Patent ID: 11891130
Assignee: HITACHI ASTEMO, LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. An electric power steering control device for calculating a steering control amount for steering a steering device, the electric power steering control device, comprising:
a basic control amount calculating section configured to calculate a basic control amount corresponding to steering by a driver;
a frictional force calculating section configured to calculate, by using a friction model, a frictional force corresponding to a wheel angle-related value, which is a value relating to a wheel angle of the steering device, and calculate a friction-originated control amount, which originates from the calculated frictional force; and
a control amount calculating section configured to calculate the steering control amount in accordance with the basic control amount and the friction-originated control amount calculated by the frictional force calculating section,
the friction model being a model including a spring component and a Coulomb friction component connected in series,
the frictional force calculating section being configured to:
calculate the frictional force by using a plurality of models each being the model including the spring component and the Coulomb friction component connected in series,
the plurality of models having respective spring constants and respective Coulomb friction forces,
the plurality of models having respective ratios between the respective Coulomb friction forces and the respective spring constants, the ratios being different from each other; and
output, in accordance with the wheel angle-related value, the frictional force which is to be output by driving the plurality of models, by sliding the plurality of models in ascending order of the ratios.