Patent ID: 9096253
Filing Date: 2015-08-04
Classification: B62D

Abstract:
1. An electric power steering apparatus comprising: an assist mechanism that applies assist force of a motor to a steering mechanism of a vehicle; and a control unit having control logic configured to cause the control unit to control drive of the motor on the basis of an assist command value, the control unit comprising: a basic assist component calculating unit that calculates a first assist component on the basis of steering torque applied to the steering mechanism; a turning angle command value calculating unit that calculates a turning angle command value on the basis of an ideal model obtained by modeling an ideal turning angle of a steerable wheel corresponding to input information including steering torque applied to the steering mechanism; a turning angle feedback control unit that calculates a second assist component by execution of turning angle feedback control for matching a turning angle of the steerable wheel with the turning angle command value; and an assist command value calculating unit that calculates the assist command value based on a value obtained by adding the second assist component to the first assist component, wherein