Control apparatus for electric power steering
An electric power steering apparatus including a steering angle detection part that detects a steering angle of a steering wheel and outputs a steering angle signal, a steering control unit that controls a motor to give an assist torque to the steering wheel, an abnormality detection part that determines an abnormality of the steering angle detection part, and a motor angle detection part that detects a rotational angle of the motor. The steering control unit calculates a steering angle information based on at least the steering angle signal, and includes a signal storage part that stores the steering angle information. The steering control unit runs the motor continuously when the abnormality detection part detects the abnormality of the steering angle detection part until a vehicle stops or until the abnormality detection part determines that the steering angle signal returns to a normal state from the occurrence of the abnormality.
1. An electric power steering apparatus comprising:
a steering angle detection part that detects a steering angle of a steering wheel and outputs a steering angle signal based on the detected steering angle;
a steering control unit that controls a motor to give an assist torque to the steering wheel based on the steering angle signal;
an abnormality detection part that determines an abnormality of the steering angle detection part based on the steering angle signal; and
a motor angle detection part that detects a rotational angle of the motor and outputs a motor angle signal based on the detected rotational angle,
wherein the steering control unit calculates a steering angle information based on at least the steering angle signal,
the steering control unit includes a signal storage part that stores the calculated steering angle information, and
the steering control unit is configured to control the motor and run the motor continuously when the abnormality detection part detects an occurrence of the abnormality of the steering angle detection part until a vehicle stops or until the abnormality detection part determines that the steering angle signal returns to a normal state from the occurrence of the abnormality, based on a first steering angle information, among the stored steering angle information, stored in the signal storage part immediately before the occurrence of the abnormality and the motor angle signal output by the motor angle detection part.
2. The electric power steering apparatus according to claim 1 , wherein the steering angle information is a steering angle midpoint signal calculated from the steering angle signal and the motor angle signal.
3. The electric power steering apparatus according to claim 1 , wherein the steering control unit comprises a signal arithmetic processing part that calculates an average value of the steering angle information stored in the signal storage part in a predetermined period, and
when the abnormality detection part detects the occurrence of the abnormality of the steering angle detection part, the steering control unit controls the motor and runs the motor continuously based the calculated average value of the steering angle information stored in the signal storage part.