The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Aug. 28, 2018
Filed:
Jun. 09, 2016
Nsk Ltd., Tokyo, JP;
Sakae Nejo, Maebashi, JP;
Tomonori Sato, Maebashi, JP;
NSK LTD., Shinagawa-ku, Tokyo, JP;
Abstract
An electric power steering apparatus that has a torque sensor which detects a steering torque, and a motor control apparatus to control the motor which applies an assist torque, by which steering is assisted, to a steering system of a vehicle, including: a function that switches a control system of the motor between an angle control system to control an angle corresponding to an angle control command value of an automatic steering mode and a torque control system to control a torque corresponding to a torque control command value of a manual steering mode in accordance with a predetermined switching trigger, wherein the steering apparatus variably sets a gradual-changing time corresponding to a command value difference between the angle control command value and the torque control command value when switching from the angle control system to the torque control system by using a gradual-changing.