公开(公告)号：US10173719B2

公开(公告)日：2019-01-08

申请号：US15522418

申请日：2015-12-24

Applicant: NSK Ltd.

Inventor： Toru Sakaguchi ,  Toshikazu Onoe

IPC: B62D5/04 ,  G05B13/04 ,  B62D6/00 ,  B62D3/12

Abstract: An electric power steering apparatus that calculates a first current command value based on at least a steering torque and performs an assist-control of a steering system by driving a motor based on the first current command value, including: a configuration of a model following control including a viscoelastic model as a reference model within a predetermined angle at front of a rack end, wherein an offset is given to input or output of the viscoelastic model for preventing an overheat, resulting in suppressing a rack end hitting.

公开(公告)号：US10023226B2

公开(公告)日：2018-07-17

申请号：US15520577

申请日：2015-12-24

Applicant: NSK Ltd.

Inventor： Toru Sakaguchi ,  Toshikazu Onoe ,  Satoshi Shimokawabe

IPC: B62D5/04 ,  B62D3/12 ,  B62D6/00

Abstract: [Problem] An object of the present invention is to provide an electric power steering apparatus that constitutes a control system based on a physical model, constitutes a model following control that an output (a distance to a rack end) of a controlled object follows-up to a reference model, suppresses the occurrences of a noisy sound and a shock force at an end hitting without giving any uncomfortable steering feeling to a driver, and is capable of smoothly steering.[Means for solving the problem]In the electric power steering apparatus that calculates a first current command value based on at least a steering torque and performs an assist-control of a steering system by driving a motor based on the first current command value, the apparatus comprises a configuration of a model following control comprising a feed-back control section including a viscoelastic model as a reference model within a predetermined angle at front of a rack end, wherein the configuration of the model following control comprises a feed-back control section, and the model following control has a noise-reducing function to reduce a noise so as to suppress a rack end hitting.