[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
2019-11-20
Patent
Electronic Resource
English