Patent ID: 9327761
Filing Date: 2016-05-03
CPC Classification: B62D

Claim Text:
1. An electric power steering apparatus that calculates a first motor current command value based on a steering torque and a vehicle velocity, performs an assist control of a steering system by driving a motor based on said first motor current command value, and has a function for switching between an automatic steering mode and a manual steering mode, comprising: a steering angle control section that calculates a second motor current command value based on a target steering angle, an actual steering angle, a motor angular velocity and a motor angular acceleration of said motor, said steering torque and a previous time current command value; and a switching section that inputs said first motor current command value and said second motor current command value to switch, wherein said steering angle control section comprises a steering assist torque SAT compensating section that generates an SAT compensation current command value based on said motor angular velocity, said motor angular acceleration, said steering torque and said previous time current command value; and wherein said feedback control section comprises wherein said switching section is switched depending on a switching command of said automatic steering mode and said manual steering mode, said motor is drive-controlled based on said second motor current command value in said automatic steering mode.