Abstract: A steering control apparatus controls a motor used to turn a steered wheel of a vehicle, which synchronizes with a steering wheel, based on a command value. The steering control apparatus includes an electronic control unit. The electronic control unit is configured to compute a feedback control torque to be reflected in the command value. The electronic control unit is configured to compute a disturbance torque based on the feedback control torque and a predetermined angle. The electronic control unit is configured to correct the feedback control torque by using the disturbance torque. The electronic control unit is configured to correct the command value reflecting the corrected feedback control torque, based on an applied torque.

Abstract: A turning control system includes an electronic control unit. The electronic control unit is configured to perform: a steering operation amount calculating process of calculating a steering operation amount; an angle command value calculating process of calculating an angle command value; an angle operation amount calculating process of calculating an angle operation amount; an operation process of operating a drive circuit of an electric motor; an adjustment process of adjusting a magnitude of a value obtained by subtracting the angle operation amount which is reflected in the operation process from the angle operation amount; and a correction process of correcting a magnitude of an input when the angle command value is calculated in the angle command value calculating process to be less when the magnitude of the subtracted value is great than when the magnitude of the subtracted value is small.

Abstract: A steering computing device for calculating state quantity of a steering apparatus includes a processor. The processor is configured to execute a steering angle variable acquisition process, an output shaft angle variable acquisition process, and a joint angle variable calculation process. The steering angle variable acquisition process is a process of acquiring a value of a steering angle variable. The output shaft angle variable acquisition process is a process of acquiring a value of an output shaft angle variable as a variable indicative of a rotation angle of an output shaft of the steering apparatus. The joint angle variable calculation process is a process of calculating a value of the joint angle variable. The joint angle variable is a variable defining an angle formed between an axial direction of an input shaft of the steering apparatus and an axial direction of the output shaft.

Abstract: A steering computing device that calculates a value of a state variable about a steering apparatus includes a storage device and an execution device. The execution device is configured to execute a bending angle acquisition process and a tilt angle calculation process, and the bending angle acquisition process is a process of acquiring a first bending angle and a second bending angle. The tilt angle calculation process is a process of calculating a tilt angle. The first bending angle is an angle formed between an input shaft of the steering apparatus and an intermediate shaft of the steering apparatus. The second bending angle is an angle formed between an output shaft of the steering apparatus and the intermediate shaft, and the tilt angle is a variable indicative of an angle formed between an axial direction of the input shaft and a reference direction.

Abstract: A turning control device for controlling, as a controlled object, a turning apparatus including a steering wheel, an input shaft, an intermediate shaft, an output shaft, a first Cardan joint, a second Cardan joint, steered wheels, and an assist motor includes a control device. The control device configured to execute: a torque acquisition process of acquiring a detection value of a torque applied to a position closer to the steered wheels than the second Cardan joint; a steering angle variable acquisition process of acquiring a value of a steering angle variable indicative of a steering angle as an angle of the steering wheel; and an assist control process including a fluctuation torque control process of fluctuating the torque of the assist motor in accordance with the steering angle with the value of the steering angle variable being taken as an input.

Abstract: A turning control system includes a controller. The controller is configured to perform a decrease process of decreasing a magnitude of an angle operation amount which is reflected in an operation process with respect to the magnitude of the angle operation amount calculated in an angle operation amount calculating process when a vehicle speed is equal to or lower than a prescribed speed and a magnitude of an input torque of a steering wheel is equal to or less than a prescribed value. The controller is configured to perform a correction process of correcting an input when the decrease process is performed such that a magnitude of the input decreases when an angle command value calculating process calculates an angle command value.

Abstract: A driving assistance control device outputs a driving assistance command value to a steering control device as information indicating a target course that is generated on the basis of the detection result of a vehicle-mounted sensor. The driving assistance command value is output as a torque component or an angle component depending on the design of the driving assistance control device. In response, processing in which a driving assistance command value input from the exterior of the steering control device is used as input for angle control processing or input for torque control processing within an assist command value calculation unit is performed by a microcomputer as assistance command value input processing by an assistance command value input processing unit.

Abstract: A turning system includes a steering wheel, a turning actuator that has an electric motor incorporated thereinto and turns turning wheels, and a control device. The control device is configured to perform: a steering operation amount calculating process of calculating a steering operation amount; an angle command value calculating process of calculating an angle command value; an angle operation amount calculating process of calculating an angle operation amount; an operation process of operating a drive circuit of the electric motor; and a correction process of correcting a parameter upstream from the angle operation amount calculating process such that a drag force resisting an operation of the steering wheel for increasing magnitude of the turning angle is applied when the magnitude of the turning angle is equal to or greater than a turning angle threshold value.

Abstract: A steering controller includes processing circuitry configured to execute a first operation process that, when an angle command value is not input from outside of the processing circuitry, calculates a first torque command value corresponding to a steering-side operation amount and operating a drive circuit of an electric motor to adjust torque of the electric motor to the first torque command value. The processing circuitry is further configured to execute a second operation process that, when the angle command value is input from the outside of the processing circuitry, calculates a second torque command value corresponding to at least an angle-side operation amount of the steering-side operation amount and the angle-side operation amount and operating the drive circuit of the electric motor to adjust the torque of the electric motor to the second torque command value.

Abstract: A control apparatus for a motor includes an electronic control unit. The electronic control unit includes a first controller, a second controller, a third controller, and a fourth controller. The first controller is configured to, through execution of feedback control, compute a feedback control torque to be generated by the motor. The second controller is configured to compute a disturbance torque based on the feedback control torque and a predetermined angle. The third controller is configured to correct the feedback control torque by using the disturbance torque. The fourth controller is configured to compensate a transfer lag to the second controller between the feedback control torque and the predetermined angle.

Abstract: In a steering control device configured to control a steering system where a steering torque required for steering a steering wheel is changed using a motor torque, a processing circuit includes a first calculation situation where a calculational hysteresis component for adding a first hysteresis characteristic to a torque component is calculated and a second calculation situation where the calculational hysteresis component for adding a second hysteresis characteristic to the torque component is calculated. In the second calculation situation after change from the first calculation situation, the processing circuit calculates a value corresponding to an origin in the second hysteresis characteristic at a time when the calculational hysteresis component enabling a value of the calculational hysteresis component at a timing of the change from the first calculation situation to be maintained is calculated, and calculates the calculational hysteresis component using the calculated value as the origin.

Abstract: A steering controller includes processing circuitry. The processing circuitry is configured to execute an operation process for calculating a torque command value corresponding to a sum of an amount by which the steering-side operation amount is converted into the torque required for the electric motor and an amount by which the steerable wheel-side operation amount is converted into the torque required for the electric motor and operate a drive circuit of the electric motor to adjust the torque of the electric motor to the torque command value.

Abstract: A steering controller includes processing circuitry configured to execute a torque control process that calculates a steering-side operation amount, an angle feedback control process that calculates an angle-side operation amount, and an operation process that operates a drive circuit of an electric motor to adjust torque of the electric motor to a torque command value. The processing circuitry is further configured to execute a switch process that switches, when determining that a controllability of the electric motor is less than or equal to a predetermined efficiency, the torque command value from a value based on the angle-side operation amount to a value based on the steering-side operation amount instead of the angle-side operation amount.

Abstract: A driving assistance control device outputs a driving assistance command value to a steering control device as information indicating a target course that is generated on the basis of the detection result of a vehicle-mounted sensor. The driving assistance command value is output as a torque component or an angle component depending on the design of the driving assistance control device. In response, processing in which a driving assistance command value input from the exterior of the steering control device is used as input for angle control processing or input for torque control processing within an assist command value calculation unit is performed by a microcomputer as assistance command value input processing by an assistance command value input processing unit.

Abstract: A control apparatus for a motor includes an electronic control unit. The electronic control unit includes a first controller, a second controller, a third controller, and a fourth controller. The first controller is configured to, through execution of feedback control, compute a feedback control torque to be generated by the motor. The second controller is configured to compute a disturbance torque based on the feedback control torque and a predetermined angle. The third controller is configured to correct the feedback control torque by using the disturbance torque. The fourth controller is configured to compensate a transfer lag to the second controller between the feedback control torque and the predetermined angle.

Abstract: A steering control apparatus controls a motor used to turn a steered wheel of a vehicle, which synchronizes with a steering wheel, based on a command value. The steering control apparatus includes an electronic control unit. The electronic control unit is configured to compute a feedback control torque to be reflected in the command value. The electronic control unit is configured to compute a disturbance torque based on the feedback control torque and a predetermined angle. The electronic control unit is configured to correct the feedback control torque by using the disturbance torque. The electronic control unit is configured to correct the command value reflecting the corrected feedback control torque, based on an applied torque.

Abstract: A turning system includes a steering wheel, a turning actuator that has an electric motor incorporated thereinto and turns turning wheels, and a control device. The control device is configured to perform: a steering operation amount calculating process of calculating a steering operation amount; an angle command value calculating process of calculating an angle command value; an angle operation amount calculating process of calculating an angle operation amount; an operation process of operating a drive circuit of the electric motor; and a correction process of correcting a parameter upstream from the angle operation amount calculating process such that a drag force resisting an operation of the steering wheel for increasing magnitude of the turning angle is applied when the magnitude of the turning angle is equal to or greater than a turning angle threshold value.

Abstract: This steering control device is provided with a microcomputer. The microcomputer includes: a basic assist component calculation unit for calculating a basic assist component; an angle command value calculation unit for calculating an angle command value; an angle feedback control unit that calculates an assist command value via angle feedback control in which a pinion angle is made to follow the angle command value; and a control signal generation unit that generates a motor control signal on the basis of the assist command value. The basic assist component calculation unit includes: a torque command value calculation unit for calculating a torque command value that is a target value for steering torque to be input by a driver; and a torque feedback control unit that calculates the basic assist component via torque feedback control in which the steering torque is made to follow the torque command value.

Abstract: A turning control system includes a controller. The controller is configured to perform a decrease process of decreasing a magnitude of an angle operation amount which is reflected in an operation process with respect to the magnitude of the angle operation amount calculated in an angle operation amount calculating process when a vehicle speed is equal to or lower than a prescribed speed and a magnitude of an input torque of a steering wheel is equal to or less than a prescribed value. The controller is configured to perform a correction process of correcting an input when the decrease process is performed such that a magnitude of the input decreases when an angle command value calculating process calculates an angle command value.

Abstract: A turning control system includes an electronic control unit. The electronic control unit is configured to perform: a steering operation amount calculating process of calculating a steering operation amount; an angle command value calculating process of calculating an angle command value; an angle operation amount calculating process of calculating an angle operation amount; an operation process of operating a drive circuit of an electric motor; an adjustment process of adjusting a magnitude of a value obtained by subtracting the angle operation amount which is reflected in the operation process from the angle operation amount; and a correction process of correcting a magnitude of an input when the angle command value is calculated in the angle command value calculating process to be less when the magnitude of the subtracted value is great than when the magnitude of the subtracted value is small.