Abstract A motor for a motor-assisted power steering device is controlled with a control value which is obtained by detecting an error between an actual steering torque which has undergone phase lead compensation and a target steering torque, and by summing a proportional value, an integration value and a differentiation value of the error, or with a control value which is obtained by detecting an error between actual steering torque and a target torque; obtaining a proportional value, an integration value and a differentiation value of the error; clipping the lower limit value of the integration value with a first clipping circuit, and clipping the upper and lower limit values of motor-controlling quantity obtained by summing the proportional value, the integration value and the differentiation value by using a second clipping circuit.
A motor-assisted power steering control device which comprises: a detecting means for detecting a steering torque of a steering wheel, means for obtaining an error between the detected steering torque and a target steering torque, means for obtaining a proportional value, an integration value and a differentiation value of the error, a motor for generating an auxiliary steering torque of the steering wheel, a first clipping means for determining a lower limit clipping value of the integration value as the lower limit value of an instruction voltage value or an instruction current value of the motor, a second clipping means for clipping a control value obtained by summing said proportional value, said integration value and said differentiation value according to upper and lower limit values of the instruction voltage value or the instruction current value of the motor, and means for controlling the motor in response to the clipped control value.
Claim 2
Dependent Claim
151 words
A motor-assisted power steering control device which comprises: a detecting means for detecting a steering torque of a steering wheel, means for obtaining an error between the detected steering torque and a target steering torque, means for obtaining a proportional value, an integration value and a differentiation value of the error, a motor for generating an auxiliary steering torque of the steering wheel, a first clipping means for determining a lower limit clipping value of the integration value as the lower limit value of an instruction voltage value or an instruction current value of the motor, a second clipping means for clipping a control value obtained by summing said proportional value, said integration value and said differentiation value according to upper and lower limit values of the instruction voltage value or the instruction current value of the motor, and means for controlling the motor in response to the clipped control value.