Steering control device and steering control method
A steering torque control process includes a process of calculating a manipulated variable for controlling steering torque to target steering torque by using a proportional element and a derivative element according to a difference between the steering torque and the target steering torque. At least one of the two elements, namely the proportional element and the derivative element, includes an enlarging phase controller. The enlarging phase controller is a controller that enlarges a degree to which a phase of the derivative element is advanced with respect to a phase of the proportional element.
1 . A steering control device that operates a motor mechanically connected to an operating member to be operated by a driver to steer a vehicle, wherein
the steering control device is configured to perform a steering torque control process and an operation process,
the steering torque control process includes a process of calculating a manipulated variable for controlling steering torque to target steering torque by using a proportional element and a derivative element according to a difference between the steering torque and the target steering torque,
the operation process is a process of operating a drive circuit for the motor in order to control torque of the motor according to the manipulated variable,
the steering torque is torque input to the operating member,
at least one of the following two elements includes an enlarging phase controller: the proportional element and the derivative element, and
the enlarging phase controller is configured to enlarge a degree to which a phase of the derivative element is advanced with respect to a phase of the proportional element.
2 . The steering control device according to claim 1 , wherein
the proportional element includes a proportional phase controller that is the enlarging phase controller,
the proportional phase controller is configured to retard the phase of the proportional element, the derivative element includes a derivative phase controller that is the enlarging phase controller, and
the derivative phase controller is configured to advance the phase of the derivative element.
3 . The steering control device according to claim 1 , wherein
the proportional element includes a proportional phase controller that is the enlarging phase controller, and
the proportional phase controller is configured to retard the phase of the proportional element.
4 . The steering control device according to claim 1 , wherein
the derivative element includes a derivative phase controller that is the enlarging phase controller, and
the derivative phase controller is configured to advance the phase of the derivative element.
5 . The steering control device according to claim 2 , wherein the derivative phase controller is configured to advance a phase of a predetermined frequency component.
6 . The steering control device according to claim 4 , wherein the derivative phase controller is configured to advance a phase of a predetermined frequency component.
7 . The steering control device according to claim 5 , wherein
the derivative phase controller is a first derivative phase controller, the derivative element includes a second derivative phase controller in addition to the first
derivative phase controller, and
the second derivative phase controller is configured to retard a phase of a frequency component higher than the predetermined frequency component in an output of the derivative element.
8 . The steering control device according to claim 6 , wherein
the derivative phase controller is a first derivative phase controller, the derivative element includes a second derivative phase controller in addition to the first
derivative phase controller, and
the second derivative phase controller is configured to retard a phase of a frequency component higher than the predetermined frequency component in an output of the derivative element.
9 . The steering control device according to claim 2 , wherein the proportional phase controller is a first-order lag element.
10 . The steering control device according to claim 3 , wherein the proportional phase controller is a first-order lag element.
11 . The steering control device according to claim 2 , wherein the derivative phase controller is a phase controller with a relative degree of zero.
12 . The steering control device according to claim 4 , wherein the derivative phase controller is a phase controller with a relative degree of zero.
13 . The steering control device according to claim 7 , wherein the second derivative phase controller is a first-order lag element.
14 . The steering control device according to claim 8 , wherein the second derivative phase controller is a first-order lag element.
15 . The steering control device according to claim 1 , wherein the derivative element takes the difference between the steering torque and the target steering torque as an input.
16 . The steering control device according to claim 1 , wherein the derivative element takes the steering torque as an input.
17 . The steering control device according to claim 1 , wherein the steering control device is configured to perform the operation process with the operating member and a steered wheel of the vehicle being mechanically disconnected from each other.
18 . A steering control method for operating a motor mechanically connected to an operating member to be operated by a driver to steer a vehicle, the steering control method comprising:
performing a steering torque control process; and
performing an operation process, wherein
the steering torque control process includes a process of calculating a manipulated variable for controlling steering torque to target steering torque by using a proportional element and a derivative element according to a difference between the steering torque and the target steering torque,
the operation process is a process of operating a drive circuit for the motor in order to control torque of the motor according to the manipulated variable,
the steering torque is torque input to the operating member, and
the steering torque control process includes a process of enlarging a degree to which a phase of the derivative element is advanced with respect to a phase of the proportional element, by providing an enlarging phase controller in at least one of the following two elements: the proportional element and the derivative element.