Abstract: A steering apparatus includes left and right swing arm members, left and right tie rods pivotally attached to the arm portions of the swing arm members at their inner ends, relay rods pivotally attached to the arm portions at both ends, and a steering input transmission system. Rack-and-pinion type electric power steering devices are connected to the arm portions of the left and right swing arm members. A control unit calculates correcting steering torques for reducing rotational vibrations generated in the electric power steering devices due to a disturbance, and correct target steering assist torques calculated based on a steering torque with the correcting steering torques and control the electric power steering devices with the corrected target steering assist torques.

Abstract: An electric power steering apparatus includes left and right swing arm members, right and left tie rods pivotally connected at inner ends to arm portions of the swing arm members via a relay rod pivotally connected to the arm portions at both ends, a rack-and-pinion device in which one end of a rack bar is connected to the arm portion of one of the swing arm members, and a steering input transmission system that transmits a steering input to the rack-and-pinion device. An electric steering assist force applying device is connected to the arm portion of the other swing arm member, and applies a force to assist the other swing arm member to swing.

Abstract: A steering apparatus includes left and right swing arm members, left and right tie rods pivotally attached to the arm portions of the swing arm members at their inner ends, relay rods pivotally attached to the arm portions at both ends, and a steering input transmission system. Rack-and-pinion type electric power steering devices are connected to the arm portions of the left and right swing arm members. A control unit calculates correcting steering torques for reducing rotational vibrations generated in the electric power steering devices due to a disturbance, and correct target steering assist torques calculated based on a steering torque with the correcting steering torques and control the electric power steering devices with the corrected target steering assist torques.

Abstract: An electric power steering apparatus includes left and right swing arm members, right and left tie rods pivotally connected at inner ends to arm portions of the swing arm members via a relay rod pivotally connected to the arm portions at both ends, a rack-and-pinion device in which one end of a rack bar is connected to the arm portion of one of the swing arm members, and a steering input transmission system that transmits a steering input to the rack-and-pinion device. An electric steering assist force applying device is connected to the arm portion of the other swing arm member, and applies a force to assist the other swing arm member to swing.

Abstract: A steering apparatus includes left and right swing arm members, right and left tie rods pivotally connected at inner ends to arm portions of the swing arm members via a relay rod pivotally connected to the arm portions at both ends, a rack-and-pinion device in which one end of a rack bar is connected to the arm portion of one of the swing arm members, and a steering input transmission system that transmits a steering input to the rack-and-pinion device. The rack-and-pinion device includes a pair of pressing devices disposed on both sides of the pinion along the longitudinal direction of the rack bar and pressing the rack bar against the pinion.