| 摘要 |
An actual detected current value and a target voltage value of an electric motor are subjected to a low-pass filter process (S10), and amounts of change dlfx, dVf* per time in the filtered actual current value Ifx and the filtered target voltage value Vf* are calculated (S11). If the amount of change dlfx in the actual current value on the increase side is greater than a criterion value and the amount of change dVf* in the target voltage value on the decrease side is greater than a criterion value (S12, S15), it is judged that the stroke end has been reached. Then, the upper limit value I*lim of the target current value is set at the actual current value Ifxold obtained in the immediately previous cycle of the feedback control (S21), so as to prevent generation of unnecessary torque.
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