| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an electric power steering apparatus capable of accurately estimating steering torque by taking into consideration reaction from a road surface. <P>SOLUTION: This electric power steering apparatus has a first torque command value calculating means 31 that calculates a first torque command value on the basis of steering torque detected by a steering torque detecting means 14, a torque detecting part abnormality detecting means 33 that detects abnormality of the steering torque detecting means 14 and a self-aligning torque estimating means 321 that estimates self-aligning torque transmitted from the road surface side to a steering mechanism, and has a second torque command value calculating means 32 that calculates a torque command value on the basis of the self-aligning torque estimated by the self-aligning torque estimating means 321, and an abnormal time switching means 34 that selects the second torque command value calculating means instead of the first torque command value calculating means when detecting abnormality of the steering torque detecting means by the torque detecting part abnormality detecting means 33. <P>COPYRIGHT: (C)2009,JPO&INPIT |
