摘要:
The electric power steering apparatus is provided with: a steering torque detector that detects steering torque of a steering wheel; an electric motor that applies steering assist force to the steering wheel; a current detector that detects an actual current actually supplied to the electric motor; a target current setting unit that sets a target current to be supplied to the electric motor, on the basis of the steering torque detected by the steering torque detector; a feedback controller that performs feedback control so that the target current and the actual current coincide with each other; and a feedforward controller that performs feedforward control for increasing the actual current detected by the current detector if the target current increases, the feedforward controller including a frequency compensator that provides a smaller amount of increase in the actual current as a frequency of a variation in the target current is lower.
摘要:
The electric power steering apparatus is provided with: a steering torque detector that detects steering torque of a steering wheel; an electric motor that applies steering assist force to the steering wheel; a current detector that detects an actual current actually supplied to the electric motor; a target current setting unit that sets a target current to be supplied to the electric motor, on the basis of the steering torque detected by the steering torque detector; a feedback controller that performs feedback control so that the target current and the actual current coincide with each other; and a feedforward controller that performs feedforward control for increasing the actual current detected by the current detector if the target current increases, the feedforward controller including a frequency compensator that provides a smaller amount of increase in the actual current as a frequency of a variation in the target current is lower.
摘要:
The present invention particularly relates to an inertial force sensor used in various electronic equipment, for example, used for attitude control, navigation, or the like, of a mobile body such as an aircraft, an automobile, a robot, a watercraft and a vehicle in which the detection accuracy is enhanced. Therefore, a sense circuit constituting the inertial force sensor includes a sigma-delta modulator for converting a sense signal output from a sense electrode into a one-bit digital signal, and a signal processing circuit for comparing a monitor signal output from a monitor electrode with predetermined reference amplitude information, carrying out operation processing of the one-bit digital signal based on this comparison information, and adjusting an output level of the output signal.