Electric power steering apparatus
A microcomputer is provided with an extracting section capable of extracting a specific frequency component from an input signal. The extracting section extracts, from a pinion angle corresponding to a signal indicating a state of the steering system, a frequency component corresponding to a vibration of a steering system caused by stress applied to steerable wheels. The extracting section outputs an effective value of the extracted frequency component as a power spectrum to a second computing section. In the case that the power spectrum output from the extracting section is equal to or more than a predetermined threshold value, the microcomputer enhances a torque inertia compensation control so as to suppress vibration of the steering system caused by the stress. In other words, the microcomputer increases a torque inertia compensation amount corresponding to a compensation component based on a steering torque differential value.
1. An electric power steering apparatus applied to a steering system that transmits a steering operation of a driver to a steerable wheel, the apparatus comprising:
a steering force assist device provided with a motor as a driving source, the steering force assist device applying an assist force for assisting the steering operation to the steering system;
control means controlling an actuation of the steering force assist device on the basis of a signal indicating a state of the steering system based on a rotation angle of a pinion shaft, wherein the control means computes a target assist force to be generated in the steering force assist device by adding a compensation component based on a differential value of a steering torque to a basic assist component; and
extracting means capable of extracting, from the signal indicating the state of the steering system, a specific frequency component corresponding to a vibration generated in the steering system on the basis of a stress applied to the steerable wheel,
wherein, when the effective value of the extracted specific frequency component is equal to or more than a predetermined threshold value, the control means increases the compensation component based on the differential value of the steering torque.
2. The electric power steering apparatus according to claim 1 , wherein the control means increases the compensation component in accordance with an increase in the effective value.
3. The electric power steering apparatus according to claim 1 , wherein the control means increases the compensation component only in the case that a vehicle speed exists in a predetermined speed range.
4. The electric power steering apparatus according to claim 1 , wherein, in the computation of the compensation component based on the differential value of the steering torque, a dead zone in which the compensation component comes to zero is set in the case that the absolute value of the differential value exists within a predetermined range, and wherein the control means abolishes the dead zone at a time of executing the control increasing the compensation component.