| 摘要 |
PROBLEM TO BE SOLVED: To prevent each steering shaft motor from interfering mutually when generating steering torque by driving a plurality of steering shaft motors. SOLUTION: Among each subsystem for driving each steering shaft motor, the subsystem having the highest priority order calculates a steering current command value I* based on a target steering angle command value and a detection signal of an angle sensor (step S14), and it is equally divided by the number of subsystems operating normally to calculate a divided steering current command value Is* (step S18). This divided steering current command value Is* is transmitted to the other subsystem (step S20), the steering shaft motor is driven based on the divided steering current command value Is* calculated in own subsystem in the subsystem having the highest priority order. In the other subsystem, the steering shaft motor is driven based on the informed divided steering current command value Is*. That is, in each subsystem, the steering shaft motor is driven based on the same divided steering current command value Is*. COPYRIGHT: (C)2004,JPO |
