| 摘要 |
PURPOSE:To avoid any misdetection of trouble due to the effect of load fluctuations by comparing an output signal out of a subtracter with the specified reference signal and, when the output signal out of the subtracter exceeds the reference signal, installing such a trouble judging part as judging that it is something wrong in an actuator. CONSTITUTION:Load of an actuator (b) is predicted by a load predicting part (d), and a predicted value of output of the actuator (b) corresponding to a steering angle command value is operated in consideration of the load. The predicted value of the actuator output operated is compared with the actual output value of the actuator (b), and the presence of trouble in the actuator (b) is judged by a trouble judging part (g). Consequently, any misdetection on the trouble due to the effect of load fluctuations is avoided, thus accurate trouble detection takes place. |
