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    • 40. 发明公开
    • Steering control apparatus
    • 转向控制装置
    • EP1698540A1
    • 2006-09-06
    • EP06251120.9
    • 2006-03-01
    • NISSAN MOTOR CO., LTD.
    • Chino, Naotaka c/o Nissan Motor Co., LtdSuzuki, Taku c/o Nissan Motor Co., LtdKubokawa, Noriki c/o Nissan Motor Co., LtdEguchi, Takaaki c/o Nissan Motor Co., Ltd
    • B62D5/04B62D5/00B62D6/00
    • B62D5/005B62D5/0469B62D6/008Y10T74/19535
    • A steering controller is provided for use in a steering system in which a steering unit having a steering wheel 6 and a reaction motor 5 and a direction varying unit having steered wheels 16,16 and a direction varying motor 14 are mechanically disconnected from each other. Here, the steering controller performs: a direction varying torque control process for outputting a control command for applying a direction varying torque to the direction varying unit in accordance with the steering status of the steering wheel 6 to the direction varying motor 14; a steering reaction control process for outputting a control command for applying a steering reaction torque to the steering unit in accordance with the direction varying status of the steered wheels 16,16 to the reaction motor 5; and an control process for giving an end contact feeling to a driver through the steering wheel 6 the vicinity of a turning limit is reached. In the contact control process, when a direction varying angle of the steered wheels 16,16 reaches the vicinity of the maximum direction varying angle, correction of the steering reaction torque applied in the steering reaction control process is started and the steering reaction torque is gradually increased with the lapse of time after the beginning of correction.
    • 转向控制器被设置用于转向系统,其中具有方向盘6和反作用力马达5的转向单元和具有转向轮16,16和方向改变马达14的方向改变单元彼此机械地分离。 这里,转向控制器执行:方向改变转矩控制过程,用于根据方向盘6的转向状态向方向改变电机14输出用于向方向改变单元施加方向改变转矩的控制命令; 根据转向轮16,16向反作用力电动机5的方向变化状态输出用于向转向单元施加转向反作用转矩的控制命令的转向反作用控制过程; 以及通过方向盘6给驾驶员提供终端接触感的控制过程,达到转弯极限附近。 在接触控制过程中,当转向轮16,16的方向变化角度达到最大方向变角度附近时,开始施加在转向反作用力控制过程中的转向反作用力矩的校正,并且转向反作用力矩逐渐地 随着时间的推移在修正开始后随着时间的推移而增加。