A driver assistance system for a vehicle includes a steering assistance system for autonomously generating steering commands, a first actuating drive for adjusting a steering angle on a steerable wheel of the vehicle corresponding to the steering commands and a steering wheel that is rotatable coupled to the steering angle by a second actuating drive. The steering assistance system actuates the second actuating drive in order to favor a low-frequency component of a frequency spectrum of changes of the steering angle in the rotation of the steering wheel than a high-frequency component of the frequency spectrum.

An assist command value calculation circuit includes a torque shift control circuit, a phase lag compensation control circuit, a basic assist control circuit, and a phase lead compensation control circuit. A determination circuit determines whether a motor has been continuously under high load or not based on a current command value and a current limit value. The determination circuit determines whether the motor has been continuously under high load or not by comparing the current command value with the current limit value and comparing a basic assist controlled variable with the current limit value, and outputs a phase compensation restriction flag. The phase lag compensation control circuit and the phase lead compensation control circuit restrict phase restriction when the phase compensation restriction flag is ON, and continues phase compensation when the phase compensation restriction flag is OFF.

A transmission for a vehicle, particularly a skid-steered vehicle, that employs motive power from a prime mover delivered through an input shaft to drive left and right drive shafts at a nominal speed and input power from an electric motor to vary the speed of the left and right drive shafts according to steering commands from a steering control structure. The speed of the left and right drive shafts is directly related to a speed of the input shaft and the nominal speed of the left or right drive shaft is varied upwardly or downwardly by a ratio of the speed of the steering shaft via a speed varying structure. The speed of the left and right drive shafts is simultaneously varied in opposite directions (i.e. upwardly and downwardly) relative to the nominal speed by an equal number of rotations.

An electric power steering device includes: an electric motor; a rack shaft configured to move axially; a conversion unit configured to convert rotational driving force of the moto into movement of the rack shaft; a first housing configured to cover a part of an outer surface of the rack shaft and including a first leg portion fixed to a vehicle; a second housing configured to cover a part of the outer surface of the rack shaft and including a fourth connecting portion covering the conversion unit and a second leg portion fixed to the vehicle; and an intermediate housing disposed between the first and second housings and configured to cover a part of the outer surface of the rack shaft 3 and including a motor support portion supporting the motor.

A motor controlling ECU 202 includes an automatic steering controller 42 that sets an automatic steering control amount, an assist controller 41 that sets an assist control amount, an integrated control amount calculating portion 43 that calculates an integrated control amount by adding the automatic steering control amount and the assist control amount, and an actual automatic steering angle calculating portion 46 that calculates, based on at least one of either of a steering torque and the assist control amount, an actual automatic steering angle that is a steering angle due to automatic steering control and included in an actual steering angle. The automatic steering controller 42 uses a target automatic steering angle and the actual automatic steering angle to set the automatic steering control amount.

A rotation detector has a first controller that monitors abnormality of a rotation number calculated by a rotation number calculator based on the calculated rotation number and a preset rotation angle. The first controller in a first system is configured to output rotation information calculated by a second controller in a second system upon having determination that the rotation number of the first system has abnormality, for a continuation of the rotation information calculation.

The invention relates to a method for compensating a stick-slip effect in the case of a recirculating ball steering system (20) having a steering housing (22), in which a steering piston (24) is supported between a first working chamber (34) and a second working chamber (36), wherein the steering piston (24) has a toothed region (26) on the steering-piston outer wall of the steering position, with which toothed region teeth (28) of a segment shaft (30) mesh, the steering piston (24) can he moved along a longitudinal axis X-X, the working chambers (34, 36) are connected to a control valve (39) by means of pressure-medium lines in order to provide steering assistance, the control valve (39) is connected to a processor unit (40), by means of which valves of the control valve (39) can be actuated, and the processor unit (40) is connected to a sensor (42), which determines rotation of the steering column both in a first direction of rotation and in a second, opposite direction of rotation. When a rotational motion of the steering column in a first direction occurs and thereafter the rotational motion in said direction nearly or completely stops, the valves of the control valve (39) are opened by the processor unit (40) in such a way that the pressure in the working chamber (34, 36) of the steering piston (24) facing away from the direction of motion of the steering piston (24) is reduced and immediately thereafter the pressure in the same working chamber (34, 36) is increased again.

A steering control device includes a control circuit and a drive circuit. The control circuit is configured to perform a current feedback computation by which the actual current value of electric current to be supplied to a motor follows a current command value. The control circuit is configured to execute an end-abutting relaxation control to correct the current command value such that decrease in an end interval angle is restricted, when the end interval angle is equal to or smaller than a predetermined angle, the end interval angle indicating the distance of the absolute steer angle from the end position correspondence angle. The control circuit is configured to adjust a control gain to be used in the current feedback computation, such that the control gain increases, when overshoot of the actual current value occurs during the execution of the end-abutting relaxation control.

[Problem]

An object of the present invention is to provide the motor which is possible to obtain the skew effect within the rotor gap surface by arranging the respective magnetic pole pitches at imbalance positions without causing the increasing of the magnet machining cost and the rotor assembly time, and the electric power steering apparatus equipped with the motor and a vehicle.

[Means for Solving the Problem]

The present invention is a motor that has a skew effect within a rotor gap surface of a mechanical angle one-cycle, wherein a rotor magnetic pole comprises plural magnetic salient pole portions by means of magnetic material, an N-pole and an S-pole magnets are alternately arranged on a rotor surface between the magnetic salient pole portions, and magnetic pole pitches of an electrical angle one-cycle, which comprise the magnetic salient pole portions and the N-pole and the S-pole magnets, are unevenly arranged.

[Problem]

An object of the present invention is to provide the motor which is possible to obtain the skew effect within the rotor gap surface by arranging the respective magnetic pole pitches at imbalance positions without causing the increasing of the magnet machining cost and the rotor assembly time, and the electric power steering apparatus equipped with the motor and a vehicle.

[Means for Solving the Problem]

The present invention is a motor that has a skew effect within a rotor gap surface of a mechanical angle one-cycle, wherein a rotor magnetic pole comprises plural magnetic salient pole portions by means of magnetic material, an N-pole and an S-pole magnets are alternately arranged on a rotor surface between the magnetic salient pole portions, and magnetic pole pitches of an electrical angle one-cycle, which comprise the magnetic salient pole portions and the N-pole and the S-pole magnets, are unevenly arranged.