| 摘要 |
PROBLEM TO BE SOLVED: To prevent generation of excessive torque by detecting reaching to a stroke end to be an operable area terminal at early timing. SOLUTION: An actual electric current detection value and a target voltage value of an electric motor are low-pass-filter-processed (S109) and variations dIfx, dVf* per hour of a real electric current value Ifx and a target voltage value Vf* filter-processed are calculated (S11). Thereafter, it is determined that it reaches the stroke end when the variation dIfx on the increased side of the real electric current value is larger than a judged value and the variation dVf* on the decreased side of the target voltage value is larger than a determination value (S12, S15), and generation of useless torque is prevented by setting (S21) an upper limit value I*lim of the target electric current value at an actual electric current value Ifxold at the time immediately before in feedback control. COPYRIGHT: (C)2007,JPO&INPIT |
