Motor driven power steering control apparatus for suppressing vibration
A motor-driven power steering control apparatus is achieved, which uses a small-amplitude pass filter, the filter filtering out a component having a small amplitude, to remove a steering component from dynamic state quantity such as a rotational speed signal, and to accurately extract only a vibration component having a small amplitude compared with the steering component, and controls the vibration component to be reduced.
1. A motor-driven power steering control apparatus for use with a car, including a torque sensor detecting steering torque applied by a driver, a torque controller calculating an assist torque current assisting the steering torque based on a steering torque signal detected by the torque sensor, and a motor generating assist torque with the assist torque current, comprising:
dynamic state quantity detection means detecting dynamic state quantity of the motor-driven power steering control apparatus;
a small-amplitude pass filter filtering out a vibration component having a small amplitude compared with a steering component from a detection output of the dynamic state quantity detection means and preventing amplitudes of the detection output which are larger than the small amplitude from passing, the small-amplitude pass filter including a hysteresis filter which performs hysteresis function processing having a hysteresis range corresponding to the vibration component, and a subtractor subtracting an output signal of the hysteresis filter from the output signal of the dynamic state quantity detection means; and
vibration suppression control means reducing a vibration component signal obtained by the small-amplitude pass filter;
wherein a feedback control loop, including a combiner between the assist torque current being output from the torque controller and a vibration suppression current being output from the vibration suppression control means, is established, to suppress a vibration component of the motor.
2. The motor-driven power steering control apparatus according to claim 1 , wherein,
the dynamic state quantity detection means includes rotational speed detection means detecting rotational speed of the motor.
3. The motor-driven power steering control apparatus according to claim 1 , wherein,
the dynamic state quantity detection means includes a torque sensor detecting the steering torque signal.
4. The motor-driven power steering control apparatus according to claim 1 , wherein,
the dynamic state quantity detection means includes rotation angle detection means detecting a rotation angle of the motor, and rotational speed calculation means calculating rotational speed from a detected rotation angle signal.
5. The motor-driven power steering control apparatus according to claim 1 , wherein:
the combiner includes a subtractor.
6. The motor-driven power steering control apparatus according to claim 1 , wherein:
the combiner includes an adder.