Electrically operated steering device, electrically operated steering control device, method for controlling an electrically operated steering device and computer program product

摘要

Filters 39, 35 output a vibration suppression gain for suppressing a resonance of a sub-frame or flutter by performing a filtering processing on a rotation angle of a motor 20. The filters 39, 35 have respective frequency characteristics in which a gain becomes a maximum size and advances a phase by about 90 ° at a critical angular frequency. The critical angular frequency of the filter 39 is fixed at a resonance frequency of the sub-frame. The critical angular frequency of the filter 35 is variably set according to a tire rotational frequency. A gain adder 40 adds the respective gains of the filters 39, 35 and outputs an added quantity to a correction mechanism (36, 33) as a vibration suppression gain. The correction mechanism (36, 33) corrects a motor torque adjusted by a servo mapper 32 using the vibration suppression gain output from the gain adder 40.