A steering system includes a rack housing in which a rack shaft is housed, rack ends fitted to respective end portions of the rack shaft and coupled to respective steered wheels, and shock-absorbing members provided between the rack housing and the respective rack ends. When the rack shaft moves in a direction in which an end face of the rack end approaches a restricting surface of the rack housing and thus the rack shaft reaches a position after the shock-absorbing member is compressed by a compression amount, a control unit creates a normal input end through electronic stopper control of reducing an assisting force to be generated by a motor. This restricts movement of the rack shaft in a direction in which the end face approaches the restricting surface.

A steering control device capable of suppressing a reduction in reliability even in the case where the redundancy of the power source is increased is provided. A steering ECU includes two control systems in which different external power sources are connected to two drive circuits. The low potential sides of the drive circuits and the low potential sides of the corresponding external power sources are independently connected to each other via power source ground lines for the two control systems. The low potential sides of the drive circuits are connected to each other via an internal ground. Two current detection circuits are provided between the power source ground lines and the internal ground to detect power source ground current values, respectively. The steering ECU includes microcomputers that detect a ground abnormality on the basis of the results of detection performed by the current detection circuits.

A steer-by-wire assembly for a steering system in a vehicle is described. The system includes a shaft rotatable in response to a steering input, a clutch that includes a brake member rotatable with the shaft and a reaction member, and an electromagnetic actuator that is selectively actuated to selectively provide a force to selectively engage the brake and reaction members. When the actuator is not actuated, the force between the brake and reaction members limits or prevents rotation of the brake member relative to the reaction member. And when the actuator is actuated, the force between the brake and reaction members is reduced or removed to permit rotation of the brake member relative to the reaction member.

A current sensor state determination device determines that an abnormality is caused in a current sensor when a sum of phase currents based on current detection values from each of the current sensors in three phases is greater than a first determination value, and determines that no abnormality is caused in the current sensor when the sum of phase currents is equal to or less than the first determination value. The state determination device determines that the current sensor is normal when it is determined that (i) no abnormality is caused in a preset electric angle range equal to or less than one electric-angle cycle of the rotating electric machine and (ii) a value of an electric current flowing in the rotating electric machine in a rotating coordinates system calculated based on the current detection value is equal to or greater than a second determination value.

A steering system for a steerable vehicle includes at least two steerable wheels, to each of which an electrically operable steering actuator to enable the steering actuator to adjust the steering angle of the particular steerable wheel by application of a steering torque. The at least two steering actuators can be mechanically coupled to each other so that, in the event of a failure or a malfunction of the one steering actuator, the steering torque provided by the other steering actuator can be transferred to the one steering actuator, to enable the steering angle of the steerable wheel assigned to the failed steering actuator to still be changed via the other steering actuator. The at least two steering actuators can be mechanically coupled to each other via a bendable shaft or via a universal joint shaft which includes at least two rigid shafts hingedly connected via a universal joint.

A steering device (1) installed in a vehicle is equipped with: a steering wheel (10); a steering shaft (20) having a first shaft part (21), one end of which is directly connected to the steering wheel (10), and a second shaft part (22) connected to the first shaft part (21) on the other end side thereof; a coaxial motor (50) which applies a rotational force to the first shaft part (21), and has a motor housing (51) which supports the steering shaft (20) and surrounds the periphery of the first shaft part (21); and a support bracket (60) which extends in the axial direction of the steering shaft (20) in a front region inside the vehicle compartment, is secured to the vehicle compartment on the bottom end side and top end side thereof, and at the top end side thereof, sandwiches the motor housing (51) from both the left and right sides in the vehicle widthwise direction.

A torque compensation apparatus for an electric power steering system may include: a temperature sensor configured to sense the initial temperature around the electric power steering system when a vehicle is started; a motor position sensor configured to sense a motor angle of the electric power steering system; a timer configured to detect an operation time of the started vehicle; and a controller configured to calculate a compensation gain when the initial temperature corresponds to a preset low-temperature state, the compensation gain reflects the increasing ambient temperature, and is based on the motor angles accumulated during steering and the accumulative operation time detected through the timer after the start of the vehicle; and the controller outputs the compensation gain to compensate for a motor output torque of the electric power steering system.

A motor control system includes an inverter, and a control unit that feedback-controls the inverter. The control unit includes a voltage control unit that calculates a voltage command value indicating a voltage to be applied to the motor from the inverter based on a current deviation between a current command value and an actual current detection value, and a torque ripple compensation unit that adds a compensation value for compensating a torque ripple in the motor to a signal value on at least one of an upstream side and a downstream side in a signal flow passing through the voltage control unit. The torque ripple compensation unit calculates the compensation value based on an actual angular velocity at which the motor rotates and the target current command value, and based on advance angle control for compensating a response delay of the motor control system with respect to the compensation value.

[Problem] An object of the present invention is to provide an electric power steering apparatus that suppresses a handle vibration (noisy sound) being caused by a handle inertia and a spring nature of a torsion bar and improves a steering feeling, without changing of the gain of the PI control. [Means for solving the problem] The present invention is an electric power steering apparatus that assist-controls a steering by driving a motor with a current command value calculated based on at least a steering torque, comprising a vibration-damping compensating section that calculates a vibration-damping compensation command value for suppressing a vibration of a handle based on a motor velocity of the motor, wherein the current command value is corrected by the vibration-damping compensation command value.

A power steering assembly includes a housing having a first hole on a first axis. The power steering assembly includes a cartridge in the first hole and having a second hole and a third hole that are both centered on a second axis that is parallel with and spaced from the first axis. The power steering assembly includes a pulley supported by the second hole and the third hole. The power steering assembly includes a motor releasably fixed to the cartridge and operatively coupled to the pulley.