| 摘要 |
PURPOSE:To correctly detect the trouble due to the abnormal oscillation in a steering angle control system by obtaining the control error frequency analysis value each of the prescribed number of frequency by frequency-analyzing the control error, and comparing the result with the external turbulence frequency analysis which is obtained by frequency-analyzing the external turbulence detection value. CONSTITUTION:A steering angle detecting means A for detecting the actual steering angle of a steering wheel and an external turbulence detecting means B for detecting the external turbulence inputted into a steering angle control system installed, and the control error is calculated by carrying out the calculation for representing the characteristic of the pertinent steering angle control system, on the basis of the actual steering angle, aimed steering angle value, and the external turbulence detection value, by a control error calculating means C into which the output signals of the means A and B are inputted. The control error frequency analysis value which is obtained by the frequency analysis of the result of the calculation is obtained by an error frequency detecting means D, and the external turbulence frequency analysis value which is obtained by the frequency analysis of the external turbulence detection value is obtained by an external turbulence frequency detecting means E. The outputs of the detecting means D and E are compared by a trouble judging means F, and the trouble of a steering angle control system is judged. |
