To provide: a control device capable of improving controllability of a control target configured as a two-inertial system; an electric power steering apparatus including the control device; and a drive apparatus including the control device.SOLUTION: A control device includes a model following control section. The model following control section is configured such that a transfer function of a control target is restricted to a transfer function of a nominal model in a frequency band where a complementary sensitivity gain is approximately 1. The complementary sensitivity gain is a gain in a gain characteristic of a complementary sensitivity function with respect to a modeling error between the control target and the nominal model. A steady gain of the complementary sensitivity function is 0.1 or greater. A lower limit value of a frequency band where the complementary sensitivity gain is 1 is higher than a first resonance frequency that is a resonance frequency of a yaw rate of a vehicle. A second resonance frequency that is a resonance frequency of a steering mechanism is higher than the first resonance frequency and lower than the lower limit value of the frequency band where the complementary sensitivity gain is 1.SELECTED DRAWING: Figure 6

    【課題】2慣性系として構成される制御対象の制御性を向上できる制御装置、そのような制御装置を備える電動パワーステアリング装置、およびそのような制御装置を備える駆動装置を提供する。【解決手段】制御装置は、モデルフォロイング制御部を備える。モデルフォロイング制御部は、制御対象とノミナルモデルとのモデル化誤差に対する相補感度関数のゲイン特性におけるゲインである相補感度ゲインが略1である周波数帯域において、制御対象の伝達関数がノミナルモデルの伝達関数に拘束されるように構成される。相補感度関数の定常ゲインは、0.1以上である。相補感度ゲインが1となる周波数帯域の下限値は、車両のヨーレートの共振周波数である第1共振周波数よりも高い。操舵機構の共振周波数である第2共振周波数は、第1共振周波数よりも高く、かつ、相補感度ゲインが1となる周波数帯域の下限値よりも低い。【選択図】図6


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    Title :

    CONTROL DEVICE, ELECTRIC POWER STEERING APPARATUS, AND DRIVE APPARATUS


    Additional title:

    制御装置、電動パワーステアリング装置、および駆動装置


    Contributors:
    ENDO SHUJI (author) / MIYAKE SOHEI (author) / NOZU DAISUKE (author)

    Publication date :

    2025-01-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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