Patent ID: 11884340
Assignee: JTEKT CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 3:
4. The steering control device (50) according to claim 1, wherein the second calculator (63) includes:
a feedforward controller (72) configured to calculate a feedforward control amount through execution of feedforward control of adapting the actual angle to the target angle;
a proportional controller (73) configured to calculate a first feedback control amount having a value proportional to a deviation of the actual angle from the target angle by executing proportional operation on the deviation;
an integral controller (74) configured to calculate a second feedback control amount having a value proportional to an integral value of the deviation by executing integral operation on the deviation;
a differential controller (75) configured to calculate a third feedback control amount having a value proportional to a differential value of the deviation by executing differential operation on the deviation;
a first adder (76) configured to calculate a first additional value by summing the feedforward control amount and the second feedback control amount;
a second adder (77) configured to calculate a second additional value by summing the first feedback control amount and the third feedback control amount;
a first restriction processor (79A) configured to restrict the first additional value to be within a specified allowable range;
a second restriction processor (79B) configured to restrict the second additional value to be within a specified allowable range; and
a third adder (78) configured to calculate the second control amount as final by summing the first additional value having passed through the first restriction processor (79A) and the second additional value having passed through the second restriction processor (79B).