JP2005088849A - Vehicular steering device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicular steering device capable of detecting rotational deviation of a rotary shaft of a motor incorporated in a transmission ratio variable means. <P>SOLUTION: The vehicular steering device is equipped with a transmission ratio variable mechanism 4 which is provided in a steering transmission system transmitting the steering force of a steering wheel 2 to a steered wheel 3 and changes the transmission ratio of the steering angle of the steering wheel 2 and the turning angle of the steered wheel 3, a lock mechanism 50 which has a lock arm 52 limiting the relative rotation of an input shaft 5 and an output shaft 6 of the transmission ratio variable mechanism 4 by locking a lock holder 51 rotating with the rotary shaft 33 of the motor 30 and the lock holder 51, a rotation sensor 60 performing the rotation detection of the motor 30 based on a rotation state of the lock holder 51 of the lock mechanism 50, and a steering control unit 20 performing the control the drive of the motor 30 based on an output of the rotation sensor 60. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a vehicle steering apparatus including a lock mechanism.

Conventionally, as a vehicle steering apparatus provided with a lock mechanism, for example, as described in Japanese Patent Application Laid-Open No. 2001-48032, a transmission ratio variable mechanism is provided in the middle of a steering shaft coupled to a handle, and a wheel with respect to the steering amount of the steering wheel is provided. There is known a mechanism provided with a lock mechanism that limits the relative rotation of the input shaft and the output shaft of the transmission ratio variable mechanism while making the amount of steering of the variable variable. The transmission ratio variable mechanism is configured by connecting a motor and a speed reducer, and changes the transmission ratio of the turning amount with respect to the steering amount by controlling the rotation of the motor. The lock mechanism includes a lock holder attached to the rotation shaft of the motor built in the transmission ratio variable mechanism, and a lock arm provided on the stator side of the motor, and a recess formed on the peripheral surface of the lock holder. By locking the lock arm, the relative rotation of the input shaft and the output shaft of the variable transmission ratio mechanism is prohibited and locking is performed.
JP 2001-48032 A

  In the vehicle steering apparatus described above, when a large steering force is applied in the locked state of the lock mechanism, the steering force is transmitted to the steering transmission system, and the lock holder attached to the rotation shaft and the rotation shaft of the motor rotate relatively. May cause rotational misalignment. In this case, the relationship between the steering position of the steering wheel and the turning position of the steered wheels cannot be accurately recognized by the controller, and appropriate steering control cannot be performed. Therefore, when a rotation shift occurs between the lock holder, which is the rotating portion of the lock mechanism, and the rotation shaft of the motor, it is necessary to quickly detect the occurrence of the rotation shift.

  However, it is difficult to properly detect the rotational shift. For example, even if the output of the rotation sensor installed in the transmission ratio variable mechanism or the output torque of the motor is detected, the motor itself is driven normally, so that the rotation shift cannot be detected depending on the driving state of the motor.

  Accordingly, the present invention has been made to solve such a problem, and provides a vehicle steering apparatus capable of detecting a rotational deviation of a rotating shaft of a motor built in a transmission ratio variable means. Objective.

  That is, the vehicle steering apparatus according to the present invention is provided in a steering transmission system that transmits the steering force of the steering wheel to the steered wheels, and has a built-in motor, and the steering angle of the steering wheel and the steered angle of the steered wheels are transmitted by rotational driving of the motor. A transmission ratio variable means for changing the ratio, a rotating portion that rotates together with the rotating shaft of the motor, and a locking portion that locks the rotating portion to limit the relative rotation of the input shaft and the output shaft of the transmission ratio variable means. The lock mechanism has a rotation mechanism that locks the rotating shaft of the motor when a torque greater than a predetermined value is applied to the steering transmission system when the locking portion locks the rotating portion and the locking mechanism is locked. A rotation sensor for detecting a rotation of the motor based on a rotation state of the rotation unit of the lock mechanism, a rotation unit for rotating the rotation unit of the lock mechanism, and a sensor rotation unit that rotates integrally with the rotation unit of the lock mechanism; Out of It is constituted by a motor drive control means for controlling the driving of a motor based on.

  Further, the vehicle steering apparatus according to the present invention is configured such that the above-described rotation permission means is attached so that the rotation portion of the lock mechanism is rotated with respect to the rotation shaft when a torque exceeding a predetermined value is applied. Features.

  Further, the vehicle steering apparatus according to the present invention is configured such that the above-described rotation permitting means is configured such that the rotation shaft is divided and the divided portions are rotatably connected so as to cause a rotation deviation when a torque exceeding a predetermined value is applied. Features.

  Further, the vehicle steering apparatus according to the present invention includes a detecting unit that detects a rotational shift of the rotating unit based on a driving state of the motor when the transmission ratio varying unit is operated.

  Further, in the vehicle steering apparatus according to the present invention, the detecting means detects a rotational deviation of the rotating portion based on a deviation between the motor target rotational angle and the actual rotational angle of the motor when the transmission ratio variable means is operated. It is characterized by.

  In the vehicle steering apparatus according to the present invention, the detecting means detects a rotational deviation of the rotating portion based on the current supplied to the motor when the transmission ratio variable means is operated and the output torque of the transmission ratio variable means. It is characterized by that.

  According to these inventions, by detecting the rotation of the motor with the rotation sensor based on the rotation state of the rotation part of the lock mechanism, and performing the drive control of the motor based on the output of the rotation sensor, When the motor rotation shaft is displaced, an appropriate control signal cannot be output from the motor drive control means to the motor. Thereby, since the driving state of the motor is different from the normal state, it is possible to detect the rotational deviation of the rotating shaft of the motor based on the driving state of the motor.

  Further, the vehicle steering apparatus according to the present invention is characterized in that it includes a rotation restricting means for restricting a rotational shift by the rotation permitting means to a predetermined rotation amount.

  According to the present invention, by limiting the rotation amount due to the rotational deviation, the driving state of the motor is always different from the normal state when the rotational deviation occurs, so that the rotational deviation can be reliably detected.

ADVANTAGE OF THE INVENTION According to this invention, the vehicle steering apparatus which enabled the detection of the rotation shift of the rotating shaft of the motor incorporated in a transmission ratio variable means can be provided.

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 are denoted by the same reference numerals, and redundant description is omitted.
(First embodiment)
FIG. 1 is a schematic configuration diagram of a vehicle steering apparatus according to a first embodiment of the present invention.

  As shown in the figure, the vehicle steering apparatus 1 according to the present embodiment is provided with a transmission ratio variable mechanism 4 in a steering transmission system for transmitting the steering force of the handle 2 to the steered wheels 3. The transmission ratio variable mechanism 4 has a built-in motor 30 and makes the transmission ratio of the steering angle of the steering wheel 2 and the turning angle of the steered wheels 3 variable by the rotational drive of the motor 30. The motor 30 is an electric motor that is driven in response to a drive control signal from the steering controller 20. The stator 31 of the motor 30 is attached to the housing 4 a 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.

  An input shaft 5 of the transmission ratio variable mechanism 4 is connected to the handle 2. Further, the output shaft 6 of the transmission ratio variable mechanism 4 is connected to the steered wheels 3 and 3 via a gear device 7 constituted by a rack and pinion type or the like. The gear device 7 moves the steered wheels 3 and 3 by moving the tie rod 8 by the rotational input of the output shaft 6. A steering angle sensor 10 is provided on the input shaft 5. The steering angle sensor 10 functions as a steering angle detection unit that detects the steering angle of the handle 2 based on the rotation state of the input shaft 5.

  The transmission ratio variable mechanism 4 includes a speed reducer 40 and a lock mechanism 50. The decelerator 40 is a decelerating unit that inputs the rotation angle by steering and the rotation angle by the motor 30, decelerates, and outputs the rotation angle. The speed reducer 40 inputs the rotational output of the motor 30 and the steering force transmitted via the housing 4 a, decelerates, and outputs to the output shaft 6. As the speed reducer 40, any one can be used as long as the rotational output of the motor 30 can be decelerated and output. For example, a wave gear mechanism is used.

  The transmission ratio variable mechanism 4 is provided with a rotation sensor 60. The rotation sensor 60 is a sensor that detects a rotation state such as a rotation angle of the rotation shaft 33 of the motor 30. The rotation sensor 60 detects the rotation of the motor 30 based on the rotation state of the lock holder 51 of the lock mechanism 50. For example, the rotation sensor 60 includes a rotation unit 61 that rotates as the rotation shaft 33 of the motor 30 rotates, and a detection unit 62 that is disposed around the rotation unit 61.

  The rotating part 61 is attached to the lock holder 51. For this reason, the rotating part 61 rotates with the rotation of the lock holder 51. When the rotating shaft 33 of the motor 30 rotates, the rotating unit 61 rotates together with the lock holder 51, and the detecting unit 62 detects the rotation of the rotating unit 61.

  Detection signals from the steering angle sensor 10 and the rotation sensor 60 are input to the steering controller 20. The steering controller 20 controls the entire apparatus of the vehicle steering apparatus 1 and includes, for example, a CPU, a ROM, a RAM, an input signal circuit, an output signal circuit, a power supply circuit, and the like. In addition, a detection signal from a vehicle speed sensor 22 installed in the vehicle is input to the steering controller 20. The steering controller 20 outputs a drive control signal to the motor 30 of the transmission ratio variable mechanism 4 based on detection signals from the steering angle sensor 10, the vehicle speed sensor 22, and the like to adjust the transmission ratio and perform steering control.

  At this time, the steering controller 20 functions as a motor drive control unit that performs drive control of the motor 30 based on the output of the rotation sensor 60. That is, when controlling the drive of the motor 30, the steering controller 20 detects the rotation state of the motor 30 based on the detection signal of the rotation sensor 60, generates a drive control signal according to the rotation state, and controls the drive. A signal is output to the motor 30.

  FIG. 2 is an explanatory diagram of the lock mechanism 50.

  This figure is a cross-sectional view of the locking mechanism in II-II of FIG. As shown in the figure, the lock mechanism 50 limits the relative rotation of the input shaft 5 and the output shaft 6 of the transmission ratio variable mechanism 4, and includes a lock holder 51 and a lock arm 52. The lock holder 51 functions as a rotating part that rotates together with the rotating shaft 33 of the motor 30, and is attached to the rotor 32 side of the motor 30.

  For example, the lock holder 51 is attached so as to penetrate the rotation shaft 33 and rotates with the rotation of the rotor 32. The lock holder 51 is not completely fixed to the rotary shaft 33, and when a predetermined torque or more is applied, the lock holder 51 rotates relative to the rotary shaft 33 to cause a rotational deviation. By attaching the lock holder 51 in this way, this attachment portion can be made to function as a torque limiter, and even if a predetermined torque or more is applied when the lock mechanism 50 is locked, damage to the components of the steering transmission system can be prevented. .

  A plurality of recesses 51 a are formed on the outer periphery of the lock holder 51 along the circumferential direction. For example, four recesses 51a are formed. Between the recessed part 51a and the recessed part 51a, it will be in the state protruded from the outer periphery, and the projection part 51b is formed.

  The lock arm 52 functions as a latch portion that latches the lock holder 51 and restricts relative rotation of the input shaft 5 and the output shaft 6 of the transmission ratio variable mechanism 4. The lock arm 52 is configured to be able to approach and separate from the lock holder 51, and is inserted into the recessed portion 51 a by the approaching operation to latch the lock holder 51. The lock arm 52 is attached to the stator 31 side of the motor 30, for example, is attached to the housing 4a to which the stator 31 is attached.

  A hook-shaped flange portion 52 a is formed at the tip of the lock arm 52. A pin 52b is provided at an intermediate position of the lock arm 52, and the lock arm 52 is rotatable around the pin 52b. A solenoid 52 c is attached to the base end position of the lock arm 52. The base end position of the lock arm 52 is moved by the operation of the solenoid 52c, and the lock arm 52 is rotated. Thereby, the collar part 52a is inserted in the recessed part 51a, the lock arm 52 and the lock holder 51 engage, and it will be in a locked state.

  FIG. 3 shows a schematic configuration diagram of the rotation sensor 60.

  This figure shows an example of the rotation sensor 60. The rotation sensor 60 includes a rotation unit 61 that rotates integrally with the rotation shaft 33 of the motor 30, and a detection unit 62 that is disposed around the rotation unit 61. The rotating part 61 has a ring shape and is installed on the rotating shaft 33 so as to rotate integrally with the rotating shaft 33. A plurality of magnets 61a are disposed in the rotating portion 61 along the circumferential direction, for example, eight magnets 61a are disposed. The rotation part 61 of the rotation sensor 60 and the lock holder 51 of the lock mechanism 50 integrally rotate relative to the rotation shaft 33 and do not cause relative rotation in a normal state.

  The magnets 61a are provided so as to alternately form different magnetic fields toward the detection unit 62 when the rotating unit 61 rotates, and are provided so as to form magnetic fields in different directions, for example. For this reason, when the rotation part 61 rotates with the rotating shaft 33, the magnetic field around the detection part 62 changes. At that time, when the rotating unit 61 is constituted by eight magnets 61a, the magnetic field changes in one cycle at a rotation angle of 90 degrees.

  The detection unit 62 detects the rotational position of the rotary shaft 33 based on the magnetic field change, and includes, for example, three magnetic sensors 62a to 62c. The magnetic sensors 62a to 12c are arranged along the circumferential direction of the rotating unit 61, and are connected to the steering controller 20 (see FIG. 1), respectively. The magnetic sensors 62a to 62c are arranged at intervals that divide the outer periphery of one magnet 61a into three equal parts.

  For this reason, when the rotating unit 61 rotates by one third of the width of the magnet 61a, the output of the detecting unit 62 changes. Therefore, every time the rotation shaft 33 rotates 15 degrees (360 / (8.3) degrees), the output of the detection unit 62 changes, and the rotational position can be detected with a resolution of 15 degrees.

  The rotation sensor for detecting the rotation of the motor is not limited to the type as the rotation sensor 60 described above, and may be a sensor using a resolver, for example.

  Next, the operation of the vehicle steering apparatus according to this embodiment will be described.

  In FIG. 1, when an ignition switch (hereinafter referred to as “IG”) is turned off when the vehicle stops traveling, a lock operation signal is output from the steering controller 20 to the transmission ratio variable mechanism 4. As a result, as shown in FIG. 2, the solenoid 52c is actuated, the lock arm 52 is rotated around the pin 52b, the flange portion 52a is inserted into the recess 51a adjacent to the lock holder 51, and the lock mechanism 50 is locked. It becomes a state.

  In this locked state, when a large steering force is applied and a torque of a predetermined level or more is applied between the rotary shaft 33 and the lock holder 51, the rotary shaft 33 and the lock holder 51 rotate relative to each other to cause a rotational deviation. Due to this rotational deviation, it is possible to prevent the components of the steering transmission system from being damaged even if a predetermined torque or more is applied when the lock mechanism 50 is locked.

  Then, when the IG of the vehicle is turned on in the state where the rotation shaft 33 has caused the rotation deviation in this way, an unlock signal is output from the steering controller 20 to the transmission ratio variable mechanism 4. 2, the solenoid 52c is actuated, the lock arm 52 rotates about the pin 52b, the collar portion 52a is separated from the lock holder 51, and the lock mechanism 50 is unlocked.

  When a steering wheel operation is performed, the steering controller 20 outputs a drive control signal to the motor 30 according to the steering wheel operation, and the vehicle steering control of the transmission ratio variable mechanism 4 is performed through the driving control of the motor 30. At that time, the steering controller 20 detects the rotation state of the motor 30 based on the detection signal of the rotation sensor 60, generates a drive control signal according to the rotation state, and outputs the drive control signal to the motor 30. .

  At this time, an appropriate drive control signal is not output from the steering controller 20 to the motor 30 because the lock holder 51 of the lock mechanism 50 and the rotary shaft 33 are misaligned. Thereby, since the motor 30 is in a driving state different from normal, the rotational deviation of the rotating shaft 33 of the motor 30 can be detected based on the driving state of the motor 30.

  Here, the rotation shift detection process in the vehicle steering apparatus according to the present embodiment will be described.

  FIG. 4 is a flowchart showing an example of the rotational deviation detection process in the vehicle steering apparatus 1 according to this embodiment. As shown in S10 of FIG. 4, first, the target rotation angle θ1 of the motor 30 is calculated. The calculation of the target rotation angle θ1 is performed based on detection signals from the steering angle sensor 10 and the vehicle speed sensor 22, for example.

  And it transfers to S12 and steering control is performed. This steering control process is a process of outputting a drive control signal from the steering controller 20 to the motor 30, driving the motor 30 by the target rotation angle θ1, and operating the transmission ratio variable mechanism 4 at a predetermined transmission ratio. Then, the process proceeds to S14, where it is determined whether or not the rotation angle deviation of the motor 30 is greater than or equal to a predetermined value. This determination process is performed, for example, by comparing whether or not the difference between the target rotation angle θ1 of the motor 30 and the actual rotation angle θ of the motor 30 is greater than or equal to a predetermined value set in advance.

  FIG. 5 shows an example of temporal transition between the target rotation angle θ and the actual rotation angle θ. If there is a rotational deviation between the lock holder 51 of the lock mechanism 50 and the rotary shaft 33 of the motor 30, the steering controller 20 cannot recognize the exact rotational position of the motor 30, so that an appropriate drive from the steering controller 20 is possible. A control signal is not output to the motor 30. For this reason, the motor 30 is not driven according to the control target, and the deviation between the target rotation angle θ1 and the actual rotation angle θ after control becomes large. When the deviation becomes a predetermined value or more, it can be detected that the driving state of the motor 30 is different from the normal state.

  When it is determined in S14 of FIG. 4 that the rotation angle deviation of the motor 30 is not greater than or equal to the predetermined value, the control process is terminated. On the other hand, when it is determined that the rotation angle deviation of the motor 30 is equal to or greater than the predetermined value, the process proceeds to S16 and a stop process is performed. The stop process is a process of stopping the system of the vehicle steering apparatus 1, and for example, the steering control is stopped with the lock mechanism 50 in a locked state. Then, the control process ends.

  As described above, according to the vehicle steering apparatus 1 according to the present embodiment, the rotation sensor 60 detects the rotation of the motor 30 based on the rotation state of the lock holder 51 of the lock mechanism 50, and based on the output of the rotation sensor 60. If the lock holder 51 of the lock mechanism 50 and the rotary shaft 33 rotate relative to each other by performing drive control of the motor 30, an appropriate control signal is sent from the steering controller 20 to the motor 30. It becomes impossible to output. As a result, the driving state of the motor 30 is different from that in the normal state, so that the rotational deviation of the rotating shaft 33 can be detected based on the driving state of the motor 30.

  In the above-described vehicle steering apparatus 1 according to the present embodiment, the rotational deviation of the lock holder 51 is detected based on the rotational angle deviation of the motor 30, but the rotational deviation is detected using other methods. May be.

For example, the rotational deviation of the lock holder 51 may be detected based on the current supplied to the motor 30 and the output torque of the variable transmission ratio mechanism 4 when the variable transmission ratio mechanism 4 is operated. That is, the output torque of the transmission ratio variable mechanism 4 is detected by a torque sensor or the like, and the rotational deviation of the lock holder 51 is detected based on the drive current of the motor 30 and the output torque of the transmission ratio variable mechanism 4. If the output torque of the transmission ratio variable mechanism 4 with respect to the drive current of the motor 30 is smaller than a predetermined value, it can be determined that the rotation shaft 33 has caused a rotational deviation, and the rotational deviation can be detected.
(Second embodiment)
Next, a vehicle steering apparatus according to the second embodiment will be described.

  FIG. 6 is an explanatory diagram of the vehicle steering apparatus according to the present embodiment. The vehicle steering device 1a according to the present embodiment has substantially the same configuration as the vehicle steering device according to the first embodiment of FIG. 1, but the lock holder 51 and the rotating shaft 33 of the motor 30 do not rotate relative to each other. Instead, a rotation allowance portion 70 is provided on the rotation shaft 33 so as to function as a torque limiter.

  The rotation permission unit 70 is provided between the rotation sensor 60 and the motor 30 on the rotation shaft 33. The rotation permission unit 70 is a rotation permission unit that allows the rotation of the rotation shaft 33 when a predetermined torque or more is applied to the rotation shaft 33 when the lock mechanism 50 is locked.

  FIG. 7 shows an example of a specific configuration of the rotation permission unit.

  As shown in FIG. 7, the rotation permitting portion 70 is configured by, for example, dividing the rotating shaft 33 into two parts, and connecting the divided parts so as to be rotatable. The fitting portion does not rotate even when a torque not exceeding a predetermined value is applied, and causes a rotation shift when the torque exceeding a predetermined value is applied, thereby allowing the rotation of the rotating shaft 33.

  Even in the vehicle steering apparatus 1a according to the present embodiment, the rotational deviation of the rotating shaft 33 is detected based on the driving state of the motor 30 in the same manner as the vehicle steering apparatus according to the first embodiment described above. be able to.

  That is, when the locking mechanism 50 is locked, if a torque greater than a predetermined value is applied to the rotating shaft 33 and the rotating shaft 33 is displaced, the rotation sensor 60 cannot accurately detect the rotational position of the motor 30. For this reason, an appropriate control signal cannot be output from the steering controller 20 to the motor 30. As a result, the driving state of the motor 30 is different from the normal state, and the rotational deviation of the rotating shaft 33 of the motor 30 can be detected based on the driving state of the motor 30. As a method for detecting the rotational deviation, a method similar to that for the vehicle steering apparatus according to the first embodiment, such as the rotational deviation detection process shown in FIG. 4, may be used.

  In the vehicle steering apparatus according to each of the above-described embodiments, it is preferable to provide rotation limiting means for limiting the rotation amount of the rotational deviation that occurs when a torque exceeding a predetermined value is applied. In this rotation limiting means, for example, a stopper is formed on the lock holder 51 or the rotary shaft 33, and the rotation amount of the rotation shift is limited. At this time, the rotation amount of the rotational deviation is limited to be smaller than the one-cycle change angle of the output of the rotation sensor 60. For example, when the rotation angle of the rotation sensor 60 is 15 degrees so that the rotation shaft 33 rotates 15 degrees and the output of the rotation sensor 60 changes by one period, the rotation amount of the rotation shift of the rotation limiting means is It is limited to be smaller than 15 degrees. By restricting the rotational deviation in this way, when the rotational deviation occurs, the driving state of the motor 30 is always different from the normal state, so that the rotational deviation can be reliably detected.

1 is a schematic configuration diagram of a vehicle steering apparatus according to a first embodiment of the present invention. It is explanatory drawing of the locking mechanism in the vehicle steering device of FIG. It is explanatory drawing of the rotation sensor in the vehicle steering device of FIG. It is a flowchart of the rotation shift detection process in the vehicle steering device of FIG. It is explanatory drawing of the rotation angle deviation in the rotation shift detection process of FIG. It is explanatory drawing of the vehicle steering apparatus which concerns on 2nd embodiment. It is explanatory drawing of the rotation permission part in the vehicle steering device of FIG.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Vehicle steering device, 2 ... Steering wheel, 3 ... Steering wheel, 4 ... Transmission ratio variable mechanism (transmission ratio variable means), 5 ... Input shaft, 6 ... Output shaft, 7 ... Gear apparatus, 10 ... Steering angle sensor, 20 ... Steering controller, 22 ... Vehicle speed sensor, 30 ... Motor, 33 ... Rotating shaft, 40 ... Reducer, 50 ... Lock mechanism, 51 ... Lock holder (rotating part), 52 ... Lock arm (holding part), 60 ... Rotation sensor.

Claims (7)

A transmission ratio variable that is provided in a steering transmission system that transmits the steering force of the steering wheel to the steered wheels, has a built-in motor, and changes the transmission ratio between the steering angle of the steering wheel and the steered angle of the steered wheels by the rotational drive of the motor. Means,
A lock mechanism having a rotating portion that rotates together with the rotating shaft of the motor, and a locking portion that locks the rotating portion and restricts relative rotation of the input shaft and the output shaft of the transmission ratio variable means;
When a predetermined torque or more is applied to the steering transmission system when the latching portion latches the rotating portion and the lock mechanism is in a locked state, the lock mechanism is applied to the rotation shaft of the motor. Rotation permitting means for allowing a rotational shift of the rotating part of
A rotation sensor that includes a sensor rotation unit that rotates integrally with the rotation unit of the lock mechanism, and that detects rotation of the motor based on a rotation state of the sensor rotation unit;
Motor drive control means for performing drive control of the motor based on the output of the rotation sensor;
A vehicle steering apparatus comprising:   The rotation permission means is configured by attaching the rotation portion of the lock mechanism so as to cause a rotation deviation with respect to the rotation shaft when a torque exceeding the predetermined value is applied. The vehicle steering device described in 1.   2. The rotation allowing means is configured by dividing the rotating shaft and rotatably connecting the divided portions so as to generate a rotational deviation when the torque exceeds the predetermined value. Vehicle steering system. Detecting means for detecting a rotational shift of the rotating part based on a driving state of the motor at the time of operation of the transmission ratio variable means;
The vehicle steering apparatus according to any one of claims 1 to 3.   5. The detection unit according to claim 4, wherein the detection unit detects a rotation shift of the rotating unit based on a deviation between a target motor rotation angle and an actual rotation angle of the motor when the transmission ratio variable unit is operated. The vehicle steering apparatus as described.   The detection means detects a rotational shift of the rotating portion based on a current supplied to the motor and an output torque of the transmission ratio variable means when the transmission ratio variable means is operated. 5. The vehicle steering device according to 4.   The vehicle steering apparatus according to any one of claims 1 to 6, further comprising a rotation restricting unit that restricts a rotation shift caused by the rotation permission unit to a predetermined rotation amount.

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