Controller for steering system and method for controlling steering system
A controller includes a control circuit configured to calculate a target corresponding steered angle that is a target value of a corresponding steered angle based on the transmission ratio associated with the vehicle speed. The corresponding steered angle is a rotation angle of a rotation shaft, which is convertible to the steered angle whose magnitude is changed relative to a value indicating the steering angle. The control circuit is configured to control the actuation of the motor so that an actual corresponding steered angle is a final target corresponding steered angle that is based on the target corresponding steered angle. The control circuit is configured to calculate the target corresponding steered angle by adjusting the transmission ratio based on a value indicating acceleration or deceleration of a vehicle.
1. A controller for a steering system, the steering system being configured such that a transmission ratio between a steering angle of a steering wheel and a steered angle of a steered wheel is variable based on a vehicle speed through actuation of a motor serving as a drive source, the steering wheel being coupled to a steering mechanism, the steered wheel being coupled to a steering operation shaft of the steering mechanism, the controller comprising
a control circuit configured to calculate a target corresponding steered angle that is a target value of a corresponding steered angle based on the transmission ratio associated with the vehicle speed, the corresponding steered angle being a rotation angle of a rotation shaft, which is convertible to the steered angle whose magnitude is changed relative to a value indicating the steering angle,
the control circuit being configured to control the actuation of the motor so that an actual corresponding steered angle is a final target corresponding steered angle that is based on the target corresponding steered angle, and
the control circuit being configured to calculate the target corresponding steered angle by adjusting the transmission ratio based on a value indicating acceleration or deceleration of a vehicle.
2. The controller for the steering system according to claim 1 , wherein
the control circuit is configured to calculate a phase-compensated component by performing phase compensation for the value indicating the steering angle,
the control circuit is configured to calculate the final target corresponding steered angle based on the target corresponding steered angle and the phase-compensated component, and
the control circuit is configured to calculate the phase-compensated component by adjusting a phase compensation amount based on the value indicating the acceleration or deceleration of the vehicle.
3. The controller for the steering system according to claim 1 , wherein the value indicating the acceleration or deceleration of the vehicle is any one of a longitudinal acceleration of the vehicle, a vehicle speed change amount, and a longitudinal load to be applied to the steered wheel in a longitudinal direction of the vehicle.
4. A method for controlling a steering system, the steering system including a control circuit and being configured such that a transmission ratio between a steering angle of a steering wheel and a steered angle of a steered wheel is variable based on a vehicle speed through actuation of a motor serving as a drive source, the steering wheel being coupled to a steering mechanism, the steered wheel being coupled to a steering operation shaft of the steering mechanism, the method comprising:
calculating, by the control circuit, a target corresponding steered angle that is a target value of a corresponding steered angle based on the transmission ratio associated with the vehicle speed, the corresponding steered angle being a rotation angle of a rotation shaft, which is convertible to the steered angle whose magnitude is changed relative to a value indicating the steering angle;
controlling, by the control circuit, the actuation of the motor so that an actual corresponding steered angle is a final target corresponding steered angle that is based on the target corresponding steered angle; and
calculating, by the control circuit, the target corresponding steered angle by adjusting the transmission ratio based on a value indicating acceleration or deceleration of a vehicle.