Patent ID: 7873453
Filing Date: 2011-01-18
Classification: B62D

Abstract:
1. A control unit for an electric power steering apparatus, the control unit comprising: a steering assist command value calculating section that calculates a steering assist command value based on a steering torque signal from a torque sensor; a current control section that calculates a voltage command value based on the steering assist command value; a motor driving section that drives a motor based on the voltage command value, wherein an assist power from the motor is applied to a steering system; a self-aligning torque (SAT) estimating section that estimates or measures an SAT based on an angular speed and an angular acceleration of the motor, the steering assist command value and the steering torque signal; and an SAT feedback section that feeds back an SAT signal obtained by the SAT estimating section to the steering assist command value, wherein the SAT feedback section comprises a phase-lead compensation section, a low pass filter and a gain section.