| 摘要 |
PURPOSE:To detect the abnormality of the control system such as a feedback control circuit, needless to say of the abnormality of an operation system, by installing a displacement detecting means for detecting the relative displacement of the operation parts of the actuators arranged in a plurality of redundant systems. CONSTITUTION:The steering force of a steering wheel 9 is transmitted into front wheels 12R and 12L, and the angular velocity equal to the steering angle is input into a control circuit 53 by a steering-angle sensor 52, and each deflection angle of rear wheels 13R and 13L is calculated, and a driving signal is output into each digital position control power cylinder step motor. When the circuit 53 or power cylinder 25 and 25' are damaged, or even in the case when the circuit 53 outputs a driving signal, if one cylinder 25 is made inoperative, the cylinder 25' deforms an elastic body 28' and shifts a relay rod 23, and a relative displacement is generated between the rods. Therefore, a strain gauge outputs the signal corresponding to the deformation of the deformed member into a comparator 36, and when the signal exceeds a prescribed value, it is judged that a power steering apparatus 54 is in anomaly state, and an alarm device 37 certainly alarms the generation of anomaly. |
