Electric power steering system
In an electric power steering system, a low-pass filter executes a low-pass filtering process on a detected steering torque value detected by a torque sensor. A steering torque deviation computing unit computes a deviation ΔT between a detected steering torque value T* obtained through the low-pass filtering process and the detected steering torque value detected by the torque sensor. A PI control unit generates a vibration compensation value used to lead the detected steering torque value to the steering torque value obtained through the low-pass filtering process, by executing PI computation on the steering torque deviation computed by the steering torque deviation computing unit.
1. An electric power steering system that applies steering assist force from an electric motor to a steered mechanism that transmits steering force to steered wheels, comprising:
a vehicle speed detector that detects a vehicle speed;
a steering angle detector that detects a steering angle;
a steering torque detector that detects a steering torque; and
a processor programmed to:
detect a steering velocity,
set a target steering torque value based on a detected steering angle value, a detected vehicle speed value, and a detected steering velocity value,
compute a target current value for leading the detected steering torque value to the target steering torque value, based on the set target steering torque value and the detected steering torque value, and
control the electric motor based on the computed target current value, wherein
the target steering torque value is set by:
setting a first target torque value corresponding to the detected steering angle value, based on the detected steering angle value,
setting a vehicle speed gain based on the detected vehicle speed value,
setting a second target torque value corresponding to the detected steering velocity value, based on the detected steering velocity value, and
computing the target steering torque value by adding the second target torque value to a value obtained by multiplying the first target torque value by the vehicle speed gain.
2. The electric power steering system according to claim 1 , wherein the first and second target torque values are not based on the detected vehicle speed.