| 摘要 |
PROBLEM TO BE SOLVED: To improve the throughput of an entire device by elongating control systems to improve obstacle resistance, cooperatively controlling a plurality of elongated control systems, and preventing a processing load from being concentrated at one part of a plurality of processing devices constituting each of the control systems. SOLUTION: Respective steering angle sensors 3a, 3b, respective steering angle calculating parts 21a, 21b, respective motor control parts 32a, 32b, and respective motor control parts 42a, 42b are arranged at different portions. A first steering angle calculating part 21a adds information on results of comparison between steering signals and steering signals inputted from a second steering angle calculating part 21b when outputting the steering angle signals calculated based on detection signals of a first steering angle sensor 3a. The second steering angle calculating part 21b adds information on results of comparison between the steering angle signals and the steering angle signals inputted from the first steering angle calculating part 21a when outputting the steering angle signals calculated based on the detection signals of the second steering angle sensor 3b. COPYRIGHT: (C)2007,JPO&INPIT |
