APPARATUS AND METHOD FOR CONTROLLING FRICTION COMPENSATION STEERING APPARATUS WITH FRICTION COMPENSATION CONTROL FUNCTION

摘要

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering apparatus for a vehicle, and is intended to solve the problem that an initial steering feeling is not maintained due to wear of an internal member of the steering apparatus. According to the present invention, the reference rack strength value at the steering angle is set, the rack thrust value is collected under the same learning condition as the setting, and the collected rack strength value is compared with the reference rack strength value, And the calculated frictional compensation gain is applied to the calculation of the driving current of the motor so that the user can continuously provide the initial steering feeling.