| 摘要 |
There is provided an electric power steering apparatus including a first torque calculating unit (31) for calculating a first torque command based on a steering torque detected by the steering torque detecting unit, a second torque command calculating unit (32) for calculating a second torque command based on the wheel rotation speed, an emergency switching unit (34) for outputting the second torque command instead of the first torque command when error of the rotation torque is detected, a wheel rotation speed error detecting unit for detecting an error of the wheel rotation speed based at least on the wheel rotation speed, the steering torque in a normal state and the motor rotation information, and an emergency command limiting unit (41) for liming the second torque command when normal and the motor rotation information, and where error of the wheel rotation speed is detected, when the second torque command is selected by the emergency switching unit. |
