Electric power steering apparatus
[Problem] An object of the present invention is to provide a high-performance electric power steering apparatus that can smoothly switch a steering control mode with a simple structure and does not make a driver uncomfortable when the driver steers a handle in an automatic steering control. [Means for Solving the Problem] The present invention is the electric power steering apparatus that has a function, which switches between a manual steering control which drives a motor by the first motor current command value calculated based on at least a steering torque and an automatic steering control which drives the motor by the second motor current command value calculated at a steering angle control section so that an actual steering angle follows-up a target steering angle, comprising: a target steering angle correcting section that performs a calculation process for the steering torque depending on a steering state and vehicle speed and outputs a target steering angle correction value, and a correction outputting section that corrects the target steering angle by using the target steering angle correction value and inputs a corrected correction target steering angle into the steering angle control section.
1. An electric power steering apparatus that has a function, which switches between a manual steering control which drives a motor by a first motor current command value calculated based on at least a steering torque and an automatic steering control which drives said motor by a second motor current command value calculated at a steering angle control section so that an actual steering angle follows-up a target steering angle, comprising:
a target steering angle correcting section that performs a calculation process for said steering torque depending on a steering state and a vehicle speed and outputs a target steering angle correction value, and
a correction outputting section that corrects said target steering angle by using said target steering angle correction value and inputs a corrected correction target steering angle into said steering angle control section;
wherein said target steering angle correcting section comprises:
a phase compensating section that performs a phase lead compensation or a phase delay compensation to said steering torque based on said steering state;
a dead band gain section that inputs a first compensation steering torque from said phase compensating section, has a dead band at a region which said first compensation steering torque is small, and outputs a second compensation steering torque which increases in a same direction as an increasing direction of said first compensation steering torque depending on said vehicle speed; and
a limiter that limits an upper limit value and a lower limit value of said second compensation steering torque depending on said vehicle speed, and outputs said target steering angle correction value.
2. The electric power steering apparatus according to claim 1 , wherein a second phase compensating section is disposed at a rear stage of said dead band gain section.
3. The electric power steering apparatus according to claim 1 , wherein an output gain of said dead band gain section is smaller as said vehicle speed is higher.
4. The electric power steering apparatus according to claim 1 , wherein a limit value of said limiter is smaller as said vehicle speed is higher.
5. The electric power steering apparatus according to claim 1 , wherein said dead band is variably changed depending on said vehicle speed.
6. The electric power steering apparatus according to claim 1 , wherein said steering state is a steering-forward maneuver or a steering-backward maneuver of a handle.
7. The electric power steering apparatus according to claim 6 , wherein a judgment of said steering-forward maneuver and said steering-backward maneuver is performed based on a relationship between said actual steering angle and a motor angular velocity, or a relationship between said actual steering angle and a steering angular velocity, or a relationship between said steering torque and a steering angular velocity, or a relationship between said steering angular velocity and a deviation between said target steering angle and said actual steering angle, or a relationship between a deviation between a change rate of said target steering angle and said steering angular velocity and a deviation between said target steering angle and a steering angle.
8. The electric power steering apparatus according to claim 1 , wherein said correction outputting section is an adding section.
9. An electric power steering apparatus that has a function, which switches between a manual steering control which drives a motor by a first motor current command value calculated based on at least a steering torque and an automatic steering control which drives said motor by a second motor current command value calculated at a steering angle control section so that an actual steering angle follows-up a target steering angle, comprising:
a target steering angle correcting section that performs a calculation process for said steering torque depending on a steering state and a vehicle speed and outputs a target steering angle correction value; and
a correction outputting section that corrects said target steering angle by using said target steering angle correction value and inputs a corrected correction target steering angle into said steering angle control section,
wherein said target steering angle correcting section comprises:
a dead band gain section that inputs said steering torque, has a dead band at a region which said steering torque is small, and outputs a first compensation steering torque which increases in a same direction as an increasing direction of said steering torque depending on said vehicle speed;
a phase compensating section that performs a phase lead compensation or a phase delay compensation to said first compensation steering torque based on said steering state; and
a limiter that limits an upper limit value and a lower limit value of a second compensation steering torque from said phase compensating section depending on said vehicle speed, and outputs said target steering angle correction value.
10. The electric power steering apparatus according to claim 9 , wherein a second phase compensating section is disposed at a front stage of said dead band gain section.
11. The electric power steering apparatus according to claim 9 , wherein an output gain of said dead band gain section is smaller as said vehicle speed is higher.
12. The electric power steering apparatus according to claim 9 , wherein a limit value of said limiter is smaller as said vehicle speed is higher.
13. The electric power steering apparatus according to claim 9 , wherein said dead band is variably changed depending on said vehicle speed.
14. The electric power steering apparatus according to claim 9 , wherein said steering state is a steering-forward maneuver or a steering-backward maneuver of a handle.
15. The electric power steering apparatus according to claim 14 , wherein a judgment of said steering-forward maneuver and said steering-backward maneuver is performed based on a relationship between said actual steering angle and a motor angular velocity, or a relationship between said actual steering angle and a steering angular velocity, or a relationship between said steering torque and a steering angular velocity, or a relationship between said steering angular velocity and a deviation between said target steering angle and said actual steering angle, or a relationship between a deviation between a change rate of said target steering angle and said steering angular velocity and a deviation between said target steering angle and a steering angle.
16. The electric power steering apparatus according to claim 9 , wherein said correction outputting section is an adding section.