Steering control apparatus
A steering control apparatus is obtained which includes an assist instruction-value correction device for calculating, based on a result of a friction transition-state determination device, an assist correction value in order to obtain an assist instruction-value after its correction being made by correcting a basic assist instruction-value so that a hysteresis width of steering torque increases at the time of turn-back steering, and an electric current driving device for driving a motor so that an electric current of the motor is coincident with an electric current instruction-value therefor after its correction being made on the basis of the assist instruction-value after its correction being made; and the friction transition-state determination device determines the friction transition-state by integrating a differential value of steering-shaft reaction torque using an integrator having a limiting function to an upper or lower limit value defined in advance.
1. A steering control apparatus, comprising:
a steering torque detection device for detecting steering torque of a steering mechanism steered by a driver of a wheeled vehicle;
a vehicle speed detection device for detecting a vehicle speed of the wheeled vehicle;
a motor for giving steering assist force thereby to the steering mechanism;
a steering-shaft reaction-torque calculation device for detecting or calculating steering-shaft reaction torque acting on a steering shaft of the steering mechanism;
a basic assist instruction-value calculation device for calculating a basic assist instruction-value being an electric current instruction-value to cause a current flow in the motor, based on steering torque detected by the steering torque detection device, and a vehicle speed detected by the vehicle speed detection device;
a friction transition-state determination device for determining a friction transition-state, based on the steering-shaft reaction torque;
an assist instruction-value correction device for calculating, based on a result of the friction transition-state determination device, an assist correction value in order to obtain an assist instruction-value after its correction being made by correcting the basic assist instruction-value so that a hysteresis width of steering torque increases at a time of turn-back steering; and
an electric current driving device for driving the motor so that an electric current instruction-value therefor after its correction being made on a basis of the assist instruction-value after its correction being made, wherein
the friction transition-state determination device determines a friction transition-state by integrating a differential value of the steering-shaft reaction torque using an integrator having a limiting function to an upper and lower limit value, and
the upper and lower limit value is defined based on a measured friction torque acting on the steering mechanism.
2. The steering control apparatus as set forth in claim 1 , wherein the steering-shaft reaction-torque calculation device calculates the steering-shaft reaction torque in accordance with said steering torque, and an electric current of the motor or an election current instruction-value therefor after its correction being made.
3. The steering control apparatus as set forth in claim 1 , wherein the assist instruction-value correction device comprises a correction-value calculation device for calculating a correction value as a basis for determination as to whether or not to perform correction of an assist instruction from a result of the friction transition-state determination device, and the steering-shaft reaction torque or said steering torque.
4. The steering control apparatus as set forth in claim 3 , wherein the assist instruction-value correction device comprises a correction-value calculation device for calculating a correction value as a basis for determination as whether or not to perform correction of an assist instruction from a result of the friction transition-state determination device, and the steering-shaft reaction torque or said steering torque.
5. The steering control apparatus as set forth in claim 3 , wherein the assist instruction-value correction device calculates a first correction value from the vehicle speed, and the steering-shaft reaction torque or said steering torque, and calculates the assist correction value by multiplying a result of the friction transition-state determination device by a multiplied value of the first correction value and a correction value from the correction value calculation device.
6. The steering control apparatus as set forth in claim 4 , wherein the assist instruction-value correction device calculates a first correction value from the vehicle speed, and the steering-shaft reaction torque or said steering torque, and calculates the assist correction value by multiplying a result of the friction transition-state determination device by a multiplied value of the first correction value and a correction value from the correction-value calculation device.
7. The steering control apparatus as set forth in claim 1 , wherein the upper and lower limit value is not a constant value.
8. The steering control apparatus as set forth in claim 1 , wherein the upper and lower limit value is modified in accordance with at least one of a vehicle speed, a steering angle, a steering torque, a steering-shaft reaction torque, a road-surface reaction torque, and an ambient temperature.