JP3592978B2 - Electric power steering control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an electric power steering control device for a vehicle that releases an auxiliary torque when an abnormality occurs.
[0002]
[Prior art]
In an electric power steering apparatus used in a vehicle, a steering torque is detected by a torque sensor, and an auxiliary torque corresponding to the steering torque is obtained from an electric motor to reduce the steering force. In such a device, if an abnormality occurs in the torque sensor or the like, auxiliary torque may be generated regardless of the presence or absence of steering, resulting in a dangerous state. Is used to stop the assist of the steering force, and as an example of such a control technique at the time of abnormality, an example is disclosed in Japanese Patent No. 2826642.
[0003]
FIG. 12 is a block diagram showing the conventional technical contents in a simplified manner, and FIGS. 13 to 17 are explanatory diagrams of the operation. 12 and 13, reference numeral 1 denotes a torque sensor provided on the steering shaft of the vehicle to detect steering force, 2 denotes a control device, and the control device 2 includes amplifiers 3 and 4 that amplify the output of the torque sensor 1, and an amplifier. A microcomputer 5 that controls the steering force according to inputs from 3 and 4; a motor control circuit 6 that drives and controls the electric motor 8 under the control of the microcomputer 5; and a power supply relay 7 that turns on and off the motor drive power from the battery 9. And the amplifiers 3 and 4 have different amplification factors. When the difference between the two voltages exceeds a predetermined value, the torque sensor 1 is determined to be abnormal. Is set to The microcomputer 5 controls the drive current Im for the motor 8 as shown in FIG. 14 with respect to the output voltage V1 of the amplifier 3, and the output voltage V1 of the amplifier 3 and the output voltage V2 of the amplifier 4 are, for example, shown in FIG. Is set to
[0004]
[Problems to be solved by the invention]
In the above-described conventional apparatus, two outputs are obtained from the torque sensor 1, the outputs are amplified by the two amplifiers 3 and 4 having different amplification factors, and the two voltages are compared in consideration of the difference of the amplification factors. Thus, the abnormality of the torque sensor 1 is to be detected accurately. For example, when the amplifier 3 that outputs the voltage V1 becomes abnormal and a failure in which the gain increases extremely as shown in FIG. When the steering position is shifted slightly to the right, for example, from the neutral position, V1 becomes the maximum value, the drive current of FIG. 14 becomes the maximum value, and the maximum value of the right direction auxiliary torque is added. The control device 2 is usually provided with a feedback loop (not shown), and the torque sensor 1 changes to the output voltage in the left direction due to the feedback and the reaction of the right auxiliary torque applied to the steered wheels, so that V1 becomes zero. As a result, the electric motor 8 adds the maximum value of the left direction auxiliary torque to the steering device, and this is repeated to cause a hunting phenomenon.
[0005]
Thus, when the hunting phenomenon occurs, the output voltage V1 of the amplifier 3 and the output voltage V2 of the amplifier 4 change as shown in FIG. Since the amplifier 3 is a failure in which the gain is extremely increased, the output voltage V1 has a steep rise and exhibits a rectangular wave shape. However, since the amplifier 4 is normal, the output voltage V2 changes with a normal waveform. In this conventional apparatus, the difference between the amplification factors of the amplifiers 3 and 4 is corrected and compared, and when the deviation is equal to or greater than a predetermined value, it is determined that there is an abnormality. Since the convertible range is finite, the value of V1 is clipped to Vmax and Vmin in FIG. 17, and the deviation between V1 and V2 is larger than the judgment value E in the region (2) in FIG. However, in the area {circle around (1)}, the deviation is smaller than the determination value E and the failure determination condition is not satisfied. Normally, in order to prevent misjudgment, a failure is judged when the failure judgment condition continues for a predetermined time. In the conventional example described above, an accident of a hunting phenomenon due to such an abnormality of the amplification circuit is judged. This is not possible, and the assist of the steering force is not stopped.
[0006]
The present invention has been made to solve such a problem, and is capable of reliably detecting a failure in an amplifier circuit or the like, and is a highly safe electric power steering control device. The purpose is to obtain.
[0007]
[Means for Solving the Problems]
The electric power steering control device according to the present invention includes a torque detection means for outputting a signal corresponding to the steering torque, and an output signal of the torque detection means.Amplifying means for amplifying the signal, and the amplified signal output from the amplifying means is input.Control means for controlling the output current,Abnormality detection means for detecting an abnormality of the amplification means from the deviation between the actual value of the amplification signal and the theoretical calculation value of the amplification signal obtained from the output signal of the torque detection means, and the duration of the abnormal state detected by this abnormality detection means is measured Input the output signal of the timer means and torque detection means for each control routine, compare the previous detection value with the current detection value to find the difference between them, and change when this torque value difference exceeds the predetermined value A counting means for counting the number of times the subsequent torque value or higher value is detected,An electric motor driven by an output current output from the control means and providing an auxiliary torque to the steering device;When the duration of the abnormal state measured by the timer means exceeds the first predetermined time, the control means cuts off the driving current of the motor, and the count number of the counting means exceeds a predetermined number of times within a predetermined time. When the control means cuts off the drive current of the electric motor for a second predetermined time, the first predetermined time is set shorter than the second predetermined timeIt is a thing.
[0008]
Also,When the abnormal continuation time measured by the timer means exceeds a third predetermined time, the electric power of the motor is cut off, and the cut-off state is recovered by turning on the power of the control device again.
[0009]
further,Set the third predetermined time longer than the second predetermined timeIt is a thing.
[0010]
TheFurther, when the abnormality detecting means detects an abnormality, the timer means is incremented, and when the output value of the torque detecting means is within a range from a predetermined lower limit value to a predetermined upper limit value, the timer means is not detected by the abnormality detecting means. Is initialized, otherwise timer meansCountingIs configured to be held.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
Embodiment 1 FIG.
FIG. 1 is a block diagram showing a configuration of an electric power steering control apparatus according to Embodiment 1 of the present invention, and FIGS. 2 to 11 are operation explanatory views of Embodiment 1 of the present invention. The same reference numerals are given to the same element portions. In FIG. 1, reference numeral 1 denotes a torque sensor that is mounted on a steering shaft of a vehicle and detects steering torque. Reference numeral 10 denotes a control device that controls steering assist torque corresponding to the output of the torque sensor 1, and includes an operational amplifier 11 and resistors 12 to 15. The amplifier circuit 16 includes a microcomputer 17, a motor control circuit 6 that drives and controls the electric motor 8, and a power supply relay 7 that turns on and off motor drive power from the battery 9.
[0012]
In the electric power steering control apparatus according to Embodiment 1 of the present invention configured as described above, the torque sensor 1 outputs a voltage of 2.5 V at the neutral position of the torque as shown by TS in FIG. When the voltage is input to the amplifier circuit 16 of the control device 10, the amplifier circuit 16 outputs an amplified voltage VTS as shown in FIG. The relationship between the amplified voltage VTS and the output voltage TS of the torque sensor 1 is as shown in FIG. 2, and VTS is 2.5V at the neutral position and coincides with TS, and changes from 0V to 5V corresponding to the change of TS. However, it is configured to be clipped at 0V and 5V. The TS and VTS are input to the microcomputer 17 and the motor 8 is driven via the motor control circuit 6 according to the value of VTS. At this time, the drive current characteristic is shown in FIG. 4 with respect to the input VTS. The motor control circuit 6 is controlled so as to have characteristics.
[0013]
Further, the control contents of the microcomputer 17 are set as follows. The flowchart of FIG. 5 shows a main routine of control. First, when power is turned on, each flag and each counter, which will be described later, are cleared in step 101. In step 102, the output voltage TS of the torque sensor 1 and the amplified voltage VTS which is the output of the amplifier circuit 16 are received by the A / D converter, and the VTS stored in the past is initialized based on the VTS input in step 103. Turn into. Subsequently, in step 104, the power supply relay 7 is turned on. In step 105, it is determined that 1 ms has elapsed in order to carry out the control at a cycle of 1 ms.
[0014]
In step 106, TS and VTS are newly input to the A / D port. In step 107, the drive current of the motor 8 corresponding to the input VTS is determined. In step 108, an abnormality is detected as will be described later, and the result is determined in steps 109, 110, and 111. If FAILflag is 0, OFFflag2 is 0, and OFFflag is 0 in each determination step, the process proceeds to step 112, and the motor control circuit 6 is controlled according to the determination in step 107. If FAILflag in step 109 is 0 and either OFFflag2 in step 110 or OFFflag in step 111 or both are 1, the motor control circuit 6 is turned off in step 113 and step 109 is executed. When FAILflag is 1, the motor control circuit 6 is turned off at step 114, and the power supply relay 7 is also turned off at step 115. After completion of steps 112, 113, and 115, the process returns to step 105 and the same routine is repeated in a 1 ms cycle. OFFflag2 and OFFflag are cleared to zero according to the determination condition, but FAILflag is set not to be cleared to zero unless the power of the apparatus is turned on again.
[0015]
In the above main routine, the process of step 108 for detecting an abnormality is performed as follows. That is, a sudden change in the torque signal VTS is detected at step 121 of the flowchart shown in FIG. 6, and a failure of the amplifier circuit 16 is determined at step 122. The detection of a sudden change in VTS at step 121 is shown in FIG. Detection and processing are performed according to the flowchart shown in FIG. 8, and determination and processing of the amplifier circuit failure determination at step 122 are performed according to the flowchart shown in FIG.
[0016]
In the flowchart of FIG. 7, in step 201, a difference ΔT between the detected amplified voltage VTS detected this time and the previous amplified voltage VTS1 stored is obtained. In step 202, it is determined whether the counter cnt1 is greater than zero. Sometimes go to step 203. In step 203, ΔT obtained in step 201 is compared with a predetermined value TH1, and if ΔT ≦ TH1, the process proceeds to step 208. If ΔT> TH1, the process proceeds to step 204. In step 204, the counter cnt1 is set to the predetermined value TIME1. In step 205, the second counter cnt2 is incremented. Here, the determination of ΔT> TH1 in step 203 is a determination that the VTS has fluctuated suddenly. When this determination is made, cnt1 is set to TIME1 in step 204. Therefore, in the next routine, step 202 to step Proceed to 206.
[0017]
In step 206, ΔT is compared with a predetermined value TH1 as in step 203. If ΔT> TH1, the second counter cnt2 is incremented in step 207. In step 208, the counter cnt1 is decremented. In step 209, it is determined whether the counter cnt1 is less than zero. If it is less than zero, the process proceeds to step 210 where the counter cnt1 is clipped to zero. Clear cnt2 to zero. In step 212, the second counter cnt2 is compared with the predetermined value N, and if it is N or more, the process proceeds to step 213 to clear the second counter cnt2, and then in step 214, the third counter cnt3 is set to the predetermined value TIME2. Set.
[0018]
Next, the third counter cnt3 is decremented in step 215, and if the third counter is cnt3 <0 in step 216, the process proceeds to step 217, OFFflag is cleared to 0, and the third counter is cleared in step 218. Counter cnt3 is cleared to zero. If it is determined in step 216 that the third counter is cnt3> 0, the process proceeds to step 219, where OFFflag is set to 1. Finally, in step 220, the current torque value VTS is set to VTS1, and the previous time in step 201 is set. Leave as torque value.
[0019]
In step 121, that is, in the routine of FIG. 7, the first sudden change in VTS is detected in step 203, TIME1 is set and cnt2 is started. During the time TIME1, the sudden change in VTS is detected in step 206. TIME2 is set and OFFflag is set if the signal is detected N times during this period, and the motor 8 is turned off. If no VTS suddenly changes N times during TIME1, TIME1 is step 208. Is continued to be decremented, and after TIME1, it returns to the initial state. Also, after the electric motor 8 is turned off, TIME2 continues to be decremented in step 215, and returns to the initial state after a predetermined time TIME2.
[0020]
In the flowchart of FIG. 8, the abnormality determination is performed as follows. In FIG. 8, in step 301, the theoretical calculation value of the amplified voltage is set from the output voltage TS of the torque sensor 1 to the scheduled output of the amplifier circuit 16 as (TS−2.5) × Gain → GTS. Here, Gain is the amplification factor of the amplifier circuit 16. In step 302, it is determined whether or not GTS is 5V or more. If it is 5V or more, it is set to 5V in step 303. In step 304, it is determined whether or not GTS is 0V or less. If 0 or less, 0 is set in step 305. The processing so far is to calculate the expected voltage GTS after amplification by the amplifier circuit 16 from the output TS of the torque sensor 1, and as a result, the relationship between the GTS and the output TS of the torque sensor 1 is the characteristic ▲ in FIG. As shown in 1 ▼.
[0021]
Next, in step 306, a deviation ΔVTS between the amplified voltage VTS that is the actual output of the amplifier circuit 16 and the calculated GTS is obtained. In step 307, ΔVTS is compared with a predetermined deviation value ERR. Proceed to 308. That is, if it is within the range of the characteristic (2) and the characteristic (3) indicated by the dotted line different in the deviation width ERR from the characteristic (1) in FIG. If so, it is determined that there is an abnormality and the process proceeds to step 312. In step 308 and step 309, it is determined whether the value of GTS is between the predetermined values TH2 and TH3 shown in FIG. 9, and if it is between TH2 and TH3, the counter FAILcnt is cleared to zero in step 310, In step 311, OFFflag 2 used for determination in step 110 is cleared to zero. If GTS is not between TH2 and TH3 in step 308 and step 309, the routine ends without executing steps 310 and 311 and returns to step 109.
[0022]
If ΔVTS> ERR in step 307, the process proceeds to step 312 and the counter FAILcnt is incremented. In step 313, it is determined whether or not the counter FAILcnt is greater than or equal to a predetermined value FT1, and if so, the above-described process is performed in step 315. FAILflag determined in step 109 is set to 1. In step 313, if the counter FAILcnt is equal to or smaller than the predetermined value FT1, the process proceeds to step 314, where it is determined whether or not it is equal to or larger than the predetermined value FT2, and if it is equal to or larger, OFFflag2 determined in step 110 is set to 1. If the counter FAILcnt is equal to or smaller than the predetermined value FT2, the routine is terminated at step 314 and the routine returns to step 109.
[0023]
In step 122, that is, in the routine of FIG. 8, it is determined in step 307 whether or not the amplifier circuit 16 is abnormal from the value of VTS. If abnormal, the time is measured while incrementing FAILcnt in step 312. If the abnormality continues for the time FT2, OFFflag2 is set and the motor control circuit 6 is turned off. If the abnormality continues for FT1, FAILflag is set and the power supply relay 7 is cut off. Also, if no abnormality is detected before reaching FT1, unless GTS is near 0V (ie, TH3 or less) or 5V (ie, TH2 or more), in other words, unless TS is near the maximum value or the minimum value, FAILcnt is cleared to zero, OFFflag2 is cleared to zero, and the initial state is restored. If TS is in the vicinity of the maximum value or the minimum value, it is determined in steps 308 and 309, and the values of FAILcnt and OFFflag2 are held without change.
[0024]
In the above description, TIME1, TIME2, FT1, and FT2 are values indicating time, TIME1 is a detection time for detecting a hunting phenomenon, for example, set to 100 ms, and TIME2 is hunted within the time of TIME1. This is a current interruption time for turning off the electric motor 8 after detecting the phenomenon N times, and is set to 200 ms, for example. FT1 and FT2 are times for detecting an abnormality of the amplifier circuit 16, FT2 is set to, for example, 50 ms, which is shorter than TIME2, and FT1 is set to, for example, 1 s, which is longer than TIME2. N in step 212 is the number of times the VTS has fluctuated suddenly, and is set to N = 3, for example.
[0025]
In the electric power steering control apparatus according to the first embodiment of the present invention that operates as described above, for example, the behavior when the resistor 12 of the amplifier 16 in FIG. 1 is disconnected is described with reference to the time chart of FIG. is there. When the resistor 12 is disconnected, the amplified voltage VTS output from the amplifier 16 changes as shown in FIG. 11 with respect to the input output voltage TS of the torque sensor 1. That is, when torque is applied to the steered wheel even slightly from the state of TS = 2.5v which is the neutral position of the torque sensor 1, the output voltage VTS of the amplifier 16 suddenly changes to the minimum value or the maximum value of 0V or 5V. In this case, the hunting phenomenon occurs as described in the conventional example.
[0026]
When the resistor 12 is disconnected at time t1 of the TS waveform shown in FIG. 10A, since TS is on the right side, the VTS shown in FIG. 10B suddenly changes to the maximum value on the right side, and the current Im shown in FIG. Flows to the right and auxiliary torque is generated. Due to the torque applied to the torque sensor 1 by the reaction of the auxiliary torque and the effect of the feedback described above, the TS of (a) changes to the left side at time t2, and the VTS of (b) changes suddenly to the maximum value on the left side. The current Im in (c) also changes to the left. Further, at this reaction, at t3, TS, VTS, and Im are reversed to the right, and thereafter this is repeated at t4 and t5.
[0027]
At this time, a sudden change in VTS at t2 is detected at step 201 described above, and ΔT> TH1 is determined at step 203. Therefore, at step 204, cnt1 is set to TIME1, that is, 100 ms. Proceeds from step 202 to step 206. Since cnt1 is decremented in steps 208 to 210, it is set to a predetermined value at time t2 as shown in FIG. 10 (e), then decremented, and drops to zero in 100ms. If cnt1> 0 in step 202 and ΔT> TH1 in step 206, cnt2 is incremented in step 207. Therefore, t2, f3, and t4 at which VTS suddenly changes are as shown in FIG. If cnt2 is incremented and N is set to 3 in step 212, cnt3 is set to a predetermined value TIME2, that is, 200 ms as shown in FIG. 10 (g) in step 214 immediately after t4.
[0028]
Although cnt3 is decremented at step 215, when cnt3> 0, OFFflag is set to 1 at step 219, and OFFflag 1 continues for 200 ms as shown in FIG. 10 (h). In the flowchart of FIG. 5, when OFFflag is 1 in step 111, the motor control circuit 6 is turned off in step 113. This state is shown in FIG. 10 (c), and in step 214 at time t4. In step 219, the motor control circuit 6 is turned off immediately after cnt3 is set and OFFflag is set in step 219.
[0029]
The failure determination operation shown in FIG. 8 will be described as follows in connection with FIG. In the contrast waveform of VTS and GTS in FIG. 10B, ΔVTS obtained in step 306 is larger than ERR in the time domain Ta. Therefore, in step 312, the counter FAILcnt is set as shown in FIG. Incremented every Ta. Further, in the region Tb, ΔVTS is smaller than ERR, but since GTS is in the region of the highest value and the lowest value, it becomes a region of TH2 and TH3 as shown in FIG. 9, and step 308 and step 309 in FIG. To RETURN, the counter FAILcnt is not incremented but retains its value. That is, FAILcnt and OFFflag2 are cleared in steps 310 and 311 only when ΔVTS <ERR in the region Ta, that is, when the VTS is normal.
[0030]
Therefore, in the routine of FIG. 8, when the abnormality continues, the counter FAILcnt is incremented in the areas Ta and Tc and is held in the areas Tb and Td as shown in FIG. When FAILcnt reaches a predetermined value FT2, OFFflag2 is set to 1 in step 316 as shown in FIG. 10 (i), and the motor control circuit 6 is turned off in steps 110 and 113 in FIG. Since ΔVTS> ERR at Tc, the count of FAILcnt is continued, and the OFF state of the motor control circuit 6 is continued even if TIME2 elapses after the setting of the above-mentioned OFFflag. Since the hunting phenomenon does not occur after the auxiliary torque is stopped, the VTS does not change suddenly as in the region Tc in FIG. 10, and FAILcnt is maintained even if the steering operation is performed as in the region Td.
[0031]
When the abnormality further continues and the FAILcnt increment continues to reach the predetermined value FT1, FAILflag is set to 1 in step 315 as shown in FIG. 10 (j), and in steps 114 and 115 in FIG. The motor control circuit 6 and the relay 7 are turned off. As described above, since FAILflag is set so as not to be cleared unless the power of the apparatus is turned on again, once FAILflag is set to 1, the electric power steering is completely turned off. When the set values such as the above time are applied, if the gain becomes extremely large due to the failure of the amplifier circuit 16, the auxiliary torque is turned off by 200 ms when the amplified voltage VTS changes abruptly three times and after t5 in FIG. In addition, since the condition of step 314 is satisfied during this 200 ms, OFFflag2 is set, and if the abnormality continues, OFFflag2 is not reset and the motor control circuit 6 continues to be turned off. If it continues for 1 s, FAILflag is set to 1, and the auxiliary torque is completely stopped.
[0032]
【The invention's effect】
As described above, according to the electric power steering control device of the present invention, when the amplifier circuit fails and the gain becomes extremely large, the motor control circuit detects the sudden fluctuation of the amplified voltage a predetermined number of times, and the motor control circuit detects the predetermined time TIME2. Since hunting can be stopped in a short period of time, noise malfunction does not easily occur during normal operation. Even if noise malfunction occurs, auxiliary torque is applied after the predetermined time TIME2. Can be recovered. If the abnormality continues, the abnormality of the amplified voltage is detected and the motor control circuit is turned off at a predetermined time FT2 shorter than the predetermined time TIME2, so that the auxiliary torque is stopped even after the predetermined time has elapsed. If the abnormality continues, the motor's power relay is turned off and the auxiliary torque is set to stop unless the power is turned on again. A highly efficient electric power steering control device can be obtained.
[0033]
Also, the abnormality detection function is determined by detecting the deviation between the theoretical amplified voltage and the actual amplified voltage based on the output voltage of the torque sensor, and this deviation is in the vicinity of the maximum value and the minimum value of the torque sensor output voltage. Is set so as not to make a determination, and if the abnormality is not detected, the auxiliary torque is immediately restored, so that the abnormality is reliably detected, and an erroneous determination is made even if the steering operation is performed while the auxiliary torque is stopped. Therefore, it is possible to obtain an electric power steering control device with excellent safety, such as being able to recover from malfunctions in a short time.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of an electric power steering control device according to a first embodiment of the present invention.
FIG. 2 is an operation explanatory diagram of Embodiment 1 of the present invention.
FIG. 3 is an operation explanatory diagram of Embodiment 1 of the present invention.
FIG. 4 is an operation explanatory diagram of Embodiment 1 of the present invention.
FIG. 5 is a flowchart illustrating the operation of the first embodiment of the present invention.
FIG. 6 is a flowchart illustrating the operation of the first embodiment of the present invention.
FIG. 7 is a flowchart illustrating the operation of the first embodiment of the present invention.
FIG. 8 is a flowchart illustrating the operation of the first embodiment of the present invention.
FIG. 9 is an operation explanatory diagram of the first embodiment of the present invention.
FIG. 10 is a time chart for explaining the operation of the first embodiment of the present invention.
FIG. 11 is an operation explanatory diagram of the first embodiment of the present invention.
FIG. 12 is a block diagram showing a configuration of a conventional electric power steering control device.
FIG. 13 is an operation explanatory diagram of a conventional electric power steering control device.
FIG. 14 is an operation explanatory diagram of a conventional electric power steering control device.
FIG. 15 is an operation explanatory diagram of a conventional electric power steering control device.
FIG. 16 is an operation explanatory diagram of a conventional electric power steering control device.
FIG. 17 is an operation explanatory diagram of a conventional electric power steering control device.
[Explanation of symbols]
1 Torque sensor, 6 Motor control circuit, 7 Power relay, 8 Electric motor,
9 battery, 10 control device, 11 operational amplifier, 12-15 resistance,
16 Amplification circuit, 17 microcomputer.

Claims (4)

Torque detecting means for outputting a signal corresponding to the steering torque, amplifying means for amplifying the output signal of the torque detecting means, control means for controlling to input the output current of the amplification signal output from the amplifying means, the amplified signal Abnormality detection means for detecting an abnormality of the amplification means from the deviation between the actual value and the theoretical calculation value of the amplified signal obtained from the output signal of the torque detection means, and the duration of the abnormal state detected by the abnormality detection means is measured. The output signal of the timer means and the torque detection means is input for each control routine, the previous detection value and the current detection value are compared to determine the difference between the two, and when the difference between the torque values exceeds a predetermined value, the change occurs. counting means for counting the number of detected torque value or greater value after said control means is driven by the output current to output an electric motor to provide an auxiliary torque to the steering device, before When the duration of the abnormal state in which the timer means to measure exceeds a first predetermined time, together with the control means to cut off the driving current of said motor, a predetermined number of times counted number within a predetermined time of the counting means The electric power steering is characterized in that the control means cuts off the drive current of the electric motor for a second predetermined time when the first predetermined time is shorter than the second predetermined time. Control device. When abnormality duration of said timer means to measure exceeds a third predetermined time, the power of the motor is cut off, that the recovery of the cut-off state is configured to be done by restoring power to the said control device The electric power steering control device according to claim 1, wherein: The electric power steering control apparatus according to claim 2, characterized in that said the third predetermined time is set longer than the second predetermined time. The abnormality detecting means and the timer means is incremented when the detected abnormality, when said output value of said torque detection means does not detect an abnormality and the abnormality detecting means within a predetermined upper limit value from the predetermined lower limit value is timer means initialization, the electric power steering control apparatus according to any one of claims 1 to 3, characterized in that the counting of the timer means is configured to be retained otherwise.

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