| 摘要 |
<p>[Problem] To enable detection of an abnormality showing only a relatively small change in current value, such as abnormal gain of an amplifier, such that actions to correct the abnormality can be taken. [Solution] Changes in a motor current value in three regions, namely, an inrush current period, a no-load current period, and a current rise period, under normal circumstances are pre-stored as normative values, and an abnormality is detected by comparing the normative values with the present value of the motor current detected when EPB is used. When an abnormality is detected, a correction is made to increase a locking operation time by setting a target current value to be larger than a value that is set under normal circumstances, for example. Consequently, even in the presence of an abnormality, locking control can be properly carried out, so the EPB does not need to be stopped. Therefore, an abnormality that appears only in the form of a relatively small change in current value such as abnormal gain of an amplifier can be detected, and an action to correct the abnormality can be taken.</p> |
