PROBLEM TO BE SOLVED: To provide a steering controller capable of appropriately limiting an abnormal assist control amount even when a command value generated by a host controller does not satisfy a reliability request level.SOLUTION: An ECU of an EPS sets a limit value to limit a variation range of an assist control amount according to each state quantity used in calculation of the assist control amount separately for each state quantity, and generates a final limit value (I, I) with respect to the assist control amount by aggregating these limit values (Ito I, Ito I). The ECU calculates a correction control amount to be added to the assist control amount based on a target steering angle calculated by a host ECU. The ECU fixes an individual limit value (I, I) according to a steering angle θs to 0, which is the minimum value of the correction control amount, and also fixes the individual limit value according to a steering speed ωs to an allowable maximum value (±I) of the correction control amount, when the correction control amount is added to the assist control amount.SELECTED DRAWING: Figure 4

    【課題】上位制御装置により生成される指令値が信頼性要求水準を満たさない場合であれ、異常なアシスト制御量をより適切に制限することができる操舵制御装置を提供する。【解決手段】EPSのECUは、アシスト制御量の演算に使用する各状態量に応じてアシスト制御量の変化範囲を制限する制限値を前記状態量ごとに個別に設定し、これら制限値(IUL1*〜IUL5*,ILL1*〜ILL5*)を合算することによりアシスト制御量に対する最終的な制限値(IUL*,ILL*)を生成する。ECUは上位ECUによって演算される目標操舵角に基づきアシスト制御量に付加される補正制御量を演算する。ECUは、補正制御量がアシスト制御量に付加されるとき、操舵角θsに応じた個別の制限値(IUL3*,ILL3*)を補正制御量の最小値である零に固定するとともに、操舵速度ωsに応じた個別の制限値を補正制御量の許容最大値(±Imax)に固定する。【選択図】図4


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    Title :

    STEERING CONTROLLER


    Additional title:

    操舵制御装置


    Contributors:

    Publication date :

    2018-03-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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