| 摘要 |
When the estimated motor temperature becomes equal to or higher than the first predetermined temperature (A1), an addition angle correction unit (25) temporarily decreases the absolute value of the addition angle (a) output from an addition angle limiter (24) at time intervals (T int ). The addition angle confection unit (25) makes the time interval (T int ) shorter as the estimated motor temperature increases. When the time interval (T int ) becomes equal to or shorter than the predetermined threshold, that is, when the estimated motor temperature becomes equal to or higher than the second predetermined temperature (A2) that is higher than the first predetermined temperature (A1), the addition angle correction unit (25) notifies a command current value changing unit (31) of a current stop command. Thus, the ³-axis command current value (I ³ *) is changed to 0, and therefore the steering mode is shifted to the manual steer mode. |
