[Problem] An object of the present invention is to provide an electric power steering apparatus that achieves a manual steering even if a steering intervention is performed by a driver during an automatic steering, ensures more safety when a driver steers urgently, and enables both an assist control and a steering angle control. [Means for solving the problem] An electric power steering apparatus comprises a steering angle control section that calculates a steering angle control current command value for the steering angle control, and calculates the current command value using at least the steering angle control current command value; the steering angle control section comprises a position control section to calculate a basic steering angular velocity command value, a steering intervention compensating section to obtain a compensatory steering angular velocity command value, and a steering angular velocity control section to calculate a steering angle control current command value with the basic steering angular velocity command value, the compensatory steering angular velocity command value and an actual steering angular velocity; the steering intervention compensating section comprises a compensating map section having a steering intervention compensating map that determines a characteristic of the compensatory steering angular velocity command value to a steering torque, and obtains the compensatory steering angular velocity command value by the steering torque.
ELECTRICAL POWER STEERING DEVICE
ELEKTRISCHE SERVOLENKVORRICHTUNG
DISPOSITIF DE DIRECTION ASSISTÉE ÉLECTRIQUE
20.11.2019
Patent
Elektronische Ressource
Englisch