[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.


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    Title :

    ELECTRICAL POWER STEERING DEVICE


    Additional title:

    ELEKTRISCHE SERVOLENKVORRICHTUNG
    DISPOSITIF DE DIRECTION ASSISTÉE ÉLECTRIQUE


    Contributors:

    Publication date :

    2019-11-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / B62D MOTOR VEHICLES , Motorfahrzeuge



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