Patent ID: 8494715
Filing Date: 2013-07-23
Classification: B62D

Abstract:
1. A vehicle steering apparatus, comprising: a motor that includes a rotor and a stator that faces the rotor; a motor control unit that controls the motor without requiring an input from a rotational angle sensor; a steering mechanism for a vehicle, to which a driving force is supplied by the motor; a current drive unit that drives the motor based on an axis current value in a rotating coordinate system that rotates in accordance with a control angle that is a rotational angle used in a control; a control angle calculation unit that obtains a current value of the control angle by adding an addition angle to an immediately preceding value of the control angle in each predetermined calculation cycle; a steering angle detection unit that detects a steering angle of the steering mechanism; a torque detection unit that detects a steering torque applied to an operation member that is operated to steer the vehicle; a command steering torque setting unit that adjustably sets a command steering torque that corresponds to the steering angle detected by the steering angle detection unit based on a predetermined steering angle-torque characteristic; and an addition angle calculation unit that calculates the addition angle based on a deviation of the detected steering torque detected by the torque detection unit from the command steering torque set by the command steering torque setting unit, the deviation being determined by subtracting the command steering torque from the detected steering torque, wherein the addition angle based on the deviation is changed in such a manner that the detected steering torque or the command steering torque is changed when a predetermined condition is satisfied.