Abstract: A steering system includes a control unit. The control unit includes a manual steering angle command value setting unit, a first weighting unit, a reaction combined angle command value calculating unit, a turning combined angle command value calculating unit, a reaction force control unit configured to cause a rotation angle of a reaction motor to conform to a reaction combined angle command value, and a turning angle control unit configured to cause a rotation angle of a turning motor to conform to a turning combined angle command value.

Abstract: A vehicle steering device includes a first setting portion 41 that sets a target assist torque in accordance with a steering torque, a second setting portion 42 that sets an angle controlling target torque for bringing an angular deviation between a target steering angle and an actual steering angle close to zero, an estimator that estimates a compensation object 43 load with respect to the angle controlling target torque, a first calculating portion 44 that calculates a target automatic steering torque based on the angle controlling target torque set by the second setting portion and the compensation object load estimated by the estimator, and a second calculating portion 44 that performs weighted addition of the target automatic steering torque and the target assist torque in accordance with a value that changes in accordance with a driver input to calculate a target motor torque that is a target value of a motor torque of the electric motor.

Abstract: A steering device includes a steering member, a steering operation mechanism, a reactive force motor, a steering motor that drives the steering operation mechanism, a steering torque sensor, and an electronic control unit. The electronic control unit sets a manual steering angle command value. The electronic control unit computes a reactive-force-related composite angle command value. The electronic control unit computes a steering-related composite angle command value based on a steering-related automatic steering angle command value and the manual steering angle command value. The electronic control unit causes a rotational angle of the reactive force motor to follow the reactive-force-related composite angle command value. The electronic control unit causes a rotational angle of the steering motor to follow the steering-related composite angle command value. The electronic control unit estimates a first disturbance torque.

Abstract: A vehicle steering device includes an electric motor applying a steering force to a vehicle turning mechanism, a first setting portion setting a target assist torque in accordance with a steering torque, a second setting portion setting an angle controlling target torque for bringing an angular deviation between a target steering angle and an actual steering angle close to zero, a restriction processing portion restricting the angle controlling target torque set by the second setting portion, a first calculating portion calculating a target automatic steering torque using the angle controlling target torque after the restriction process by the restriction processing portion, and second calculating portions performing weighted addition of the target automatic steering torque and the target assist torque in accordance with a value that changes in accordance with a driver input to calculate a target motor torque that is a electric motor target motor torque value.

Abstract: An electric power steering system includes an electric motor, a rotational angle detection unit, a current detection circuit, a steering torque detection unit, a target torque setting unit, a current command value setting unit, and a current control unit. The target torque setting unit includes a basic target torque setting unit, a first compensation value computation unit, a second compensation value computation unit, and a correction unit. The basic target torque setting unit sets basic target torque for the electric motor. The first compensation value computation unit sets a first compensation value based on steering torque. The second compensation value computation unit computes a second compensation value which is an estimated value of disturbance torque other than the steering torque. The correction unit corrects the basic target torque.

Abstract: A steering system includes: a steering member; a steering operation mechanism; a reaction force motor; a steering motor; a steering torque sensor; a command value setting circuit; a reaction force command value calculation circuit configured to calculate a reaction force command value; a steering operation command value calculation circuit configured to calculate a steering operation command value based on a steering operation steering angle command value and a manual steering angle command value; a reaction force control circuit configured to cause a rotation angle of the reaction force motor to follow the reaction force command value; and a steered angle control circuit configured to cause a rotation angle of the steering motor to follow the steering operation command value.

Abstract: A steering system includes a control unit. The control unit includes a manual steering angle command value setting unit, a first weighting unit, a reaction combined angle command value calculating unit, a turning combined angle command value calculating unit, a reaction force control unit configured to cause a rotation angle of a reaction motor to conform to a reaction combined angle command value, and a turning angle control unit configured to cause a rotation angle of a turning motor to conform to a turning combined angle command value.

Abstract: A steering device includes a steering member, a steering operation mechanism, a reactive force motor, a steering motor that drives the steering operation mechanism, a steering torque sensor, and an electronic control unit. The electronic control unit sets a manual steering angle command value. The electronic control unit computes a reactive-force-related composite angle command value. The electronic control unit computes a steering-related composite angle command value based on a steering-related automatic steering angle command value and the manual steering angle command value. The electronic control unit causes a rotational angle of the reactive force motor to follow the reactive-force-related composite angle command value. The electronic control unit causes a rotational angle of the steering motor to follow the steering-related composite angle command value. The electronic control unit estimates a first disturbance torque.

Abstract: A vehicle steering device includes an electric motor applying a steering force to a vehicle turning mechanism, a first setting portion setting a target assist torque in accordance with a steering torque, a second setting portion setting an angle controlling target torque for bringing an angular deviation between a target steering angle and an actual steering angle close to zero, a restriction processing portion restricting the angle controlling target torque set by the second setting portion, a first calculating portion calculating a target automatic steering torque using the angle controlling target torque after the restriction process by the restriction processing portion, and second calculating portions performing weighted addition of the target automatic steering torque and the target assist torque in accordance with a value that changes in accordance with a driver input to calculate a target motor torque that is a electric motor target motor torque value.

Abstract: An electric power steering system includes an electric motor, a rotational angle detection unit, a current detection circuit, a steering torque detection unit, a target torque setting unit, a current command value setting unit, and a current control unit. The target torque setting unit includes a basic target torque setting unit, a first compensation value computation unit, a second compensation value computation unit, and a correction unit. The basic target torque setting unit sets basic target torque for the electric motor. The first compensation value computation unit sets a first compensation value based on steering torque. The second compensation value computation unit computes a second compensation value which is an estimated value of disturbance torque other than the steering torque. The correction unit corrects the basic target torque.

Abstract: A vehicle steering device includes a first setting portion 41 that sets a target assist torque in accordance with a steering torque, a second setting portion 42 that sets an angle controlling target torque for bringing an angular deviation between a target steering angle and an actual steering angle close to zero, an estimator that estimates a compensation object 43 load with respect to the angle controlling target torque, a first calculating portion 44 that calculates a target automatic steering torque based on the angle controlling target torque set by the second setting portion and the compensation object load estimated by the estimator, and a second calculating portion 44 that performs weighted addition of the target automatic steering torque and the target assist torque in accordance with a value that changes in accordance with a driver input to calculate a target motor torque that is a target value of a motor torque of the electric motor.

Abstract: A steering system includes: a steering member; a steering operation mechanism; a reaction force motor; a steering motor; a steering torque sensor; a command value setting circuit; a reaction force command value calculation circuit configured to calculate a reaction force command value; a steering operation command value calculation circuit configured to calculate a steering operation command value based on a steering operation steering angle command value and a manual steering angle command value; a reaction force control circuit configured to cause a rotation angle of the reaction force motor to follow the reaction force command value; and a steered angle control circuit configured to cause a rotation angle of the steering motor to follow the steering operation command value.