US 12,139,213 B2
Control apparatus of steering system for vehicles
Takahiro Tsubaki, Maebashi (JP); and Ryo Minaki, Fujisawa (JP)
Assigned to NSK LTD., Tokyo (JP)
Appl. No. 17/776,438
Filed by NSK LTD., Tokyo (JP)
PCT Filed Feb. 3, 2022, PCT No. PCT/JP2022/004200
§ 371(c)(1), (2) Date May 12, 2022,
PCT Pub. No. WO2022/254785, PCT Pub. Date Dec. 8, 2022.
Claims priority of application No. 2021-093540 (JP), filed on Jun. 3, 2021.
Prior Publication US 2024/0158001 A1, May 16, 2024
Int. Cl. B62D 5/04 (2006.01); B62D 6/00 (2006.01)
CPC B62D 5/046 (2013.01) [B62D 6/002 (2013.01); B62D 6/008 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A control apparatus of a steering system for vehicles that controls a turning mechanism by driving and controlling a turning actuator based on steering information communicated electrically, comprising:
a processor;
a target turning angle generating section, implemented by the processor, that generates a target turning angle;
a turning angle control section, implemented by the processor, that calculates a current command value to make a turning angle detected in said turning mechanism follow said target turning angle generated by said target turning angle generating section based on said steering information,
wherein said turning angle control section comprises:
a turning angle feedback compensating section, implemented by the processor, to calculate a target turning angular velocity from a deviation between said target turning angle and said turning angle;
a turning angular velocity calculating section, implemented by the processor, to calculate a turning angular velocity from said turning angle;
a velocity control section, implemented by the processor, to calculate a basic current command value based on said target turning angular velocity and said turning angular velocity;
a past value holding section, implemented by the processor, to hold a past value of said current command value and to output a past current command value; and
a friction compensating section, implemented by the processor, to calculate a compensation current command value for compensating a follow-up delay of said turning angle caused by a friction in said turning mechanism by using said target turning angular velocity and said past current command value,
wherein said turning actuator is driven and controlled by using said current command value obtained by adding said compensation current command value to said basic current command value.