Abstract: A motor control device includes a command value calculation unit that calculates a command value for controlling a motor, and a disturbance observer unit for estimating a disturbance applied to a mechanical device, based on the command value and rotation information of the motor, and to correct the command value based on the disturbance that is estimated. The disturbance observer unit has parameters that are adjusted to compensate for effects of the disturbance having a specific frequency that is an object of suppression. The parameters are adjusted such that a disturbance, applied to the mechanical device after effects of the disturbance are compensated for, has frequency characteristics corresponding to antiresonance characteristics of the mechanical device. The disturbance observer unit is configured to change the values of the parameters in accordance with the rotation information of the motor.

Abstract: A vehicle steering system has a power transmission path cut off between a steering unit that is steered by a steering wheel of a vehicle and a turning unit that operates to turn a turning wheel of the vehicle. A steering control device for the vehicle steering system includes a processor that controls operation of the turning unit. The processor executes a target turning angle calculation process of, based on a steering angle representing a rotation position of the steering wheel, calculating a target turning angle that is a target of a turning angle representing a turning position of the turning wheel and is a control amount for operating the turning unit.

Abstract: The steering control device includes a software processing device. The software processing device is configured to execute assist amount setting processing, axial force setting processing, and reaction force application processing. In the assist amount setting processing, an assist amount is set while an output value of first damping processing that outputs a first damping correction amount having a correlation with a steering angular velocity is used. In the axial force setting processing, the axial force is set while an output value of second damping processing that outputs a second damping correction amount having a positive correlation with the steering angular velocity is used. In the reaction force application processing, a value obtained by subtracting the axial force from the assist amount is an input and a reaction force motor is operated.

Abstract: A steering control device controls a steering system including a reaction force motor that gives a steering reaction force to a steering shaft and a turning motor that turns a turning wheel in a state where dynamic power transmission from the steering shaft is blocked. The steering control device includes a processor that executes a reaction force setting process and a reaction force giving process. In the reaction force setting process, the processor sets the steering reaction force using a predetermined-component reflecting process. In the reaction force giving process, the processor operates the reaction force motor such that the reaction force motor gives the steering reaction force set by the reaction force setting process.

Abstract: A steering control device includes a processor that controls, as a target, a steering system including a reaction force motor that applies a steering reaction force to a steering shaft and a turning motor that turns a turning wheel, and that executes a reaction force setting process, a phase compensation process, and a reaction force application process. The reaction force setting process is a process of setting the steering reaction force using the phase compensation process. The reaction force application process is a process of operating the reaction force motor so as to produce a reaction force as set by the reaction force setting process. The phase compensation process is a process of performing phase compensation of the steering reaction force in a different manner when a travel mode of a vehicle is different.

Abstract: A steering control device includes a processor that controls, as a target, a steering system including a reaction force motor that applies a steering reaction force to a steering shaft and a turning motor that turns a turning wheel in a state where power transmission from the steering shaft is cut off. The processor executes a reaction force setting process, a reaction force application process, and an interlocking process. The reaction force setting process is a process of setting the steering reaction force, and the reaction force application process is a process of operating the reaction force motor. A reaction force adjustment process is a process of adjusting the steering reaction force, and a phase compensation process is a process of performing phase compensation of the steering reaction force separately from the reaction force adjustment process.

Abstract: A processor is configured to execute reaction force setting processing, reaction force application processing, axial force gradient calculation processing, and interlock processing. The reaction force setting processing is processing of setting steering reaction force using phase compensation processing. The reaction force application processing is processing of operating a reaction force motor with reaction force set by the reaction force setting processing as input. The axial force gradient calculation processing is processing for calculating an axial force gradient as a variable indicating the ratio of the change in resisting force against rotation of the steering shaft to the change in rotation angle of the steering shaft. The interlocking processing is processing of changing one of both the value of a phase compensation regulation variable as a variable for regulating a manner of the phase compensation and the axial force gradient according to the other.

Abstract: An electronic control unit includes a booster circuit, a high-side switch, multiple low-side switches, a controller, a diode and a Zener diode. The booster circuit charges a booster capacitor to boost a power supply voltage supplied from a battery. The high-side switch drives an inductive load with a current through an output voltage of the booster circuit and the power supply voltage. The low-side switches are selectively turned on or off to control individual cylinders in an internal combustion engine. The controller controls the booster circuit, the high-side switch, and the low-side switches. The diode allows a current to flow back to the booster capacitor from a connection node between the inductive load and the low-side switches. The Zener diode is connected between the diode and the battery. The Zener diode clamps a voltage applied to the booster capacitor.

Abstract: A steering control device includes a processor. The processor is configured to execute a process in a state where dynamic force transmission between a steering wheel and a turning wheel is not performed. The process includes: a process of controlling a reaction force that is given to the steering wheel, by operating torque of the reaction force motor depending on the value of a reaction force command variable; a process of reflecting a predetermined component of a frequency signal that is given to the turning wheel in the value of the reaction force command variable; and a process of restricting the degree of contribution of the predetermined component to the value of the reaction force command variable, to a smaller degree, in a situation where a steering system including the steering wheel is unstable.

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 steering control device includes a torque command value calculating unit configured to calculate a torque command value which is a target value of a motor torque when operation of a motor is controlled such that the motor torque is generated. The torque command value calculating unit includes a first component calculating unit configured to calculate a first component, a second component calculating unit configured to calculate a second component, and a torque component calculating unit configured to calculate a torque component. The first component calculating unit is configured to add a calculational hysteresis component to the first component such that hysteresis characteristics with respect to change of a specific state variable are provided. The torque component calculating unit is configured to perform calculation in a first calculation situation and calculation in a second calculation situation.

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 device includes a torque command value calculating unit configured to calculate a torque command value which is a target value of a motor torque when operation of a motor is controlled such that the motor torque is generated. The torque command value calculating unit includes a first component calculating unit configured to calculate a first component, a second component calculating unit configured to calculate a second component, and a torque component calculating unit configured to calculate a torque component. The first component calculating unit is configured to add a calculational hysteresis component to the first component such that hysteresis characteristics with respect to change of a specific state variable are provided. The torque component calculating unit is configured to perform calculation in a first calculation situation and calculation in a second calculation situation.

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.