JP2913334B2 - Control device for electric power steering device - Google Patents
Control device for electric power steering deviceInfo
- Publication number
- JP2913334B2 JP2913334B2 JP26714790A JP26714790A JP2913334B2 JP 2913334 B2 JP2913334 B2 JP 2913334B2 JP 26714790 A JP26714790 A JP 26714790A JP 26714790 A JP26714790 A JP 26714790A JP 2913334 B2 JP2913334 B2 JP 2913334B2
- Authority
- JP
- Japan
- Prior art keywords
- wheel steering
- rear wheel
- steering angle
- motor current
- neutral point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
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- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Description
【発明の詳細な説明】 産業上の利用分野 本発明は電動式パワステアリング装置の制御装置に関
するものである。Description: TECHNICAL FIELD The present invention relates to a control device for an electric power steering device.
従来の技術 操舵トルクに応じてアシスト方向モータ電流指令値を
発するアシスト指令部と、舵角に応じて戻し方向モータ
電流指令値を発する復元力指令部とを備え、上記アシス
ト方向モータ電流指令値と戻し方向モータ電流指令値の
加算値でモータ回転制御を行う電動式パワステアリング
装置は既に開発されている（例えば特開昭６−98669号
参照）。2. Description of the Related Art An assist command unit for issuing an assist direction motor current command value according to a steering torque and a restoring force command unit for issuing a return direction motor current command value according to a steering angle are provided. An electric power steering apparatus for controlling the rotation of the motor by adding the return motor current command value has already been developed (for example, see Japanese Patent Application Laid-Open No. 6-98669).
前輪の操舵状態に応じて電動モータで操舵駆動する電
動式後輪装置において、後輪操舵駆動用のモータと減速
機間に無励磁作動型電磁ブレーキを挿入すると共に、バ
ッテリからモータおよび電磁ブレーキへの電源ラインの
途中に常開接点を有するフェイルセーフリレーを挿入
し、各センサ情報によりマイクロコンピュータで判断し
フェイルセーフ作動させることにより後輪をロックさ
せ、これによってセンサやセンサ間の配線やコントロー
ルユニットのいずれかの故障時に後輪の異常動作による
制御不能状態を防止できると共に、故障後も前輪による
修正操舵で引続き走行が行えるようにしたものは既に開
発され特開昭62−251277号公報にて公開されている。In an electric rear wheel device that is driven by an electric motor in accordance with a steering state of a front wheel, a non-excitation type electromagnetic brake is inserted between a motor for rear wheel steering drive and a speed reducer, and a battery is connected to the motor and the electromagnetic brake. A fail-safe relay with a normally open contact is inserted in the middle of the power supply line, and the microcomputer determines the sensor based on each sensor information and activates the fail-safe to lock the rear wheels, thereby connecting the sensors and the wiring between the sensors and the control unit. In the event of any of the above failures, an uncontrollable state due to abnormal operation of the rear wheels can be prevented, and even after the failure, it is possible to continue running with corrected steering by the front wheels, which has already been developed and disclosed in Japanese Patent Application Laid-Open No. 62-251277. It has been published.
発明が解決しようとする課題 上記のような従来の後輪操舵装置では、センサ類やコ
ントロールユニット等の故障により例えば後輪が１度右
へ転舵された状態でロックしたとすると、運転者はハン
ドルを中立位置に戻そうとする復元力に抗して右へ１度
修正操舵（あて舵）をしないと車両が直進しないことに
なり、復元力がなくなったとき車両が直進するという従
来の操舵感覚に反し異和感を与えるだけでなく、右折又
は左折した後における直進走行への復元位置が不明とな
り操舵が不安定になるという課題を有する。Problems to be Solved by the Invention In the conventional rear wheel steering device as described above, if the rear wheels are locked in a state where the rear wheels are once turned to the right by a failure of a sensor or a control unit, for example, the driver needs Conventional steering in which the vehicle does not go straight unless the steering is once corrected to the right against the restoring force of returning the steering wheel to the neutral position, and the vehicle goes straight when the restoring force is lost. In addition to giving a sense of incongruity contrary to the sense, there is a problem that the restoration position to the straight traveling after turning right or left becomes unknown and the steering becomes unstable.
本発明はこのような問題に対処しようとするものであ
る。The present invention seeks to address such a problem.
課題を解決するための手段 本発明は、少なくともステアリングシヤフトの捩りト
ルクに応じてアシスト方向モータ電流指令値を発するア
シスト指令部と、少なくとも前輪舵角センサが検出した
前輪舵角の大きさに応じて前輪舵角をゼロの中立点に戻
す方向に戻し方向モータ電流指令値を発する復元力指令
部とを備え、上記アシスト方向モータ電流指令値と戻し
方向モータ電流指令値との加算信号にて電動モータによ
るパワアシスト制御を行う電動式パワステアリング装置
と、前輪の操舵に応じて後輪操舵用アクチュエータが作
動し後輪を転舵させる後輪操舵装置とを備えた自動車で
あって、該後輪操舵装置は故障時後輪をそのときの舵角
にロックするフェイルセーフ機構をもっているものにお
いて、後輪操舵装置の故障を検出する後輪操舵系故障検
出部と、後輪舵角を検出する後輪舵角センサと、後輪操
舵系故障時ロックされた後輪の舵角から中立点補正値を
求め、上記復元力指令部に入力される前輪舵角の中立点
を上記中立点補正値で補正する復元力中立点補正制御部
とを設けたことを特徴とするものである。Means for Solving the Problems The present invention provides an assist command unit that issues an assist direction motor current command value according to at least a torsional torque of a steering shaft, and at least a front wheel steering angle detected by a front wheel steering angle sensor. A restoring force command unit for issuing a return direction motor current command value in a direction to return the front wheel steering angle to a neutral point of zero, and the electric motor is provided by an addition signal of the assist direction motor current command value and the return direction motor current command value. An electric power steering device for performing power assist control according to claim 1, and a rear wheel steering device for operating a rear wheel steering actuator in response to steering of a front wheel to steer the rear wheel. The device has a fail-safe mechanism that locks the rear wheel to the steering angle at the time of failure. A failure detection unit, a rear wheel steering angle sensor that detects a rear wheel steering angle, and a neutral point correction value obtained from the locked rear wheel steering angle when the rear wheel steering system fails, are input to the restoring force command unit. A restoring force neutral point correction control unit for correcting the neutral point of the front wheel steering angle with the neutral point correction value is provided.
作 用 上記により、後輪転舵作動装置の故障により後輪が転
舵された状態でロックしたときでも、修正操舵（あて
舵）せずに車両の直進走行が可能となるだけでなく、右
折又は左折した後における直進走行状態への復元位置が
適確に把握できる。Operation As described above, even when the rear wheels are steered and locked due to a failure of the rear-wheel steering operating device, not only can the vehicle travel straight without correcting steering (destined steering) but also turn right or turn right. It is possible to accurately grasp the restoration position to the straight traveling state after turning left.
実施例 以下本発明を附図実施例を参照して説明する。Embodiments The present invention will be described below with reference to the accompanying drawings.
本発明は、電動パワステアリング装置と後輪操舵装置
とを備えた車両を対象とするものであって、第１図には
電動パワステアリング装置の制御装置の一実施例を示し
ている。The present invention is directed to a vehicle provided with an electric power steering device and a rear wheel steering device. FIG. 1 shows an embodiment of a control device of the electric power steering device.
後輪操舵装置は、前輪の操舵に応じて後輪操舵用アク
チュエータが作動し、後輪を転舵させるものであるが、
これは従来より公知であるので図示は省略する。尚該後
輪転舵装置は前記従来の技術の項にて記載しているよう
に故障発生時後輪をその時点での舵角にロックするフェ
イルセーフ機構をもっているものとする。In the rear wheel steering device, an actuator for rear wheel steering is operated according to steering of the front wheel, and the rear wheel is steered.
Since this is conventionally known, the illustration is omitted. The rear wheel steering device has a fail-safe mechanism that locks the rear wheel to the current steering angle when a failure occurs, as described in the section of the related art.
第１図において、１はアシスト指令部であり、該アシ
スト指令部は、ステアリングシヤフトの捩りトルクを検
出し該捩りトルクに比例する捩りトルク信号を発する捩
りトルクセンサ11と、上記捩りトルクセンサ11の捩りト
ルク信号によって予め設定されている関数に基づきアシ
スト方向モータ電流指令値を発する出力トルク値指示関
数部12とから構成されている。In FIG. 1, reference numeral 1 denotes an assist command unit. The assist command unit detects a torsional torque of the steering shaft and outputs a torsional torque signal proportional to the torsional torque. An output torque value indicating function unit 12 for issuing an assist direction motor current command value based on a function preset by a torsional torque signal.
２は復元力指令部であり、該復元力指令部２は、ステ
アリングハンドルの操舵に伴なう前輪の転舵角を検出し
該前輪の転舵力に比例する前輪舵角信号を発する前輪舵
角センサ21と、該前輪舵角センサ21の前輪舵角信号によ
って予め設定されている関数に基づき戻し方向モータ電
流指令値を発する戻しトルク値指示関数部22と、図示し
ない後輪操舵装置により転舵される後輪の転舵角を検出
し該後輪の転舵角に比例する後輪舵角信号を発する後輪
舵角センサ23と、該後輪舵角センサ23の後輪舵角信号と
上記前輪舵角センサ21の前輪舵角信号とから前後輪の転
舵角比を求め前後輪の転舵方向が同相であれば正の符号
を附し逆相であれば負の符号を附した符号付きの前後輪
舵角比信号を発する後輪状態判定部24と、該後輪状態判
定部24の前後輪舵角比信号が０のときは１となり正の値
が大となるに従って１より次第に小となり負の値が大と
なるに従って１より次第に大となる補正乗数を発する乗
算係数設定部25と、該乗算係数設定部25の補正乗数を上
記戻しトルク値指示関数部22の戻し方向モータ電流指令
値に乗算し戻し方向モータ電流補正値を発する乗算演算
部26とから構成されている。Reference numeral 2 denotes a restoring force command unit. The restoring force command unit 2 detects a turning angle of a front wheel accompanying steering of a steering wheel, and issues a front wheel steering angle signal proportional to the turning force of the front wheel. An angle sensor 21, a return torque value indicating function unit 22 for issuing a return motor current command value based on a function preset by a front wheel steering angle signal of the front wheel steering angle sensor 21, and a rear wheel steering device (not shown). A rear wheel steering angle sensor 23 that detects a steering angle of a rear wheel to be steered and generates a rear wheel steering angle signal proportional to the steering angle of the rear wheel, and a rear wheel steering angle signal of the rear wheel steering angle sensor 23 The steering angle ratio of the front and rear wheels is determined from the front wheel steering angle signal of the front wheel steering angle sensor 21 and the front wheel steering angle ratio. Rear wheel condition determination unit 24 that outputs a signed front and rear wheel steering angle ratio signal, and a front and rear wheel steering angle ratio signal of the rear wheel condition determination unit 24 Is 0 when the value is 0, the multiplication coefficient setting unit 25 issues a correction multiplier that gradually decreases from 1 as the positive value increases and increases gradually from 1 as the negative value increases, and the multiplication coefficient setting unit And a multiplication operation unit 26 for multiplying the return motor value command value of the return torque value indicating function unit 22 by a correction multiplier of 25 to generate a return direction motor current correction value.
低速走行時での小回り性を向上させるために後輪操舵
装置が作動して後輪を前輪とは逆相方向に転舵させてい
るときは補正乗数は１より大となるので、後輪が前輪に
対し逆相方向に転舵されていることによる舵の復元性の
悪化は完全に防止でき、又高速走行時での操舵安定性を
向上させるために後輪操舵装置が作動して後輪を前輪と
同相方向に転舵させているときは補正乗数は１より小と
なるので、後輪が前輪に対し同相方向に転舵されている
ことにより舵の復元性が過大となることを防止できるよ
うになっている。When the rear wheel steering system is operated and the rear wheels are steered in the opposite phase to the front wheels in order to improve the small turning performance at low speed running, the correction multiplier is larger than 1, so the rear wheels The deterioration of the resilience of the rudder caused by the steering in the opposite phase to the front wheels can be completely prevented, and the rear wheel steering system operates to improve the steering stability during high-speed running. When the vehicle is steered in the same phase as the front wheels, the correction multiplier is smaller than 1. This prevents the rear wheel from being steered in the same direction as the front wheels, thereby preventing excessive rudder restoration. I can do it.
３はモータ電流制御部で、該モータ電流制御部３は、
アシスト指令部１のアシスト方向モータ電流指令値と復
元力指令部２の戻し方向モータ電流補正値とを加算して
アシストトルク指令値とし、該アシストトルク指令値に
基づきモータ４の回転方向とモータ電流を制御してモー
タ４を回転駆動させ、上記アシストトルク指令値通りの
アシストトルクを操舵系に与えるよう構成されている。Reference numeral 3 denotes a motor current control unit, and the motor current control unit 3
The assist direction motor current command value of the assist command unit 1 and the return direction motor current correction value of the restoring force command unit 2 are added to obtain an assist torque command value, and the rotation direction of the motor 4 and the motor current are determined based on the assist torque command value. Is controlled to rotate the motor 4 to apply an assist torque according to the assist torque command value to the steering system.
上記のような操舵トルクに応じたアシスト方向モータ
電流指令値と、舵角に応じた戻し方向モータ電流指令値
との加算信号にて電動モータによるパワアシスト制御を
行い前輪操舵力低減をはかる電動パワステアリング装置
と、前輪の操舵に応じて後輪操舵用アクチュエータが作
動し後輪を転舵させる後輪操舵装置とを備えた自動車に
おいて、上記後輪操舵装置の故障により後輪が所定角度
例えば１度右へ転舵された状態でロックしたとすると、
運転者はハンドルを舵角ゼロの中立位置に戻そうとする
復元力に抗して右へ１度修正操舵（いわゆるあて舵）し
ないと車両が直進しないことになり、復元力がなくなっ
たとき車両が直進するという従来の操舵感覚に反し異和
感をを与えるだけでなく、右折又は左折した後における
直進方向へ復元位置が不明となり操舵が不安定となる。An electric power for reducing front wheel steering force by performing power assist control by an electric motor using an addition signal of the assist direction motor current command value corresponding to the steering torque and the return direction motor current command value corresponding to the steering angle as described above. In a motor vehicle equipped with a steering device and a rear wheel steering device that operates a rear wheel steering actuator in response to steering of a front wheel to steer the rear wheel, the rear wheel has a predetermined angle of 1 due to a failure of the rear wheel steering device. If you lock the vehicle while turning to the right
The driver must correct the steering once to the right against the restoring force that attempts to return the steering wheel to the neutral position of zero steering angle (so-called steering), or the vehicle will not go straight unless the restoring force is lost. In addition to giving a sense of discomfort contrary to the conventional steering sensation that the vehicle goes straight, the restoration position in the straight traveling direction after the right or left turn is unknown, and the steering becomes unstable.
そこで本発明では、後輪操舵装置の故障で後輪がロッ
ク状態即ち故障時点の舵角に固定された状態にあること
を検出して信号を発する後輪操舵系故障検出部５と、該
後輪操舵系故障検出部５からの信号が入力されたとき後
輪舵角センサ23から発せられる後輪舵角信号と同じ大き
さの中立点補正値を発する復元力中立点補正制御部６を
設け、前記前輪舵角センサ21から発せられる前輪舵角信
号から上記中立点補正値を減算するようにしたものであ
る。Therefore, according to the present invention, a rear wheel steering system failure detection unit 5 that detects that the rear wheel is in a locked state due to a failure of the rear wheel steering device, that is, a state where the rear wheel is fixed at the steering angle at the time of the failure, and issues a signal, A restoring force neutral point correction control unit 6 is provided which generates a neutral point correction value having the same magnitude as the rear wheel steering angle signal emitted from the rear wheel steering angle sensor 23 when a signal from the wheel steering system failure detecting unit 5 is input. The neutral point correction value is subtracted from the front wheel steering angle signal issued from the front wheel steering angle sensor 21.
上記において、後輪操舵系故障時に例えば第２図に示
すように後輪が右方向に転舵され後輪舵角がθｒでロッ
ク状態にあるときは、上記復元力中立点補正制御部６か
ら発せられる上記後輪舵角θｒと同じ大きさを有する中
立点補正値を前輪舵角センサ21の前輪舵角信号から減算
したものが戻しトルク値指示関数部22に入力されるの
で、該戻しトルク値指示関数部22から発せられる戻し方
向モータ電流指令値特性は第３図実線示のものから点線
示のものとなり、ロック状態にある後輪舵角θｒと同じ
量だけ前輪の中立位置を移動させる。In the above, when the rear wheel steering system fails, for example, as shown in FIG. 2, when the rear wheel is turned to the right and the rear wheel steering angle is in the locked state at θr , the restoring force neutral point correction control unit 6 The result obtained by subtracting the neutral point correction value having the same magnitude as the rear wheel steering angle θ r from the front wheel steering angle signal of the front wheel steering angle sensor 21 is input to the return torque value indicating function unit 22. direction motor current command value characteristic return emanating from the torque value indicator function section 22 returns becomes that of the dotted line shown from that of Figure 3 indicated by a solid line, a front wheel neutral position by the same amount as the wheel steering angle theta r after the locked state To move.
この結果第２図に示すように前輪舵角θｆが上記後輪
舵角θｒと同じ方向で同じ大きさとなるよう前輪舵角の
中立点が補正されるので車体中心線とは上記前輪舵角θ
ｆ分だけ傾斜したＡ矢印方向ではあるが、修正操舵（あ
て舵）なしに直進走行をさせることができると共に、右
折或は左折後における直進走行への復元位置を的確に把
握することができる。The front wheel steering and the vehicle body center line because the front wheel steering angle theta f neutral point of the front wheel steering angle to be the same size in the same direction as the rear wheel steering angle theta r is corrected as shown in the results Figure 2 Angle θ
Although it is in the direction of the arrow A inclined by f , the vehicle can travel straight without corrective steering (addressing), and it is possible to accurately grasp the position of restoration to straight traveling after turning right or left.
尚本発明は、第１図示のものに限らず、少くとも操舵
トルクに応じてアシスト方向モータ電流指令値を発する
アシスト指令部と、少くとも舵角に応じて戻し方向モー
タ電流指令値を発する復元力指令部とをもち、上記アシ
スト方向モータ電流指令値と戻し方向モータ電流指令値
の加算値でモータ回転制御を行う電動式パワステアリン
グ装置にはすべて適用可能であり、又後輪操舵装置のア
クチュエータの形式としては電動式，油圧式を問わず、
少くとも故障発生時に後輪をその時点での舵角にロック
するフェイルセーフ機構をもったものであればすべて適
用可能である。The present invention is not limited to the one shown in FIG. 1, but an assist command unit for issuing an assist direction motor current command value at least according to a steering torque, and a restoration command unit for issuing a return direction motor current command value at least according to a steering angle. The present invention is applicable to all electric power steering devices that have a force command unit and perform motor rotation control with the sum of the assist direction motor current command value and the return direction motor current command value. Regardless of electric or hydraulic type,
At least when a failure occurs, any device having a fail-safe mechanism that locks the rear wheel to the steering angle at that time can be applied.
発明の効果 上記のように本発明によれば、少なくとも操舵トルク
に応じたアシスト方向モータ電流指令値と、少なくとも
舵角に応じた戻し方向モータ電流指令値との加算信号に
て電動モータによるパワアシスト制御を行い前輪操舵力
低減をはかる電動パワステアリング装置と、前輪の操舵
に応じて後輪操舵用アクチュエータが作動し後輪を転舵
させる後輪操舵装置とを備えた自動車であって、該後輪
操舵装置は故障時後輪をそのときの舵角にロックするフ
ェイルセーフ機構をもっているものにおいて、後輪操舵
装置の故障を検出する後輪操舵系故障検出部と、後輪舵
角を検出する後輪舵角センサと、後輪舵角系故障時ロッ
クされた後輪の舵角から中立点補正値を求め、上記復元
力指令部に入力される前輪舵角の中立点を上記中立点補
正値で補正する復元力中立点補正制御部とを設けたこと
により、後輪操舵装置の故障により後輪が転舵された状
態でロックしたときでも補正操舵（あて舵）せずに車両
の直進走行が可能となるだけでなく、右折又は左折した
後における直進走行への復元位置の判定が極めて容易に
なる等、構成の簡単なることと相俟って実用上多大なる
効果をもたらし得るものである。Effect of the Invention As described above, according to the present invention, power assist by an electric motor is performed by using an addition signal of an assist direction motor current command value corresponding to at least a steering torque and a return direction motor current command value corresponding to at least a steering angle. An automotive vehicle comprising: an electric power steering device that performs control to reduce front wheel steering force; and a rear wheel steering device that operates a rear wheel steering actuator in accordance with steering of the front wheel to steer the rear wheel. The wheel steering device has a fail-safe mechanism that locks the rear wheel at the time of the steering angle at the time of failure, and detects a rear wheel steering system failure detection unit that detects a failure of the rear wheel steering device and detects a rear wheel steering angle. A neutral point correction value is obtained from the rear wheel steering angle sensor and the steering angle of the rear wheel locked when the rear wheel steering angle system fails, and the neutral point of the front wheel steering angle input to the restoring force command unit is corrected to the neutral point correction value. Complement by value By providing the corrective restoring force neutral point correction control unit, even when the rear wheel is locked in a state where the rear wheel is steered due to a failure of the rear wheel steering device, the straight traveling of the vehicle can be performed without performing the corrective steering (addressing). Not only becomes possible, but also it becomes extremely easy to determine the restoration position to the straight running after turning right or left, and in combination with the simplification of the configuration, a great effect can be brought about in practical use.
第１図は本発明の一実施例を示すブロックダイヤグラ
ム、第２図は前後輪舵角と車両の走行方向との関係を示
す説明図、第３図は前輪舵角に対する戻し方向モータ電
流指令値特性図である。 １……アシスト指令部、11……捩りトルクセンサ、12…
…出力トルク値指示関数部、２……復元力指令部、21…
…前輪舵角センサ、22……戻しトルク値指示関数部、23
……後輪舵角センサ、24……後輪状態判定部、25……乗
算係数設定部、26……乗算演算部、３……モータ電流制
御部、４……モータ、５……後輪操舵系故障検出部、６
……復元力中立点補正制御部。FIG. 1 is a block diagram showing one embodiment of the present invention, FIG. 2 is an explanatory diagram showing the relationship between the front and rear wheel steering angle and the traveling direction of the vehicle, and FIG. 3 is a return motor current command value with respect to the front wheel steering angle. It is a characteristic diagram. 1 ... Assist command section, 11 ... Torsion torque sensor, 12 ...
... output torque value indicating function section, 2 ... restoring force command section, 21 ...
... front wheel steering angle sensor, 22 ... return torque value indicating function section, 23
... Rear wheel steering angle sensor, 24 ... Rear wheel state determination unit, 25 ... Multiplication coefficient setting unit, 26 ... Multiplication calculation unit, 3 ... Motor current control unit, 4 ... Motor, 5 ... Rear wheel Steering system failure detector, 6
...... Resilience neutral point correction control unit.
───────────────────────────────────────────────────── フロントページの続き (58)調査した分野(Int.Cl.6，ＤＢ名) B62D 6/00 B62D 7/14 ──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. 6 , DB name) B62D 6/00 B62D 7/14
Claims (1)
ルクに応じてアシスト方向モータ電流指令値を発するア
シスト指令部と、少なくとも前輪舵角センサが検出した
前輪舵角の大きさに応じて前輪舵角をゼロの中立点に戻
す方向に戻し方向モータ電流指令値を発する復元力指令
部とを備え、上記アシスト方向モータ電流指令値と戻し
方向モータ電流指令値との加算信号にて電動モータによ
るパワアシスト制御を行う電動式パワステアリング装置
と、前輪の操舵に応じて後輪操舵用アクチュエータが作
動し後輪を転舵させる後輪操舵装置とを備えた自動車で
あって、該後輪操舵装置は故障時後輪をそのときの舵角
にロックするフェイルセーフ機構をもっているものにお
いて、後輪操舵装置の故障を検出する後輪操舵系故障検
出部と、後輪舵角を検出する後輪舵角センサと、後輪操
舵系故障時ロックされた後輪の舵角から中立点補正値を
求め、上記復元力指令部に入力される前輪舵角の中立点
を上記中立点補正値で補正する復元力中立点補正制御部
とを設けたことを特徴とする電動式パワステアリング装
置の制御装置。An assist command section for issuing an assist direction motor current command value in accordance with at least a torsional torque of a steering shaft, and a front wheel steering angle of zero in accordance with at least a magnitude of a front wheel steering angle detected by a front wheel steering angle sensor. A restoring force command unit for issuing a return direction motor current command value in the direction of returning to the neutral point, and performing power assist control by the electric motor using an addition signal of the assist direction motor current command value and the return direction motor current command value. An automobile including an electric power steering device and a rear wheel steering device that operates a rear wheel steering actuator in response to steering of a front wheel to steer a rear wheel, wherein the rear wheel steering device is a rear wheel when a failure occurs. A rear-wheel steering system failure detector that detects a failure of the rear-wheel steering device; and a rear-wheel steering angle. A neutral point correction value is obtained from the rear wheel steering angle sensor to be detected and the steering angle of the rear wheel locked when the rear wheel steering system fails, and the neutral point of the front wheel steering angle input to the restoring force command unit is calculated as the neutral point. A control device for an electric power steering device, further comprising a restoring force neutral point correction control unit that corrects with a correction value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP26714790A JP2913334B2 (en) | 1990-10-04 | 1990-10-04 | Control device for electric power steering device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP26714790A JP2913334B2 (en) | 1990-10-04 | 1990-10-04 | Control device for electric power steering device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH04143170A JPH04143170A (en) | 1992-05-18 |
| JP2913334B2 true JP2913334B2 (en) | 1999-06-28 |
Family
ID=17440741
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP26714790A Expired - Lifetime JP2913334B2 (en) | 1990-10-04 | 1990-10-04 | Control device for electric power steering device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2913334B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1975041B1 (en) * | 2007-03-27 | 2013-10-16 | Honda Motor Co., Ltd. | Steering system |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4419932B2 (en) * | 2005-08-08 | 2010-02-24 | トヨタ自動車株式会社 | Vehicle steering control device |
| JP4539866B2 (en) * | 2006-01-13 | 2010-09-08 | トヨタ自動車株式会社 | Steering device |
| KR100751684B1 (en) * | 2006-03-16 | 2007-08-23 | 현대모비스 주식회사 | A method for controlling active restoration of electric power steering |
| JP4504991B2 (en) * | 2007-03-29 | 2010-07-14 | 本田技研工業株式会社 | Steering system |
| JP4605265B2 (en) * | 2008-07-22 | 2011-01-05 | トヨタ自動車株式会社 | Vehicle steering device |
| JP6834662B2 (en) * | 2017-03-24 | 2021-02-24 | アイシン精機株式会社 | vehicle |
| CN113581176A (en) * | 2021-08-30 | 2021-11-02 | 恒大恒驰新能源汽车研究院(上海)有限公司 | Method and device for assisting vehicle in running |
-
1990
- 1990-10-04 JP JP26714790A patent/JP2913334B2/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1975041B1 (en) * | 2007-03-27 | 2013-10-16 | Honda Motor Co., Ltd. | Steering system |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH04143170A (en) | 1992-05-18 |
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