Patent ID: 9725112
Date: 2017-08-08
CPC Classifications: B62D

Claim:
1. An electric power steering apparatus that calculates a current command value based on a steering torque and a vehicle speed, drives a motor based on said current command value, and performs assist control of a steering system by drive-control of said motor, comprising: a steering wheel return control section that calculates a return control current with a steering angle, said vehicle speed and a steering speed, wherein said electric power steering apparatus drives said motor with a compensated current command value left by the subtraction of said return control current from said current command value, and wherein said steering wheel return section comprises a base-return control current calculating section that calculates a base-return control current based on said steering angle and said vehicle speed, a target steering speed calculating section that calculates a target steering speed based on said steering angle and said vehicle speed, a return control gain calculating section that calculates a deviation between said target steering speed and said steering speed, performs coding, and calculates a return control gain using by at least two control calculations among a P-control calculation, an I-control calculation and a D-control calculation, a limiter that limits a maximum value of said return control gain, and a correcting section that corrects said base-return control current with an output gain of said limiter and outputs said return control current.