Electric power steering apparatus
An assisting command value calculating unit calculates a first assisting factor on the basis of the value of a torque differential control volume added to a basic assist control volume based on a steering torque value, while increasing or decreasing, on the basis of an assisting gradient, the torque differential control volume based on a torque differential value. The pinion angle F/B control unit calculates a pinion angle command value, capable of being converted to a steering angle of the steering wheel, on the basis of the steering torque and the first assisting factor, and executes rotational angle feedback control. The assisting command value calculating unit calculates an assisting command value on the basis of the value of a second assisting factor, calculated by the pinion angle F/B control unit, added to the first assisting factor.
1. An electric power steering apparatus comprising a steering force assisting device and a control unit, wherein
the steering force assisting device comprises a motor as a drive source and applies assist force to a steering system,
the control unit sets a basic component of the assist force based on steering torque transmitted to a steering shaft,
the control unit increases/decreases a compensation component based on a change rate of the basic component relative to a change in the steering torque, and calculates a first assist component based on a value obtained by adding the compensation component to the basic component,
the control unit calculates a rotation angle instruction value of a rotation shaft that can be converted into a turning angle of a turning wheel based on the steering torque and the first assist component,
the control unit executes a rotation angle feedback control based on the rotation angle instruction value to calculate a second assist component, and
the control unit controls an actuation of the steering force assisting device based on an assist instruction value that is on a basis of a value obtained by adding the second assist component to the first assist component.
2. The electric power steering apparatus according to claim 1 , wherein
the control unit calculates input torque transmitted to the rotation shaft based on an addition value of the steering torque with the first assist component, and
the control unit calculates the rotation angle instruction value based on an ideal model of the rotation angle relative to input torque.
3. The electric power steering apparatus according to claim 2 , wherein
the ideal model is represented by a spring term based on a rotation angle, a viscosity term based on a rotation angular speed, and an inertia term on a basis of a value obtained by subtracting a spring component and a viscosity component that are respective control outputs by the spring term and the viscosity term from the input torque, and
the control unit comprises a setting unit that is capable of changing a characteristic of the spring term.
4. The electric power steering apparatus according to claim 1 , wherein
the control unit executes a current feedback control based on a current instruction value corresponding to the assist instruction value, supplies drive power to the motor, and controls an actuation of the steering force assisting device, and
the control unit corrects a value of the first assist component utilized for a calculation of the rotation angle instruction value based on a current deviation between the current instruction value and an actual current value.
5. The electric power steering apparatus according to claim 1 , wherein
the control unit executes a phase compensation on detected steering torque,
the control unit calculates the basic component based on steering torque having undergone the phase compensation, and
the control unit changes a characteristic of the phase compensation based on a change rate of the basic component relative to a change in the steering torque.
6. The electric power steering apparatus according to claim 2 , wherein
the control unit calculates a friction component based on a rotation angular speed of the rotation shaft, and
the control unit calculates the input torque based on a value obtained by subtracting the friction component from an addition value of the steering torque and the first assist component.
7. The electric power steering apparatus according to claim 1 , wherein
the control unit executes a current feedback control based on a current instruction value corresponding to the assist instruction value, and
the control unit supplies drive power to the motor to control an actuation of the steering force assisting device and corrects a value of the second assist component based on a deviation between the current instruction value and an actual current value.
8. The electric power steering apparatus according to claim 1 , wherein when an actual rotation angle utilized for an execution of the rotation angle feedback control is undetectable, the control unit terminates a calculation of the second assist component.
9. The electric power steering apparatus according to claim 1 , further comprising:
a road information compensating unit that calculates a road information compensation component which reduces the second assist component,
wherein a magnitude of the second assist component is adjustable in accordance with a magnitude of the road information compensation component.
10. The electric power steering apparatus according to claim 9 , wherein the faster a vehicle speed is, the smaller the road information compensation component calculated by the road information compensating unit becomes.
11. The electric power steering apparatus according to claim 9 , wherein when an actual rotation angle utilized for the rotation angle feedback control is undetectable, the road information compensating unit cancels the second assist component by the road information compensation component.
12. The electric power steering apparatus according to claim 9 , wherein
the control unit calculates the rotation angle instruction value based on an ideal model of the rotation angle relative to input torque transmitted to the rotation shaft, and executes the rotation angle feedback control,
the road information compensating unit estimates a divergence from the ideal model based on at least either one of a rotation angle deviation of the rotation shaft and a rotation angular speed deviation, and
the road information compensating unit changes a magnitude of the road information compensation component in accordance with the divergence.
13. The electric power steering apparatus according to claim 12 , wherein when estimating that an actual condition differs from the ideal model based on at least either one of the rotation angle deviation of the rotation shaft and the rotation angular speed deviation, the road information compensating unit cancels the second assist component by the road information compensation component.
14. The electric power steering apparatus according to claim 9 , wherein the road information compensating unit decreases the road information compensation component at a time of braking.
15. The electric power steering apparatus according to claim 9 , wherein the road information compensating unit decreases the road information compensation component when a vehicle is stopping.