Importance

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Abstract

An electric power steering apparatus for recovering a steering wheel to its neutral position based on the speeds of the steered wheels of a vehicle. In response to a steering torque signal from a torque sensor, assisting torque by a motor is controlled in a torque servo system from a phase compensating filter to a current detecting unit. A microcomputer calculates a speed ratio of left and right wheels based on wheel speeds detected by wheel speed sensors. Recovery compensating torque is obtained from the speed ratio of the left and right wheels, and a corresponding signal is output to an addition calculating unit. The addition calculating unit adds the steering torque signal and the signal representing the recovery compensating torque to obtain a recovery compensated signal. Based on the recovery compensated signal, the assisting torque is controlled to recover the steering to its neutral position.

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First Claim