Abstract: A control unit of an electric power steering apparatus that configures a control system on the basis of a physical model of a rack (steering rack) mechanism, configures a model following control where an output of a controlled object follows an output of a reference model, makes a driver feel an appropriate reaction force, and suppresses uncomfortable feeling to the driver by pulling-tendency, is provided. The control unit of the electric power steering apparatus that assists and controls a steering system by driving a motor based on a current command value, includes a configuration of a model following control setting a viscoelastic model for a rack displacement as a reference model, performs a feedback control which inputs a shaft force corresponding to a road surface reaction force, and generates a virtual reaction force, by the configuration of the model following control.

Abstract: An electric power steering apparatus that calculates a first current command value based on at least a steering torque and performs an assist-control of a steering system by driving a motor based on the first current command value, including: a configuration of a model following control including a viscoelastic model as a reference model within a predetermined angle at front of a rack end, wherein an offset is given to input or output of the viscoelastic model for preventing an overheat, resulting in suppressing a rack end hitting.

Abstract: [Problem] An object of the present invention is to provide an electric power steering apparatus that constitutes a control system based on a physical model, constitutes a model following control that an output (a distance to a rack end) of a controlled object follows-up to a reference model, suppresses the occurrences of a noisy sound and a shock force at an end hitting without giving any uncomfortable steering feeling to a driver, and is capable of smoothly steering.

Abstract: [Problem] An object of the present invention is to provide an electric power steering apparatus that constitutes a control system based on a physical model, constitutes a model following control that an output (a distance to a rack end) of a controlled object follows-up to a reference model, suppresses the occurrences of a noisy sound and a shock force at an end hitting without giving any uncomfortable steering feeling to a driver, and is capable of smoothly steering.

Abstract: An electric power steering apparatus that calculates a first current command value based on at least a steering torque and performs an assist-control of a steering system by driving a motor based on the first current command value, including: a configuration of a model following control including a viscoelastic model as a reference model within a predetermined angle at front of a rack end, wherein an offset is given to input or output of the viscoelastic model for preventing an overheat, resulting in suppressing a rack end hitting.