Title:
ELECTRIC POWER STEERING DEVICE
Document Type and Number:
WIPO Patent Application WO/2017/164105
Kind Code:
A1
Abstract:
[Problem] To provide an electric power steering device which avoids giving the driver an uncomfortable feeling by gradually changing a steering angle speed command value as well as a steering angle control command value and an assist control command value and providing a limiter for limiting the steering angle speed command value to prevent over-accumulation of the integral term in speed control. [Solution] An electric power steering device having a function for switching between an assist control mode and a steering angle control mode, wherein a steering angle control unit is configured from: a position control unit which receives a target steering angle and an actual steering angle as input and outputs a first steering angle speed command value; a gradual change restriction unit which gradually changes the first steering angle speed command value according to a steering angle control gradual change gain and restricts upper and lower limit values; a speed control unit which processes a second steering angle speed control command value output from the gradual change restriction unit on the basis of an actual steering angle speed and the steering angle control gradual change gain; and a gradual change unit which gradually changes a first steering angle control command value output from the speed control unit according to the steering angle control gradual change gain and outputs a second steering angle control command value. This electric power steering device is equipped with a gradual change unit which gradually changes a first assist control command value output from an assist control unit according to an assist control gradual change gain and outputs a second assist control command value. This electric power steering device generates a motor current command value on the basis of the second steering angle control command value and the second assist control command value.
Inventors:
TSUBAKI TAKAHIRO (JP)
KITAZUME TETSUYA (JP)
YOSHIDA KEITA (JP)
KITAZUME TETSUYA (JP)
YOSHIDA KEITA (JP)
Application Number:
PCT/JP2017/010877
Publication Date:
September 28, 2017
Filing Date:
March 17, 2017
Export Citation:
Assignee:
NSK LTD (JP)
International Classes:
B62D6/00; H02P6/28; B62D101/00; B62D113/00; B62D119/00
Domestic Patent References:
| WO2016088705A1 | 2016-06-09 |
Foreign References:
| JP2004352001A | 2004-12-16 | |||
| JP2010058690A | 2010-03-18 | |||
| JP2002120744A | 2002-04-23 | |||
| JP3912279B2 | 2007-05-09 |
Other References:
See also references of EP 3403905A4
Attorney, Agent or Firm:
AGATA Yuzo (JP)
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