Patent ID: 9663143
Date: 2017-05-30
CPC Classifications: B62D

Claim:
1. A control unit for an electric power steering apparatus that controls a motor on a basis of a current command value 2 which is calculated based on a current command value 1 due to a steering torque generated on a steering shaft and a current detection value of said motor which provides a steering mechanism with a steering assist force, comprising: an SAT estimating section that inputs a motor angular velocity, a motor angular acceleration, said current command value 1 and said steering torque, and estimates a self-aligning torque (SAT); and a feedback section that processes said estimated SAT value and outputs an SAT compensation value; wherein said feedback section comprises: wherein said current command value 2 is obtained by adding said SAT compensation value outputted from said feedback section to said current command value 1.