CONTROL DEVICE, ELECTRIC POWER STEERING DEVICE, AND CONTROL METHOD

• Main Authors: MIYAKE SOHEI, NOZU DAISUKE, ISHIKAWA MASAYA, ENDO SHUJI
• Format: Patent
• Language: English; Japanese
• Published: 10.07.2023
• Subjects: LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS; MOTOR VEHICLES; PERFORMING OPERATIONS; TRAILERS; TRANSPORTING

To provide an electric power steering device comprising a control device capable of improving a steering feeling felt by a person steering a vehicle, and a control method.SOLUTION: A control device for controlling, as a control object, a part including at least a motor, comprises: a reaction force control section which controls reaction force; and an assist control section which generates correction torque on the basis of an output of the control object and a nominal model. The assist control section comprises: a high-pass filter with a first cutoff frequency and a low-pass filter with a second cutoff frequency higher than the first cutoff frequency; and a disturbance compensation value calculation section. The assist control section is configured such that, when a transfer function of the low-pass filter is Q(s), and a transfer function of the high-pass filter is HPF(s), a transfer function of the control object is constrained by a transfer function of the nominal model in a frequency band where a gain in a gain characteristic of Q(s)*HPF(s) is 1. The disturbance compensation value calculation section calculates a disturbance compensation value for compensating at least part of self-aligning torque generated in the control object. The correction torque includes the disturbance compensation value.SELECTED DRAWING: Figure 3 【課題】操舵者が感じる操舵感を向上できる制御装置を備える電動パワーステアリング装置、および制御方法を提供する。【解決手段】反力を制御する反力制御部と、補正トルクを制御対象の出力とノミナルモデルとに基づいて生成するアシスト制御部を備え、アシスト制御部は、第１カットオフ周波数を有するハイパスフィルタ、および第１カットオフ周波数よりも高い第２カットオフ周波数を有するローパスフィルタと、外乱補償値算出部と、を有し、ローパスフィルタの伝達関数をＱ（ｓ）とし、ハイパスフィルタの伝達関数をＨＰＦ（ｓ）とするとき、Ｑ（ｓ）・ＨＰＦ（ｓ）のゲイン特性におけるゲインが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ている。外乱補償値算出部は、制御対象に生じるセルフアライニングトルクの少なくとも一部を補償する外乱補償値を算出する。補正トルクは、外乱補償値を含む。【選択図】図３