Title:
CONTROL DEVICE FOR VEHICLE STEERING SYSTEM
Document Type and Number:
WIPO Patent Application WO/2023/228455
Kind Code:
A1
Abstract:
Provided is a control device for a vehicle steering system, with which desired input/output transfer characteristics can be realized while minimizing steering angle divergence caused by disturbance from the road surface. The control device for a vehicle steering system comprises a steering angle control unit that generates a motor current command value, which is a control target value for a current supplied to a steering motor, on the basis of a steering angle target value, which is a target value for the steering angle of steered wheels. The steering angle control unit comprises a feedforward compensator (710) for improving the followability of the turning angle relative to the turning angle target value, a feedback compensator (720) that controls the motor current command value on the basis of a deviation between an output value of the feedforward compensator (710) and an actual turning angle (θt_act), and a disturbance observer (730) that estimates a disturbance component (d) acting on an inertial system including the steering motor and removes the disturbance component (d) from the motor current command value.
Inventors:
TSUBAKI TAKAHIRO (JP)
MINAKI RYO (JP)
UEMOTO TAKAAKI (JP)
MINAKI RYO (JP)
UEMOTO TAKAAKI (JP)
Application Number:
PCT/JP2022/047143
Publication Date:
November 30, 2023
Filing Date:
December 21, 2022
Export Citation:
Assignee:
NSK LTD (JP)
International Classes:
B62D6/00; B62D5/04
Foreign References:
| JP2020189531A | 2020-11-26 | |||
| JP2007237937A | 2007-09-20 | |||
| JP2006111099A | 2006-04-27 | |||
| JP2002337711A | 2002-11-27 | |||
| JP2020175770A | 2020-10-29 |
Attorney, Agent or Firm:
SAKAI INTERNATIONAL PATENT OFFICE (JP)
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