Electric power steering apparatus and controlling method
An electric power steering apparatus includes a control unit that calculates an assist controlled variable based on a plurality of types of state variables indicating steering statuses and controls a motor that serves as a generation source of an assist force applied to a steering mechanism of a vehicle based on the assist controlled variable. The control unit is configured to separately set limit values, which limit a change range of the assist controlled variable according to the respective state variables used to calculate the assist controlled variable, to the respective state variables, add up the limit values to generate ultimate limit value for the assist controlled variable, and perform limitation processing to limit the ultimate limit value for an assist controlled variable having a sign opposite to a sign of a steering torque that is one of the plurality of types of state variables.
1. An electric power steering apparatus comprising:
a control unit that calculates an assist controlled variable based on a plurality of types of state variables indicating steering statuses and controls a motor that serves as a generation source of an assist force applied to a steering mechanism of a vehicle based on the assist controlled variable, wherein
the control unit is configured to separately set limit values, which limit a change range of the assist controlled variable according to the respective state variables used to calculate the assist controlled variable, to the respective state variables, arithmetically add up the limit values to generate ultimate limit value for the assist controlled variable, and perform limitation processing to limit the ultimate limit value for an assist controlled variable having a sign opposite to a sign of a steering torque that is one of the plurality of types of state variables.
2. The electric power steering apparatus according to claim 1 , wherein
the limit values separately set to the respective state variables include a first limit value group used to limit an assist controlled variable having a sign same as a sign of a steering torque and a second limit value group used to limit an assist controlled variable having a sign opposite to the sign of the steering torque,
the control unit is configured to add up the limit values constituting the first limit value group to calculate first added value, add up the limit values constituting the second limit value group to calculate second added value, and add up the first added value and the second added value to calculate third added value as the ultimate limit value for the assist controlled variable, and
the control unit is configured to limit the third added value to limit the ultimate limit value for the assist controlled variable having the sign opposite to the sign of the steering torque.
3. The electric power steering apparatus according to claim 2 , wherein
the control unit is configured to perform limitation processing on the third added value when an absolute value of the steering torque reaches a setting value.
4. The electric power steering apparatus according to claim 3 , wherein
the control unit has a guard map that defines a relationship between the steering torque and limit values for the third added value and has a characteristic in which the limit values for the third added value gradually decrease toward zero after an absolute value of the steering torque reaches the setting value, and
the control unit is configured to decrease the limit values for the third added value toward zero based on the guard map as the limitation processing on the third added value.
5. The electric power steering apparatus according to claim 3 , wherein
the control unit has a torque gain map that defines a relationship between the steering torque and a gain and has a characteristic in which the gain gradually decreases toward zero after the absolute value of the steering torque reaches a setting value, and
the control unit is configured to multiply the third added value by the gain based on the torque gain map as the limitation processing on the third added value.
6. The electric power steering apparatus according to claim 1 , wherein
the limit values separately set to the respective state variables include a first limit value group used to limit an assist controlled variable having a sign same as a sign of a steering torque and a second limit value group used to limit an assist controlled variable having a sign opposite to the sign of the steering torque,
the control unit is configured to add up the limit values constituting the first limit value group to calculate first added value, add up the limit values constituting the second limit value group to calculate second added value, and add up the first added value and the second added value to calculate third added value as the ultimate limit value for the assist controlled variable, and
the control unit is configured to limit the second added value to limit the ultimate limit value for the assist controlled variable having the sign opposite to the sign of the steering torque.
7. The electric power steering apparatus according to claim 6 , wherein
the control unit is configured to limit the second added value according to the first added value.
8. The electric power steering apparatus according to claim 6 , wherein
the control unit is configured to perform limitation processing on the second added value when an absolute value of the steering torque reaches a setting value.
9. The electric power steering apparatus according to claim 8 , wherein
the control unit has a guard map that defines a relationship between the steering torque and limit values for the second added value and has a characteristic in which the limit values for the second added value gradually decrease toward zero after an absolute value of the steering torque reaches the setting value, and
the control unit is configured to decrease the limit values for the second added value toward zero based on the guard map as the limitation processing on the second added value.
10. The electric power steering apparatus according to claim 8 , wherein
the control unit has a torque gain map that defines a relationship between the steering torque and a gain and has a characteristic in which the gain gradually decreases toward zero after an absolute value of the steering torque reaches the setting value, and
the control unit is configured to multiply the second added value by the gain based on the torque gain map as the limitation processing on the second added value.
11. A controlling method for an electric power steering apparatus, the method comprising:
calculating an assist controlled variable based on a plurality of types of state variables indicating steering statuses;
controlling a motor that serves as a generation source of an assist force applied to a steering mechanism of a vehicle based on the assist controlled variable;
separately setting limit values, which limit a change range of the assist controlled variable according to the respective state variables used to calculate the assist controlled variable, to the respective state variables;
arithmetically adding up the limit values to generate ultimate limit value for the assist controlled variable; and
performing limitation processing to limit the ultimate limit value for an assist controlled variable having a sign opposite to a sign of a steering torque that is one of the plurality of types of state variables.