Position-dependent friction compensation for steering systems

摘要

A method for compensation (1, 3, 5, 7) of a rotor angle deviation (110, 120, 122, 210, 220, 222) of a motor, in particular of an actuator in a steering system, characterized in that a rotor angle deviation (110, 120, 122, 210, 220, 222) via a piecewise linearized control (38, 58) of the difference from a setpoint rotor angle (120, 220), which is connected to a manual torque (102, 202) on a steering handle and a stored rotor angle (100, 200) is based, and a measured rotor angle (110, 210) can be compensated for, wherein a control factor (126, 128, 226, 228) of the control system (38, 58) is variable dependent on a wide.