Abstract: A steer-by-wire steering apparatus according to the present invention includes: a reaction force actuator control section that controls an output amount of a reaction force actuator; a steering actuator control section that controls a steering actuator in response to a manipulation of a steering operation input member, the steering actuator steering steered wheels via a steering unit; a deviation recognition section that recognizes a deviation between a manipulation amount of the steering operation input member and a steering amount of the steering unit; and a reaction force actuator output boost section that, when the deviation increases, increases the output amount of the reaction force actuator. Thus, the steering reaction force can be appropriately controlled in correspondence with a response delay in the steering amount of the steering unit with respect to the manipulation amount of the steering operation input member.

Abstract: A control device (15) is equipped with a steering angle returning torque target value setting unit (30) which calculates a returning control amount target value (MapOut) based on a vehicle speed (Vs) and a turning angle (?b), and with a steering angle returning torque command signal calculation unit (31) which calculates a retuning control amount (RetOut) based on the retuning control amount target value (MapOut). The steering angle returning torque command signal calculation unit (31) is equipped with a rate limiter (36). The rate limiter (36) determines a change in the vehicle speed (Vs) from a vehicle speed sensor (19), and gradually increases or decreases the retuning control amount target value (MapOut) at a certain rate and then outputs the returning control amount (RetOut).

Abstract: A control device (15) is equipped with a steering angle returning torque target value setting unit (30) which calculates a returning control amount target value (MapOut) based on a vehicle speed (Vs) and a turning angle (?b), and with a steering angle returning torque command signal calculation unit (31) which calculates a retuning control amount (RetOut) based on the retuning control amount target value (MapOut). The steering angle returning torque command signal calculation unit (31) is equipped with a rate limiter (36). The rate limiter (36) determines a change in the vehicle speed (Vs) from a vehicle speed sensor (19), and gradually increases or decreases the retuning control amount target value (MapOut) at a certain rate and then outputs the returning control amount (RetOut).

Abstract: A transverse gradient current Ic which is larger than a basic assist current Ib is outputted, as a current command value, to motor driving section when direction correspondence judgment section 11 judges that rotation directions of first and second rotation angle signals ?1 and ?2 correspond with each other, when an advancing phase judgment section 12 judges that a phase of the second rotation angle signal is advanced, and when a phase variation judgment section 14 judges that a phase advance state of the second rotation angle signal ?2 continues.

Abstract: A transverse gradient current Ic which is larger than a basic assist current Ib is outputted, as a current command value, to motor driving section when direction correspondence judgment section 11 judges that rotation directions of first and second rotation angle signals ?1 and ?2 correspond with each other, when an advancing phase judgment section 12 judges that a phase of the second rotation angle signal is advanced, and when a phase variation judgment section 14 judges that a phase advance state of the second rotation angle signal ?2 continues.

Abstract: A power steering apparatus includes a power cylinder configured to assist a steering force of a steering mechanism; a bidirectional pump; a flow speed detecting section configured to detect or estimate a flow speed of working fluid flowing in a hydraulic circuit constituted by the power cylinder, the bidirectional pump and the like; a fluid temperature detecting section configured to detect or estimate a temperature of working fluid; a torque sensor configured to detect a steering torque which is applied to the steering mechanism; an electric motor configured to drive the bidirectional pump; and a motor control circuit configured to control the electric motor.