Patent ID: 7004280

Claim:
A multiplex power steering device for a wheeled vehicle, comprising: a steering mechanism through which movement of a steering wheel is transmitted to steered road wheels of the vehicle to steer the same; a plurality of actuators that are connected to the steering mechanism to assist a steering operation effected by the steering mechanism; a sensor that detects a physical value that has a connection with a control of the steering mechanism; a control unit that outputs a control signal in accordance with the physical value detected by the sensor; and an output distributor that distributes the control signal to all of the actuators, wherein the control unit comprises a feedback computing part which includes: an operating force estimating section that, by analyzing an output from a controlled system of the actuators, estimates an output of the actuators; a disturbance estimating section that, by comparing the control signal actually fed to the actuators and the estimated output of the actuators, estimates a disturbance applied to the controlled system from the exterior; and a disturbance compensating section that adjusts the control signal in a manner to remove the estimated disturbance therefrom, and wherein the control unit calculates the control signal on the assumption that the actuators constitute a single actuator.