| 摘要 |
This invention provides an electrically-powered steering apparatus capable of not only carrying out assist control based on a steering angle but also detecting abnormality in a first angle detecting means and a second angle detecting means. In this electrically-powered steering apparatus 10, a steering shaft 12 and a pinion shaft 13 are connected to each other through a torsion bar 14 such that they can be rotated relatively to each other. The steering angle &thetas;1 of the steering shaft 12 and the steering angle &thetas;2 of the pinion shaft 13 are detected by an angle sensor 15 and an angle sensor 16 respectively, and then, an assist force to be generated by a motor M is determined by an assist torque determining means 21 based on at least one of the steering angle &thetas;1 of the steering shaft 12 and the steering angle &thetas;2 of the pinion shaft 13. Further, if a differential (&thetas;1 - &thetas;2) between the steering detection angle &thetas;1 and the steering detection angle &thetas;2 is equal to or over a predetermined value &thetas;0, it is detected that abnormality occurs in the angle sensor 15 or the angle sensor 16 by an angle sensor abnormality detecting means. <IMAGE>
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