Electric power steering apparatus
An electric power steering apparatus which has a steering torque sensor to detect a steering torque, a current command value calculating section to calculate a current command value based on the steering torque, a motor to apply an assist torque, and a motor driving control section to drive and control the motor, comprises: a control function with an input steering angle; and a steering angle estimating/calculating section to calculate a front-wheel estimated steering angle and a rear-wheel estimated steering angle based on a 4 wheel speeds and calculate a 4-wheel estimated steering angle. The 4-wheel estimated steering angle is used for a steering angle control.
1. An electric power steering apparatus which has a steering torque sensor to detect a steering torque inputted into a steering mechanism, a current command value calculating section to calculate a current command value based on at least said steering torque, a motor to apply an assist torque to said steering mechanism, and a motor driving control section to drive and control said motor based on said current command value, comprises:
a control function with an input steering angle;
a steering angle estimating and calculating section of a control unit to calculate a front-wheel estimated steering angle and a rear-wheel estimated steering angle based on 4 wheel speeds and calculate a 4-wheel estimated steering angle by using said front-wheel estimated steering angle and said rear-wheel estimated steering angle;
a correction gain calculating section of the control unit to calculate a correction gain to correct said 4-wheel estimated steering angle or an output of a control used said 4-wheel estimated steering angle based on said 4 wheel speeds, said front-wheel estimated steering angle and said rear-wheel estimated steering angle;
wherein said correction gain calculating section of the control unit comprises a vehicle slip judging section to output a vehicle slip gain based on said front-wheel estimated steering angle and said rear-wheel estimated steering angle, a driving-wheel slip judging section to output a driving-wheel slip gain based on said 4 wheel speeds, and a multiplying section to multiply said vehicle slip gain by said driving-wheel slip gain thereby to output said correction gain,
wherein said 4-wheel estimated steering angle is used for a steering angle control.
2. The electric power steering apparatus according to claim 1 , wherein said vehicle slip judging section determines a gradual-change amount for vehicle slip gain corresponding to a first absolute value of a first difference between said front-wheel estimated steering angle and said rear-wheel estimated steering angle, and outputs said vehicle slip gain by changing with said gradual-change amount for vehicle slip gain.
3. The electric power steering apparatus according to claim 2 , wherein said gradual-change amount for vehicle slip gain is changed corresponding to a vehicle speed.
4. The electric power steering apparatus according to claim 3 , wherein said driving-wheel slip judging section judges a gradual-change amount for driving wheel slip gain corresponding to a second absolute value of a second difference between a front wheel speed and a rear wheel speed based on said 4 wheel speeds, and outputs said driving-vehicle slip gain by changing with said gradual-change amount for driving-vehicle slip gain.
5. The electric power steering apparatus according to claim 3 , wherein said steering angle estimating and calculating section comprises a weighting section to change and calculate weights of said front-wheel estimated steering angle and said rear-wheel estimated steering angle corresponding to said vehicle speed, a steering angle speed, or said steering torque.
6. The electric power steering apparatus according to claim 5 , wherein said weighting section comprises:
a sensitive table to output a front-wheel weight (X) and a rear-wheel weight (Y) corresponding to said vehicle speed, said steering angle speed, or said steering torque,
a first multiplying section to multiply said front-wheel estimated steering angle by said front-wheel weight (X),
a second multiplying section to multiply said rear-wheel estimated steering angle by said rear-wheel weight (Y), and
an adding section to add the multiplied results at said first multiplying section and said second multiplying section thereby to output said 4-wheel estimated steering angle.
7. The electric power steering apparatus according to claim 2 , wherein said driving-wheel slip judging section judges a gradual-change amount for driving wheel slip gain corresponding to a second absolute value of a second difference between a front wheel speed and a rear wheel speed based on said 4 wheel speeds, and outputs said driving-vehicle slip gain by changing with said gradual-change amount for driving-vehicle slip gain.
8. The electric power steering apparatus according to claim 2 , wherein said steering angle estimating and calculating section comprises a weighting section to change and calculate weights of said front-wheel estimated steering angle and said rear-wheel estimated steering angle corresponding to a vehicle speed, a steering angle speed, or said steering torque.
9. The electric power steering apparatus according to claim 8 , wherein said weighting section comprises:
a sensitive table to output a front-wheel weight (X) and a rear-wheel weight (Y) corresponding to said vehicle speed, said steering angle speed, or said steering torque,
a first multiplying section to multiply said front-wheel estimated steering angle by said front-wheel weight (X),
a second multiplying section to multiply said rear-wheel estimated steering angle by said rear-wheel weight (Y), and
an adding section to add the multiplied results at said first multiplying section and said second multiplying section thereby to output said 4-wheel estimated steering angle.
10. The electric power steering apparatus according to claim 1 , wherein said driving-wheel slip judging section judges a gradual-change amount for driving wheel slip gain corresponding to a second absolute value of a second difference between a front wheel speed and a rear wheel speed based on said 4 wheel speeds, and outputs said driving-vehicle slip gain by changing with said gradual-change amount for driving-vehicle slip gain.
11. The electric power steering apparatus according to claim 1 , wherein said steering angle estimating and calculating section comprises a weighting section to change and calculate weights of said front-wheel estimated steering angle and said rear-wheel estimated steering angle corresponding to a vehicle speed, a steering angle speed, or said steering torque.
12. The electric power steering apparatus according to claim 11 , wherein said weighting section comprises:
a sensitive table to output a front-wheel weight (X) and a rear-wheel weight (Y) corresponding to said vehicle speed, said steering angle speed, or said steering torque,
a first multiplying section to multiply said front-wheel estimated steering angle by said front-wheel weight (X),
a second multiplying section to multiply said rear-wheel estimated steering angle by said rear-wheel weight (Y), and
an adding section to add the multiplied results at said first multiplying section and said second multiplying section thereby to output said 4-wheel estimated steering angle.
13. An electric power steering apparatus which has a steering torque sensor to detect a steering torque inputted into a steering mechanism, a current command value calculating section to calculate a current command value based on at least said steering torque, a motor to apply an assist torque to said steering mechanism, and a motor driving control section to drive and control said motor based on said current command value, comprises:
a steering angle estimating and calculating section of a control unit to calculate a front-wheel estimated steering angle and a rear-wheel estimated steering angle based on 4 wheel speeds, and calculate a 4-wheel estimated steering angle by using said front-wheel estimated steering angle and said rear-wheel estimated steering angle;
a correction gain calculating section of the control unit to calculate a correction gain to correct an irregular output based on said 4 wheel speeds, said front-wheel estimated steering angle and said rear-wheel estimated steering angle; and
a steering wheel return control section of the control unit to calculate a steering wheel return control value based on said 4 wheel speeds, said correction gain, a vehicle speed and a motor angular speed estimated-value,
wherein said correction gain calculating section comprises a vehicle slip judging section to output a vehicle slip gain based on said front-wheel estimated steering angle and said rear-wheel estimated steering angle, a driving-wheel slip judging section to output a driving-wheel slip gain based on said 4 wheel speeds, and a multiplying section to multiply said vehicle slip gain by said driving-wheel slip gain thereby to output said correction gain, and
wherein said current command value is corrected by said steering wheel return control value.
14. The electric power steering apparatus according to claim 13 , wherein said steering angle estimating and calculating section comprises a weighting section to change and calculate weights of said front-wheel estimated steering angle and said rear-wheel estimated steering angle corresponding to said vehicle speed, a steering angle speed, or said steering torque.