JP2004058895A - Electric steering gear - Google Patents

Electric steering gear Download PDF

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Publication number
JP2004058895A
JP2004058895A JP2002221653A JP2002221653A JP2004058895A JP 2004058895 A JP2004058895 A JP 2004058895A JP 2002221653 A JP2002221653 A JP 2002221653A JP 2002221653 A JP2002221653 A JP 2002221653A JP 2004058895 A JP2004058895 A JP 2004058895A
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Japan
Prior art keywords
steering
motor
vehicle speed
output
deterioration
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JP2002221653A
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JP3912217B2 (en
Inventor
Chikatoshi Nakatsu
中津　慎利
Jiyunji Kawamuro
河室　巡児
Takahiro Koshiro
小城　隆博
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Toyota Motor Corp
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Toyota Motor Corp
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  • Power Steering Mechanism (AREA)

Abstract

<P>PROBLEM TO BE SOLVED: To provide an electric steering gear capable of properly detecting a degree of deterioration of a steering transmission mechanism. <P>SOLUTION: This electric steering gear 1 is constituted by driving a motor 30 in accordance with operation of a steering wheel 2 to generate assist force for steering. A degree of deterioration of a reduction gear 30 for decelerating output of the motor 30 is determined based on an output condition of the motor 30 when vehicle speed V of a vehicle is above a predetermined vehicle speed value Vx. Since a case where output of the motor 30 is increased due to stationary steering of the steering wheel 2 is excluded by adding vehicle speed V and determining deterioration, deterioration can be properly detected. <P>COPYRIGHT: (C)2004,JPO

Description

【０００１】
【発明の属する技術分野】
本発明は、モータ駆動により操舵アシストを行う電動操舵装置に関するものである。
【０００２】
【従来の技術】
従来、モータ駆動により操舵アシストを行う電動操舵装置としては、例えば特開２００１−１３８９２９号公報に記載されるように、モータに流れる電流に基づいてモータの過熱状態の検出を行う電動パワーステアリング装置が知られている。この装置は、モータの電流値に基づいてモータの発熱量を推定し、モータの過熱状態を検出しようとするものである。
【０００３】
【発明が解決しようとする課題】
ところで、モータが過熱状態となるのは、頻繁にハンドル操舵が行われる場合のほか、操舵力伝達系の摩耗などの劣化が進みモータ負荷が増大化したような場合もある。このため、操舵力伝達系の劣化を検出しようとするときに、モータの過熱状態を検出しただけでは、ハンドル操作に起因するものか、操舵力伝達系の劣化に起因するものかどうか検出することが困難である。
【０００４】
そこで本発明は、このような問題点を解決するためになされたものであって、操舵力伝達系の劣化を適切に検出できる電動操舵装置を提供することを目的とする。
【０００５】
【課題を解決するための手段】
すなわち、本発明に係る電動操舵装置は、車両に搭載され、ハンドル操作に応じモータを駆動させて操舵制御を行う電動操舵装置において、　車両の車速が所定の車速以上であるときのモータの出力状態に基づいて、モータの出力を転舵輪側へ伝達させる操舵伝達機構の劣化度を判断する判断手段を備えたことを特徴とする。
【０００６】
また本発明に係る電動操舵装置は、判断手段が、車速が所定の車速以上であるときのモータに流れる電流値に関する物理量に基づいて劣化度を判断することを特徴とする。
【０００７】
また本発明に係る電動操舵装置は、判断手段が、車速が所定の車速以上であって電流値に関する物理量が所定値以上であるときに操舵伝達機構が寿命に達したと判断することを特徴とする。
【０００８】
また本発明に係る電動操舵装置は、操舵伝達機構がモータの出力を減速させて転舵輪側へ伝達させる減速機であることを特徴とする。
【０００９】
これらの発明によれば、車速が所定以上であるときのモータの出力状態に基づいて操舵伝達機構の劣化度を判断することにより、ハンドルの据え切りによってモータの出力が増加する場合に操舵伝達機構の劣化と判断することが避けられ、減速機などの操舵伝達機構の劣化度を適切に検出することができる。
【００１０】
【発明の実施の形態】
以下、添付図面を参照して本発明の実施の形態を詳細に説明する。なお、図面の説明において同一の要素には同一の符号を付し、重複する説明を省略する。
【００１１】
図１は実施形態に係る電動操舵装置の構成概要図である。
【００１２】
本図に示すように、電動操舵装置１には、ハンドル２の操舵力を転舵輪３に伝達させる操舵伝達系に伝達比可変機構４が設けられている。伝達比可変機構４は、ハンドル２の操舵角と転舵輪３の転舵角の伝達比を可変とするものである。伝達比可変機構４の入力軸５は、ハンドル２に接続されている。
【００１３】
また、伝達比可変機構４の出力軸６は、ラックアンドピニオンなどで構成されるギヤ装置７を介して転舵輪３、３に接続されている。ギヤ装置７は、出力軸６の回転入力によりタイロッド８を移動させて転舵輪３、３を転舵させる。
【００１４】
入力軸５には、操舵角センサ１０が設けられている。操舵角センサ１０は、入力軸５の回転状態に基づいて、ハンドル２の操舵角度を検出する操舵角検出手段として機能する。
【００１５】
伝達比可変機構４には、モータ３０、減速機４０及びロック機構５０が収容されている。モータ３０は、ハンドル２の操作に応じて駆動する電動機であり、ハンドル２の操作に応じた駆動電流を操舵制御器２０から受けて駆動し、操舵のアシスト力を発生させる。
【００１６】
モータ３０のステータ３１は、伝達比可変機構４のハウジング４ａに取り付けられている。モータ３０のロータ３２は、減速機４０を介して出力軸６に接続されている。減速機４０は、モータ３０の回転出力を減速して出力する減速手段であり、モータ３０の出力を転舵輪３側へ伝達させる操舵伝達機構の一部として機能する。
【００１７】
モータ３０の出力は、減速機４０で減速されて出力軸６に出力される。減速機４０としては、例えば遊星歯車機構が用いられる。この減速機４０において、各歯車間の潤滑剤として例えばグリースが用いられる。
【００１８】
また、伝達比可変機構４には、回転センサ２１が設けられている。回転センサ２１は、モータ３０の回転軸３３の回転位置を検出する回転検出手段として機能する。
【００１９】
操舵角センサ１０及び回転センサ２１の検出信号は、操舵制御器２０に入力される。操舵制御器２０は、電動操舵装置１の装置全体の制御を行うものであり、例えばＣＰＵ、ＲＯＭ、ＲＡＭ、入力信号回路、出力信号回路、電源回路などにより構成される。
【００２０】
また、操舵制御器２０には、車両に設置される車速センサ２２の検出信号が入力される。車速センサ２２は、車両の走行速度を検出する車速検出手段として機能する。
【００２１】
また、操舵制御器２０は、モータ３０へ駆動電流を供給する。その際、モータ３０に流れる電流値に基づいて、モータ出力状態であるモータ３０の出力トルクを推定し、そのモータ３０の出力トルクに基づき減速機４０の劣化度を判断する判断手段として機能する。なお、モータ電流値によりモータトルクを推定しているが、実際にモータトルクを検出し、そのモータトルク基づいて減速機４０の劣化度を判断することも可能である。
【００２２】
また、操舵制御器２０は、操舵角センサ１０、車速センサ２２などの検出信号に基づいて伝達比可変機構４に駆動信号を出力して伝達比を調整し操舵制御を行う。
【００２３】
図２に本実施形態に係る電動操舵装置の動作を示すフローチャートを示す。
【００２４】
本図のＳ１０に示すように、イグニッションスイッチがオンされることにより制御処理が開始され、車速Ｖ及びモータ３０の電流Ｉの読み込みが行われる。車速Ｖの読み込みは、車速センサ２２の出力信号に基づいて行われる。
【００２５】
そして、Ｓ１２に移行し、車両の車速Ｖが予め設定される車速値Ｖｘ以上であるか否かが判断される。車速値Ｖｘとしては、ハンドル２の据え切りでないことを判断することができる下限車速が設定され、例えば５ｋｍ／ｈに設定される。
【００２６】
Ｓ１２にて車両の車速Ｖが車速値Ｖｘ以上でないと判断されたときには、ハンドル２の据え切りによりモータ出力が増大化しているおそれがあるとして、制御処理を終了する。
【００２７】
一方、Ｓ１２にて車両の車速Ｖが車速値Ｖｘ以上であると判断されたときには、Ｓ１４に移行し、モータ３０の出力が所定以上であるが否かが判断される。この判断は、モータ３０に流れる電流Ｉの物理値が所定値以上であるか否かに基づいて行われる。例えば、モータ３０に流れる電流Ｉが予め設定される電流値Ｉｘ以上であるか否かに基づいて行われる。このとき、電流値Ｉｘは、車速Ｖが小さいほど大きい値になるように設定するのが望ましい。
【００２８】
また、モータ３０の電流Ｉの物理値として、電流Ｉそのものではなく、電流二乗積算値ΣＩ２を用いてもよい。すなわち、電流二乗積算値ΣＩ２が予め設定される電流二乗積算値ΣＩｘ２以上であるか否かに基づいて、モータの出力状態が判断される。この場合も、電流二乗積算値ΣＩｘ２は、車速Ｖが小さいほど大きい値になるように設定するのが望ましい。
【００２９】
そして、Ｓ１４にて、モータ３０の出力が所定以上であると判断されたときには、操舵伝達機構である減速機４０の劣化度が所定以上である又は減速機４０が寿命であるとして、劣化処理が行われる（Ｓ１６）。一方、Ｓ１４にて、モータ３０の出力が所定以上でないと判断されたときには、制御処理を終了する。
【００３０】
劣化処理としては、例えば、減速機４０の劣化したこと、減速機４０の交換又は減速機４０のメンテナンスなどがインストルメントパネルなどに表示される。また、劣化処理として、ロック機構５０によるロックが行われる。この場合、入力軸５と出力軸６が機械的に直結した状態となり、モータ３０及び減速機４０の作動なく、操舵が可能となる。
【００３１】
以上のように、本実施形態に係る電動操舵装置１によれば、車速Ｖが所定の車速値Ｖｘ以上であるときのモータ３０の出力状態に基づいて操舵伝達機構である減速機４０の劣化度を判断することにより、ハンドル２の据え切りによりモータ３０の出力が増加する場合に減速機４０の劣化と判断するようなことが避けられ、減速機４０の劣化度を適切に検出することができる。
【００３２】
本実施形態に係る電動操舵装置１は、伝達比可変機構４の作動により、低車速では運転者による操舵に対する操舵量が大きく、高車速では運転者による操舵に対する操舵量が低速時に比べて小さくなるように操舵制御している。このような操舵制御により、低車速ではより車両の方向転換を容易にし、高車速では走行安定性を高めることができる。一方、このようにして操舵制御を行うと、高車速時では、モータ３０が動く量が減少し、操舵伝達機構の正常時と劣化時におけるモータトルクの差が現れにくい。このため、電動操舵装置１において、ハンドル２の据え切りでない車速以上であって、操舵伝達機構の劣化状態とそうでないときのモータトルク差が現れる上限車速以下の車速範囲でのみ、上述した操舵伝達機構の劣化検出を行うことが好ましい。これによって、より劣化状態を正確に把握することができる。
【００３３】
また、操舵伝達機構として機能低下を生じやすい減速機４０の劣化度又は寿命を検出するのに有用である。
【００３４】
なお、本実施形態では、モータ３０の出力状態を電流Ｉに関する物理量に基づいて推定する場合について説明したが、本発明に係る電動操舵装置はそのようなものに限られるものではなく、モータ３０の温度を検出してモータ３０の出力状態を検出するものであってもよい。
【００３５】
また、本実施形態では、操舵伝達機構として減速機４０の劣化度、寿命を検出する場合について説明したが、その他操舵伝達機構を構成するもの劣化度、寿命を検出に適用してもよい。
【００３６】
【発明の効果】
以上説明したように本発明によれば、操舵伝達機構の劣化度を適切に検出することができる。
【図面の簡単な説明】
【図１】本発明の実施形態に係る電動操舵装置の構成図である。
【図２】図１の電動操舵装置における動作を示すフローチャートである。
【符号の説明】
１…電動操舵装置、２…ハンドル、３…転舵輪、４…伝達比可変機構、５…入力軸、６…出力軸、１０…操舵角センサ、２０…操舵制御器、２１…回転センサ、２２…車速センサ、３０…モータ、４０…減速機（操舵伝達機構）、５０…ロック機構。[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an electric steering device that performs steering assist by driving a motor.
[0002]
[Prior art]
Conventionally, as an electric steering device that performs steering assist by driving a motor, for example, as described in Japanese Patent Application Laid-Open No. 2001-138929, an electric power steering device that detects an overheated state of a motor based on a current flowing through the motor is known. Are known. This device estimates the amount of heat generated by the motor based on the current value of the motor, and attempts to detect an overheated state of the motor.
[0003]
[Problems to be solved by the invention]
Incidentally, the motor may be overheated not only when the steering wheel is frequently operated, but also when the motor load increases due to deterioration such as wear of the steering force transmission system. Therefore, when trying to detect the deterioration of the steering force transmission system, it is necessary to detect whether the overheating state of the motor alone is caused by the steering operation or the deterioration of the steering force transmission system. Is difficult.
[0004]
Therefore, the present invention has been made to solve such a problem, and an object of the present invention is to provide an electric steering device capable of appropriately detecting deterioration of a steering force transmission system.
[0005]
[Means for Solving the Problems]
That is, an electric steering device according to the present invention is mounted on a vehicle, and in an electric steering device that performs steering control by driving a motor in accordance with a steering operation, an output state of the motor when a vehicle speed of the vehicle is equal to or higher than a predetermined vehicle speed. And a judgment means for judging the degree of deterioration of the steering transmission mechanism for transmitting the output of the motor to the steered wheels based on the control signal.
[0006]
Further, the electric steering device according to the present invention is characterized in that the judging means judges the degree of deterioration based on a physical quantity relating to a current value flowing through the motor when the vehicle speed is equal to or higher than a predetermined vehicle speed.
[0007]
Further, the electric steering device according to the present invention is characterized in that the judging means judges that the steering transmission mechanism has reached the end of its life when the vehicle speed is equal to or higher than a predetermined vehicle speed and a physical quantity related to a current value is equal to or higher than a predetermined value. I do.
[0008]
Further, the electric steering apparatus according to the present invention is characterized in that the steering transmission mechanism is a reduction gear that reduces the output of the motor and transmits the output to the steered wheels.
[0009]
According to these inventions, by determining the degree of deterioration of the steering transmission mechanism based on the output state of the motor when the vehicle speed is equal to or higher than the predetermined value, the steering transmission mechanism is increased when the output of the motor increases due to the turning of the steering wheel. The deterioration of the steering transmission mechanism such as the speed reducer can be appropriately detected.
[0010]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the description of the drawings, the same elements will be denoted by the same reference symbols, without redundant description.
[0011]
FIG. 1 is a schematic configuration diagram of an electric steering device according to an embodiment.
[0012]
As shown in the figure, the electric steering device 1 is provided with a variable transmission ratio mechanism 4 in a steering transmission system that transmits the steering force of the steering wheel 2 to the steered wheels 3. The variable transmission ratio mechanism 4 varies the transmission ratio between the steering angle of the steering wheel 2 and the steered angle of the steered wheels 3. The input shaft 5 of the variable transmission ratio mechanism 4 is connected to the handle 2.
[0013]
Further, the output shaft 6 of the variable transmission ratio mechanism 4 is connected to the steered wheels 3, 3 via a gear device 7 composed of a rack and pinion or the like. The gear device 7 moves the tie rod 8 in response to the rotation input of the output shaft 6 to steer the steered wheels 3.
[0014]
The input shaft 5 is provided with a steering angle sensor 10. The steering angle sensor 10 functions as a steering angle detecting unit that detects the steering angle of the steering wheel 2 based on the rotation state of the input shaft 5.
[0015]
The variable transmission ratio mechanism 4 accommodates the motor 30, the speed reducer 40, and the lock mechanism 50. The motor 30 is an electric motor that is driven in accordance with the operation of the steering wheel 2. The motor 30 is driven by receiving a driving current in accordance with the operation of the steering wheel 2 from the steering controller 20 to generate a steering assist force.
[0016]
The stator 31 of the motor 30 is attached to the housing 4a of the transmission ratio variable mechanism 4. The rotor 32 of the motor 30 is connected to the output shaft 6 via the speed reducer 40. The speed reducer 40 is a speed reducing unit that reduces the rotational output of the motor 30 and outputs the reduced output, and functions as a part of a steering transmission mechanism that transmits the output of the motor 30 to the steered wheels 3.
[0017]
The output of the motor 30 is reduced by the speed reducer 40 and output to the output shaft 6. As the speed reducer 40, for example, a planetary gear mechanism is used. In the speed reducer 40, for example, grease is used as a lubricant between the gears.
[0018]
In addition, the transmission ratio variable mechanism 4 is provided with a rotation sensor 21. The rotation sensor 21 functions as rotation detection means for detecting the rotation position of the rotation shaft 33 of the motor 30.
[0019]
The detection signals of the steering angle sensor 10 and the rotation sensor 21 are input to the steering controller 20. The steering controller 20 controls the entire electric steering device 1 and includes, for example, a CPU, a ROM, a RAM, an input signal circuit, an output signal circuit, and a power supply circuit.
[0020]
Further, a detection signal of a vehicle speed sensor 22 installed in the vehicle is input to the steering controller 20. The vehicle speed sensor 22 functions as a vehicle speed detecting unit that detects a traveling speed of the vehicle.
[0021]
The steering controller 20 supplies a drive current to the motor 30. At this time, it functions as a judging means for estimating the output torque of the motor 30 in the motor output state based on the value of the current flowing through the motor 30, and judging the degree of deterioration of the speed reducer 40 based on the output torque of the motor 30. Although the motor torque is estimated based on the motor current value, it is also possible to actually detect the motor torque and determine the degree of deterioration of the speed reducer 40 based on the motor torque.
[0022]
Further, the steering controller 20 outputs a drive signal to the transmission ratio variable mechanism 4 based on detection signals from the steering angle sensor 10, the vehicle speed sensor 22, and the like, adjusts the transmission ratio, and performs steering control.
[0023]
FIG. 2 is a flowchart illustrating the operation of the electric steering apparatus according to the present embodiment.
[0024]
As shown in S10 in this figure, the control process is started by turning on the ignition switch, and the vehicle speed V and the current I of the motor 30 are read. The reading of the vehicle speed V is performed based on the output signal of the vehicle speed sensor 22.
[0025]
Then, the flow shifts to S12, where it is determined whether or not the vehicle speed V of the vehicle is equal to or higher than a preset vehicle speed value Vx. As the vehicle speed value Vx, a lower limit vehicle speed at which it can be determined that the steering wheel 2 is not stationary is set, for example, 5 km / h.
[0026]
When it is determined in S12 that the vehicle speed V of the vehicle is not equal to or higher than the vehicle speed value Vx, it is determined that there is a possibility that the motor output has increased due to the stationary steering of the steering wheel 2, and the control process ends.
[0027]
On the other hand, when it is determined in S12 that the vehicle speed V is equal to or higher than the vehicle speed value Vx, the process proceeds to S14, and it is determined whether the output of the motor 30 is equal to or higher than a predetermined value. This determination is made based on whether the physical value of the current I flowing through the motor 30 is equal to or greater than a predetermined value. For example, the determination is performed based on whether the current I flowing through the motor 30 is equal to or greater than a preset current value Ix. At this time, it is desirable that the current value Ix be set so as to increase as the vehicle speed V decreases.
[0028]
Further, as the physical value of the current I of the motor 30, the current I not itself, may be used current square integrated value .SIGMA.I 2. That is, the output state of the motor is determined based on whether or not current square integrated value ΣI 2 is equal to or greater than preset current square integrated value ΣIx 2 . Again, current square integrated value ShigumaIx 2 is desirably set to be a larger value as the vehicle speed V is smaller.
[0029]
Then, when it is determined in S14 that the output of the motor 30 is equal to or more than a predetermined value, it is determined that the degree of deterioration of the speed reducer 40, which is the steering transmission mechanism, is equal to or more than a predetermined value or the life of the speed reducer 40 is reached. This is performed (S16). On the other hand, when it is determined in S14 that the output of the motor 30 is not equal to or more than the predetermined value, the control process is terminated.
[0030]
As the deterioration process, for example, the deterioration of the speed reducer 40, replacement of the speed reducer 40, maintenance of the speed reducer 40, and the like are displayed on an instrument panel or the like. Further, as the deterioration processing, locking by the lock mechanism 50 is performed. In this case, the input shaft 5 and the output shaft 6 are mechanically directly connected, and steering can be performed without operating the motor 30 and the speed reducer 40.
[0031]
As described above, according to the electric steering apparatus 1 according to the present embodiment, the deterioration degree of the speed reducer 40 serving as the steering transmission mechanism is determined based on the output state of the motor 30 when the vehicle speed V is equal to or higher than the predetermined vehicle speed value Vx. Thus, when the output of the motor 30 increases due to the stationary steering of the steering wheel 2, it is possible to avoid determining that the reduction gear 40 is deteriorated, and it is possible to appropriately detect the degree of deterioration of the reduction gear 40. .
[0032]
In the electric steering apparatus 1 according to the present embodiment, the steering amount for the driver's steering is large at a low vehicle speed, and the steering amount for the driver's steering is small at a high vehicle speed, compared with the low speed, due to the operation of the transmission ratio variable mechanism 4. The steering is controlled as follows. Such steering control makes it easier to change the direction of the vehicle at low vehicle speeds and enhances running stability at high vehicle speeds. On the other hand, when the steering control is performed in this manner, the amount of movement of the motor 30 decreases at a high vehicle speed, and a difference in the motor torque between the normal state and the deteriorated state of the steering transmission mechanism hardly appears. For this reason, in the electric steering device 1, the above-described steering transmission is performed only in a vehicle speed range that is equal to or higher than the vehicle speed at which the steering wheel 2 is not stationary, and equal to or lower than the upper limit vehicle speed at which a deterioration state of the steering transmission mechanism and a motor torque difference at other times appear. It is preferable to detect the deterioration of the mechanism. Thereby, the deterioration state can be grasped more accurately.
[0033]
Further, it is useful for detecting the degree of deterioration or the life of the speed reducer 40, which is likely to deteriorate in function as a steering transmission mechanism.
[0034]
In the present embodiment, a case has been described in which the output state of the motor 30 is estimated based on the physical quantity related to the current I. However, the electric steering device according to the present invention is not limited to such a case. The output state of the motor 30 may be detected by detecting the temperature.
[0035]
In the present embodiment, the case where the deterioration degree and the life of the speed reducer 40 are detected as the steering transmission mechanism has been described. However, the deterioration degree and the life of the other components constituting the steering transmission mechanism may be applied to the detection.
[0036]
【The invention's effect】
As described above, according to the present invention, it is possible to appropriately detect the degree of deterioration of the steering transmission mechanism.
[Brief description of the drawings]
FIG. 1 is a configuration diagram of an electric steering device according to an embodiment of the present invention.
FIG. 2 is a flowchart illustrating an operation of the electric steering device of FIG. 1;
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Electric steering device, 2 ... Steering wheel, 3 ... Steering wheel, 4 ... Transmission ratio variable mechanism, 5 ... Input shaft, 6 ... Output shaft, 10 ... Steering angle sensor, 20 ... Steering controller, 21 ... Rotation sensor, 22 ... vehicle speed sensor, 30 ... motor, 40 ... reduction gear (steering transmission mechanism), 50 ... lock mechanism.

Claims (4)

車両に搭載され、ハンドル操作に応じモータを駆動させて操舵制御を行う電動操舵装置において、
前記車両の車速が所定の車速以上であるときの前記モータの出力状態に基づいて、前記モータの出力を転舵輪側へ伝達させる操舵伝達機構の劣化度を判断する判断手段を備えたこと、
を特徴とする電動操舵装置。In an electric steering device mounted on a vehicle and performing steering control by driving a motor in accordance with a steering wheel operation,
A determination unit configured to determine a degree of deterioration of a steering transmission mechanism that transmits an output of the motor to a steered wheel based on an output state of the motor when the vehicle speed of the vehicle is equal to or higher than a predetermined vehicle speed;
An electric steering device characterized by the above-mentioned. 前記判断手段は、前記車速が所定の車速以上であるときの前記モータに流れる電流値に関する物理量に基づいて、前記劣化度を判断すること、
を特徴とする請求項１に記載の電動操舵装置。The determining means determines the degree of deterioration based on a physical quantity related to a current value flowing through the motor when the vehicle speed is equal to or higher than a predetermined vehicle speed;
The electric steering apparatus according to claim 1, wherein: 前記判断手段は、前記車速が所定の車速以上であって前記電流値に関する物理量が所定値以上であるときに、前記操舵伝達機構が寿命に達したと判断すること、
を特徴とする請求項２に記載の電動操舵装置。When the vehicle speed is equal to or higher than a predetermined vehicle speed and the physical quantity related to the current value is equal to or higher than a predetermined value, the determining unit determines that the steering transmission mechanism has reached the end of its life.
The electric steering apparatus according to claim 2, wherein: 前記操舵伝達機構は、前記モータの出力を減速させて前記転舵輪側へ伝達させる減速機であること、
を特徴とする請求項１〜３のいずれかに記載の電動操舵装置。The steering transmission mechanism is a reduction gear that reduces the output of the motor and transmits the output to the steered wheels.
The electric steering device according to any one of claims 1 to 3, wherein
JP2002221653A 2002-07-30 2002-07-30 Electric steering device Expired - Fee Related JP3912217B2 (en)

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