applying an amplification by a second gain on the steering torque signal. A current control unit controls a current applied to a motor to follow a current command that is obtained based on an output of the phase-lag compensation unit.
1. An electric power-steering control apparatus that assists in steering wheels of a vehicle in response to a steering torque applied by a driver by using a driving force of a motor, the electric power-steering control apparatus comprising:
a steering-torque detecting unit that detects the steering torque as a steering torque signal;
a phase-lag compensation unit that performs an operation having a frequency response characteristic of multiplying a phase-lag compensation by a constant for the steering torque signal based on a first signal obtained by applying an amplification by a first gain and a low pass filter on the steering torque signal and a second signal obtained by applying an amplification by at least a second gain on the steering torque signal; and
a current control unit that controls a current applied to the motor to follow a current command that is obtained based on an output of the phase-lag compensation unit.
2. The electric power-steering control apparatus according to claim 1 , wherein the phase-lag compensation unit determines the first gain using at least the steering torque signal.
3. The electric power-steering control apparatus according to claim 1 , wherein
the phase-lag compensation unit includes
a low-frequency compensation unit that applies the amplification by the first gain and the low pass filter on the steering torque signal to generate the first signal,
a proportional compensation unit that applies the amplification by the second gain on the steering torque signal to generate the second signal, and
an adder that adds the first signal and the second signal, and
the current command is obtained based on an output of the adder.
4. The electric power-steering control apparatus according to claim 3 , wherein the low-frequency compensation unit includes
a low-frequency amplification unit that amplifies the steering torque signal by the first gain, and
a low pass filter that passes a low frequency component of an output of the low-frequency amplification unit.
5. The electric power-steering control apparatus according to claim 1 , wherein
the phase-lag compensation unit includes
a low-frequency amplification unit that amplifies the steering torque signal by the first gain,
a proportional compensation unit that amplifies the steering torque signal by the second gain, and
a frequency combining filter that combines a low frequency component of an output of the low-frequency amplification unit and a high frequency component of an output of the proportional compensation unit, and
the current command is obtained based on an output of the frequency combining filter.
6. The electric power-steering control apparatus according to claim 1 , wherein
the phase-lag compensation unit includes
a frequency separation filter that separates a low frequency component and a high frequency component of the steering torque signal,
a low-frequency amplification unit that amplifies the low frequency component of the steering torque signal by the first gain,
a proportional compensation unit that amplifies the high frequency component of the steering torque signal by the second gain, and
an adder that adds an output of the low-frequency amplification unit and an output of the proportional compensation unit, and
the current command is obtained based on an output of the adder.
7. The electric power-steering control apparatus according to claim 1 , further comprising a high-frequency compensation unit that applies an amplification by a third gain and a differentiation or a pseudo differentiation on the steering torque signal, wherein
the current command is obtained based on a signal obtained by adding an output of the phase-lag compensation unit and an output of the high-frequency compensation unit.
8. The electric power-steering control apparatus according to claim 1 , further comprising a phase-lead compensation unit that performs a calculation having a characteristic of a phase-lead compensation filter for an output of the phase-lag compensation unit and outputs a result of the calculation as the current command.