JP5181540B2 - Electric power steering device - Google Patents

Description

  The present invention relates to an electric power steering apparatus, and more particularly to an electric power steering apparatus that includes a control apparatus that suppresses a sudden change in assist torque that occurs when the torque signal system returns to normal after an abnormality occurs and does not give a sense of incongruity to steering wheel operation. Relates to the device.

  An electric power steering device for a vehicle detects a steering torque and a vehicle speed generated in a steering shaft by operating a steering handle, and drives a motor based on the detection signal to assist a steering force of the steering handle. is there. Such control of the electric power steering device is executed by a control device constituted by a microcomputer. The outline of the control is based on the steering torque detected by the torque sensor and the vehicle speed detected by the vehicle speed sensor. The magnitude of the current supplied to the motor is calculated, and the current supplied to the motor is controlled based on the calculation result.

  That is, when the steering wheel is operated and steering torque is generated, the control device supplies a large steering assist force when the detected vehicle speed is zero or low, and small steering when the detected vehicle speed is high. The control target value of the motor current is calculated according to the steering torque and the vehicle speed so as to supply the auxiliary force, and the feedback control is performed so that the current that actually flows through the motor matches the control target value of the motor current. The optimal steering assist force is given.

  If an abnormality occurs in the torque signal system for some reason, the control target value of the motor current cannot be calculated, and the optimum steering assist force cannot be applied to the steering device. In this case, in the conventional apparatus, the steering assist by the motor is stopped, thereby preventing the malfunction of the steering apparatus and avoiding danger (see Patent Document 1 and Paragraph 0003).

  In addition, when the torque signal system returns to a normal state after an abnormality has occurred, the steering assist force that has been stopped due to the occurrence of the abnormality may be controlled to rise again to the specified value. Because the steering torque required for steering before and after the occurrence of an abnormality in the torque signal system is significantly different, the driver may feel uncomfortable with the steering wheel operation.

As a countermeasure, it has been proposed to provide means for preventing a sudden change in torque when the torque signal system returns to a normal state after an abnormality has occurred (see Patent Document 2).
Japanese Patent Laid-Open No. 2003-200842 Japanese Patent No. 3397065

  The conventional electric power steering device continues the steering assistance when a signal indicating a normal state is detected after the occurrence of an abnormality in the torque signal system, that is, the torque sensor or the harness. Therefore, the steering assist control is configured to continue as if it returned to normal. However, depending on the content of the abnormality that occurred and the steering state, it may be erroneously determined that the abnormality has returned to the normal state even though the abnormal state continues, and abnormality detection and normal recovery may be repeated. It was.

  Hereinafter, the reason why the abnormality detection and the normal return are repeated in the conventional electric power steering apparatus will be described with reference to FIGS. In this case, it is assumed that a main torque sensor and a sub torque sensor having reversal characteristics are used, and the abnormality detection of the torque sensor has detected that the absolute value of the difference between the main torque signal and the sub torque signal exceeds a predetermined value. When the state continues for a predetermined time, it is detected as an abnormality of the main torque sensor (or sub torque sensor).

  FIG. 5 is a diagram for explaining the relationship between the steering torque in the normal state and the output voltages of the main torque sensor and the sub torque sensor, where the horizontal axis represents the steering torque and the vertical axis represents the sensor output voltage. As shown in FIG. 5, in the normal state, the sensor output voltage is a voltage proportional to the magnitude of the steering torque. Note that “left turn” and “right turn” are the operating directions of the steering handle.

  FIG. 6 is a diagram for explaining the relationship between the steering torque and the output voltage of the main torque sensor and the sub torque sensor when an abnormal state occurs. The horizontal axis represents the steering torque, and the vertical axis represents the sensor output voltage. A state where an abnormality has occurred in the main torque sensor at point A of the steering torque TA is shown. The main torque sensor outputs an abnormal main torque signal Tme fixed at a constant value, and the sub torque sensor outputs a normal sub torque signal (reverse value) Tsa.

  Thereafter, a state in which the absolute value | Tsa−Tme | of the difference between the main torque signal Tme and the sub torque signal (reverse value) Tsa at the time of occurrence of the abnormality exceeds a predetermined value α that is a threshold value indicating a normal return condition is a predetermined time t. If it continues, it will determine with it being abnormal and the gradual reduction of the motor current supplied to the motor for steering assistance will be started. Since it is dangerous to suddenly reduce the assist torque to zero when it is determined to be abnormal, the motor current is gradually decreased to gradually decrease the assist torque.

  When the assist torque gradually decreases, the steering torque (steering torque generated by operating the steering handle) increases and moves to point B of the steering torque TB. As a result, the sub torque signal (inverted value) Tsb is output (in FIG. 6, overlaps with the main torque signal Tme at the time of occurrence of abnormality), but the sub torque signal Tsb is smaller than Tsa, so the main torque signal at the time of occurrence of abnormality. If the absolute value | Tsb-Tme | of the difference from Tme becomes smaller than the above-described | Tsa-Tme | and remains below the predetermined value α, which is a threshold value indicating the normal return condition, for a predetermined time, an abnormality occurs. Despite being done, it is misjudged that it returned to normal.

After it is determined that the normal return be misjudged as described above, increasing the motor current supplied to the motor for steering rudder auxiliary is started. At this time, as the main torque signal is fixed to a larger value when an abnormality occurs, the motor current increases and the torque fluctuation between the occurrence of the abnormality and the return to normal increases.

  As the assist torque increases, the steering torque (steering torque generated by operating the steering wheel) decreases and moves to point A again, and the sub torque signal decreases. Again, since the difference between the main torque signal and the sub torque signal exceeds a predetermined value α which is a threshold value indicating a normal return condition, it is determined that an abnormality has occurred.

  The above is an example in which the motor current gradually decreases / increases when the torque sensor malfunctions and returns to normal. In addition to this, even if the steering torque fluctuates due to the driver's steering handle operation, the torque Sensor error occurrence and normal return occur repeatedly.

  The above-described conventional abnormality determination conditions and normal return conditions can be summarized as follows.

  A state in which the absolute value | Tm−Ts | of the difference between the main torque signal Tm and the sub torque signal (reverse value) Ts exceeds a predetermined value α, which is a threshold indicating a normal return condition, and exceeds a predetermined value α. When continuing for time t. When this condition is satisfied, the torque sensor is determined to be abnormal.

  The state where the absolute value | Tm−Ts | of the difference between the main torque signal Tm and the sub torque signal (reverse value) Ts is equal to or less than a predetermined value α (| Tm−Ts | ≦ α), which is a threshold value indicating a normal return condition. When the time continues, it is determined that the torque sensor has returned to normal.

  As described above, depending on the conventional abnormality determination condition and normal return condition, when an abnormality occurs in the torque sensor, abnormality detection and normal return are repeated depending on how the motor current is gradually reduced / gradually increased. The handle may move unintentionally by the driver, which may cause inconvenience that gives the driver a feeling of strangeness. The present invention aims to solve the above-described problems.

  SUMMARY OF THE INVENTION The present invention solves the above-mentioned problems. The invention of claim 1 is directed to a torque sensor for detecting a steering torque generated in a steering shaft, a steering assist motor coupled to the steering shaft, and a detected steering torque. Current command value calculating means for calculating a current command value to be supplied to the motor based on the above, abnormality determining means for determining abnormality of the torque signal detected by the torque sensor, and gradually decreasing / gradually increasing the assist force supplied from the motor An electric power steering apparatus comprising a control device having a gradual increase calculating means, wherein the control device includes a torque signal detected by the torque sensor in advance and a torque signal system abnormality determination condition and a normal return determination condition; It is characterized by determining abnormality of the torque signal system and normal return from the abnormal state based on the satisfaction condition of It is a dynamic power steering apparatus.

  The normal return determination condition of the torque signal system is a condition that the normal return is performed when a predetermined condition is satisfied, in addition to the abnormality determination condition not being satisfied.

  The abnormality determination condition of the torque signal system is that the absolute value of the difference between the main torque signal and the sub torque signal exceeds a predetermined value α, and the state where the absolute value exceeds the predetermined value α continues for a predetermined time t or longer. This is a judgment condition that makes an abnormality when the

  In addition, the normal condition for determining whether or not the torque signal system is normal requires that a first condition and a second condition described below are satisfied at the same time.

First condition: the absolute value of the difference between the main torque signal and the sub torque signal is equal to or less than a preset predetermined value α, and the state continues for a predetermined time w or longer,
Second condition: The main torque signal and the sub torque signal are in the vicinity of torque neutrality, and the state continues for a predetermined time x or more.

  Here, the vicinity of the torque neutral is the vicinity of the torque neutral when the absolute value of at least one of the main torque signal and the sub torque signal is smaller than the predetermined value γ.

  In addition, the normal return determination condition of the torque signal system is a time when the detected torque direction is reversed from the detected torque direction after the abnormality determination condition is satisfied, and the state continues for a predetermined time x. It is also a determination condition for returning to normal.

  The control device gradually decreases the assist force supplied from the motor when the torque signal system satisfies the abnormality determination condition.

  The control device gradually increases the assist force supplied from the motor when the torque signal system satisfies the normal return determination condition.

  According to the present invention, based on whether the torque signal detected by the torque sensor satisfies the preset abnormality determination condition and normal return determination condition of the torque signal system, the abnormality of the torque signal system, and Since it is determined that the normal state is restored from the abnormal state, it is possible to provide an electric power steering device including a control device that prevents erroneous determination, suppresses a sudden change in assist torque, and does not give a strange feeling to the steering wheel operation.

  Embodiments of the present invention will be described below. FIG. 1 is a diagram for explaining an outline of the configuration of an electric power steering apparatus suitable for carrying out the present invention. A shaft 2 of a steering handle 1 passes through a reduction gear 4, universal joints 5a and 5b, and a pinion rack mechanism 7. Coupled to the steering wheel tyrod 8. A torque sensor 3 that detects the steering torque of the steering handle 1 is provided on the shaft 2, and a motor 9 that assists the steering force is coupled to the shaft 2 via a reduction gear 4.

  The control device 10 for controlling the electric power steering device is supplied with an ignition key signal from the battery 14 via the ignition key 11 and is supplied with power from a parallel power supply line. The control device 10 calculates a current command value based on the steering torque detected by the torque sensor 3 and the vehicle speed detected by the vehicle speed sensor 12, and generates a current i supplied to the motor 9 based on the calculated current command value. Control.

  FIG. 2 is a block diagram for explaining the control device 10 of the electric power steering device and its peripheral circuit elements. In this embodiment, the main part of the control device 10 is composed of a CPU, but here, functions executed by programs in the CPU are shown. For example, the abnormality determination unit 10a does not indicate the abnormality determination unit 10a as independent hardware, but indicates a function of determining abnormality of the torque signal executed by the CPU. Needless to say, these functional elements can be configured by independent hardware (electronic circuits) without configuring the control device 10 by a CPU.

  Hereinafter, the function and operation of the control device 10 will be described with reference to FIG. The torque sensor 3 detects a steering torque generated in the steering shaft, and two detection coils configured such that when one inductance increases in accordance with the right rotation and left rotation of the steering shaft, the other inductance decreases. The detected main torque signal Tm and the detected sub torque signal Ts are output to the abnormality determination unit 10a.

  The abnormality determination unit 10a compares the input main torque signal Tm and the sub torque signal Ts (reverse value) to determine the abnormality of the torque sensor 3. For example, the main torque signal Tm and the sub torque signal Ts (reverse value) Are determined to be normal if they match within a predetermined allowable error range, and abnormal if they do not match. The normal main torque signal Tm is output to the current command calculation unit 10b. In the following description, it is assumed that the sub torque signal Ts indicates an inverted value even if not otherwise specified.

  The current command calculation unit 10b is a current command value that is a control target value of current supplied to the motor 9 by a predetermined calculation formula based on the input normal main torque signal Tm and the vehicle speed signal input from the vehicle speed sensor 12. I is calculated. For example, the current command calculation unit 10b calculates a current command value I based on a characteristic map indicating a current command value that is determined in advance according to torque and vehicle speed, and outputs the current command value I to the gradual decrease / gradual increase calculation unit 10c.

  The gradual decrease / gradual increase calculation unit 10c receives the calculated current command value I as input and gradually decreases / gradually increases the current command value I. When it is determined that the input torque signal is abnormal, it is determined to be abnormal. The current command value I calculated or stored before the determination is multiplied by a gain that gradually decreases with time, and output. Further, when it is determined that the torque signal has returned to normal from the abnormal state, it is multiplied and output by a gain that gradually increases with time.

  An adder 10d is provided at the subsequent stage of the gradual decrease / gradual increase calculation unit 10c, and a motor current detection value i detected by a motor current detection circuit 22 described later is fed back to the adder 10d to perform feedback control.

  The characteristic compensator 10e performs predetermined characteristic compensation (for example, PID correction) on the current command value that is gradually decreased / increased and the motor current detection value i is fed back. The characteristic compensated current command value D Is output to the motor drive circuit 21.

  In this embodiment, the structure in which the current command value I is gradually decreased / gradually increased has been described as the means for gradually decreasing / gradually increasing the assist force. However, the structure in which the steering torque is gradually decreased / gradually increased, and the duty that drives and controls the semiconductor switching element are described. A configuration may be adopted in which the ratio is gradually decreased or gradually increased.

  The motor drive circuit 21 is, for example, a known H-bridge circuit in which semiconductor switching elements are bridge-connected, and calculates a duty ratio for driving and controlling the semiconductor switching elements based on a current command value D whose characteristics are compensated. Based on the duty ratio and the motor rotation direction signal, the semiconductor switching element is ON / OFF controlled to control the current supplied from the battery 14 as a power source to drive the motor 9.

  The motor current detection circuit 22 detects a motor current flowing through the motor 9, and the detected motor current i is fed back to the adder 10d.

  With the above configuration, when the detected steering torque is large, and when the detected vehicle speed is zero or low, the current command value I is set large, the detected steering torque is small, and the detected vehicle speed is fast Since the current command value I is set to a small value, the optimum assist force corresponding to the traveling state can be applied to the steering shaft.

  Next, with reference to FIG. 3, a process when an abnormality occurs in the torque signal system according to the present invention will be described. Here, the processing when an abnormal state occurs in the main torque sensor will be described as an example. This processing can solve the inconvenience that occurs when an abnormal state occurs in the conventional main torque sensor described above with reference to FIG. The following description is easy to understand when compared with FIG. 6 described above and the description thereof.

  FIG. 3 is a diagram for explaining the state and processing when an abnormal state occurs in the main torque sensor according to the present invention. The horizontal axis represents the steering torque, and the vertical axis represents the sensor output voltage.

  A state where an abnormality has occurred in the main torque sensor at point A of the steering torque TA is shown. The main torque sensor outputs an abnormal main torque signal Tme fixed at a constant value, and the sub torque sensor outputs a normal sub torque signal (reverse value) Tsa.

  When the absolute value | Tsa−Tme | of the difference between the main torque signal Tme and the sub torque signal (reversed value) Tsa at the time of occurrence of abnormality exceeds a predetermined value α that is a threshold indicating a normal return condition continues for a predetermined time t. It is determined that an abnormality has occurred, the current supplied to the steering assist motor is decreased, and the assist force is gradually reduced to gradually decrease the assist force.

  When the assist force gradually decreases, the steering torque (steering torque generated by operating the steering handle) increases and moves to point B of the steering torque TB. As a result, the sub torque signal (inverted value) Tsb is output (in FIG. 3, it overlaps with the main torque signal Tme when the abnormality occurs), and the sub torque signal Tsb is a signal smaller than Tsa. The absolute value | Tsb-Tme | of the difference between the two becomes smaller than the above-described | Tsa-Tme | and becomes equal to or less than a predetermined value α which is a threshold value indicating a normal return condition.

  Up to this point, there is no change from the state where it is determined that the conventional main torque sensor described above with reference to FIG.

  The following are the conditions for returning to normal after the occurrence of an abnormality, which is a feature of the present invention.

  In the present invention, “the absolute value | Tm−Ts | of the difference between the main torque signal Tm and the sub torque signal (reverse value) Ts, which is a normal return condition, is equal to or less than a predetermined value α that is a threshold value indicating the normal return condition ( | Tm−Ts | ≦ α) and the state has continued for a predetermined time w or longer (first normal return condition), and the absolute value | Tm | of the main torque signal Tm is smaller than the predetermined value γ. (| Tm | <γ) or the absolute value | Ts | of the sub-torque signal (inverted value) Ts is smaller than a predetermined value γ (| Ts | <γ), and the condition has continued for a predetermined time x or more. As (second normal return condition), it is determined that the normal return is made for the first time.

  The normal recovery conditions are summarized as follows.

(1) | Tm−Ts | ≦ α, the state continues for a predetermined time w, and
(2) When the state of (| Tm | <γ) or (| Ts | <γ) continues for a predetermined time x or more.

  The above condition (| Tm | <γ) or (| Ts | <γ) means near torque neutrality (nearly where steering torque is hardly generated) when the predetermined value γ is small. In FIG. 3, the line indicating the normal return range indicates this range.

  When the condition (2) (second normal return condition) is satisfied in the normal return condition described above, the predetermined time w defined by the condition (1) (first normal return condition) is zero. It is also possible.

  In the above description, it is assumed that an abnormality has occurred in the main torque sensor, but the same applies to the case where an abnormality has occurred in the sub torque sensor.

  FIG. 4 is a flowchart for explaining torque signal abnormality detection and gradual decrease / gradual increase processing of the assist force supplied from the motor when the abnormality is detected, which is executed in the control device 10. First, the main torque signal Tm and the sub torque signal Ts are read (steps P1 and P2), and an abnormality determination calculation is performed to compare the main torque signal Tm and the sub torque signal Ts (reverse value) (step P3).

  It is determined whether or not the abnormality determination condition is satisfied (step P4). If the abnormality determination condition is not satisfied, it is determined whether or not the abnormality flag is ON (step P5). If the abnormality flag is not ON, the torque sensor is normal and the torque signal is also normal, so normal processing is performed (step P6) and the process returns to the main routine.

If the abnormality flag is ON in the determination of step P5, processing for normal return after the occurrence of abnormality is performed. That is, whether or not the conventional normal return condition (| Tm−Ts | ≦ α) is satisfied and the state continues for a predetermined time w or more, that is, whether or not the first normal return condition is satisfied. Determine (step P10).

  When the first normal return condition is satisfied, the absolute value | Tm | of the main torque signal Tm that is the second normal return condition is smaller than a predetermined value γ that is a threshold value indicating the normal return condition (| Tm | It is determined whether or not <γ) (step P11), or whether or not the absolute value | Ts | of the sub-torque signal Ts is smaller than a predetermined value γ (| Ts | <γ) (step P12). When the determination in step P11 or step P12 is established, a timer for measuring the elapse of the predetermined time x is further set to start time measurement (step P13), and it is determined whether or not the predetermined time x has elapsed (step S13). P14) When the predetermined time x has not elapsed, the process proceeds to Step P23. Further, when the predetermined time x has passed in the determination of Step P14, the conditions of Steps P10 to P12 and P14 are satisfied, it is determined that the state has returned to normal, and the abnormality flag is turned OFF (Step P15). That is, processing such as gradually increasing the assist force by increasing the motor current (step P16), and the process returns to the main routine.

  If the abnormality determination condition is satisfied in the determination of step P4, the abnormality flag is turned on (step P21), the timer is turned off (step P22), the process at the time of abnormality, that is, the motor current is reduced and the assist force is gradually reduced. Processing is performed (step P23), and the process returns to the main routine.

  Further, when the conditions from Step P10 to P12 are not satisfied, the process proceeds to Step P22, and the processing at the time of abnormality after that is performed.

  The normal return conditions described in the embodiment of the present invention are as follows.

(1) | Tm−Ts | ≦ α, the state continues for a predetermined time w, and
(2) When the state of (| Tm | <γ) or (| Ts | <γ) continues for a predetermined time x or more.

  The above (1) is the first normal return condition, and the above (2) is the second normal return condition. Since the second normal return condition (2) means near torque neutral (nearly no steering torque is generated) when the predetermined value γ is small, the condition (2) is “near torque neutral. And when the state has continued for a predetermined time x ”.

  In addition, when it is determined that an abnormality has occurred in the main torque sensor or the sub torque sensor (hereinafter referred to as a torque sensor), the detected abnormal torque direction (right turn (+), left turn (-)) is changed. After that, the detected torque direction (right turn (+), left turn (-)) is reversed with the stored torque direction (right turn (+), left turn (-)). When the state continues for a predetermined time x or more, the torque sensor can be determined to have returned to normal.

  That is, “the direction of the detected torque (right turn (+), left turn (−)) after the abnormality determination condition is satisfied is the direction of the torque (right turn (+), left turn (−)) that is determined to be abnormal”. "When the state is reversed and the state continues for a predetermined time x or more" can be set as a normal return condition.

  The present invention is an electric power steering apparatus including a control device that suppresses a sudden change in assist torque and does not give a sense of incongruity to steering wheel operation, particularly when the torque signal system returns to normal after an abnormality has occurred.

The figure explaining the outline of a structure of an electric power steering apparatus. The block diagram explaining the control apparatus of an electric power steering device, and its peripheral circuit element. The figure explaining the relationship between the steering torque when the abnormal state of the main torque sensor by this invention generate | occur | produces, and the output voltage of a main torque sensor and a sub torque sensor. It is a flowchart explaining the gradual decrease / gradual increase processing when abnormality detection of a torque signal and abnormality detected by a control device are detected. The figure explaining the relationship between the steering torque in a normal state, and the output voltage of a main torque sensor and a sub torque sensor. The figure explaining the relationship between the generation | occurrence | production of the abnormal condition in the conventional electric power steering device, the steering torque at the time of a normal return, and the output voltage of a main torque sensor and a sub torque sensor.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Steering handle 2 Axis 3 Torque sensor 4 Reduction gear 5a, 5b Universal joint 7 Pinion rack mechanism 8 Tyrode 9 Motor 10 Controller 10a Abnormality judgment part 10b Current command calculation part 10c Decrease / gradual increase calculation part 10d Adder 10e Characteristic compensation part 11 Ignition Key 12 Vehicle Speed Sensor 21 Motor Drive Circuit 22 Motor Current Detection Circuit

Claims (2)

A torque sensor consisting of the main torque sensor and the sub torque sensor for detecting a steering torque generated in a steering shaft, wherein the motor for combined steering assist to the steering shaft, supplied to the motor based on the detected steering torque current A current command value calculating means for calculating a command value, an abnormality determining means for determining an abnormality of the torque signal detected by the torque sensor based on the torque signals detected by the main torque sensor and the sub torque sensor, and the motor In an electric power steering apparatus comprising a control device having a gradual decrease / gradual increase calculating means for gradually decreasing / gradually increasing the supplied assist force,
The control device is configured so that the torque signal detected by the torque sensor is based on whether a torque signal system abnormality determination condition and a normal return determination condition are satisfied, and the torque signal system abnormality and normal from an abnormal state are detected. To determine the return,
The normal return determination condition of the torque signal system is that, in addition to the failure determination condition not being satisfied, the first condition described below and the second condition are simultaneously satisfied,
The abnormality determination condition of the torque signal system is that the absolute value of the difference between the main torque signal and the sub torque signal detected by the main torque sensor and the sub torque sensor respectively exceeds a predetermined value α, and is predetermined. An electric power steering apparatus characterized in that the determination condition is such that an abnormality occurs when a state exceeding the value α continues for a predetermined time t or longer.
First condition: the main torque signal and the sub torque signal and is equal to or less than a predetermined value α to the absolute value is set in advance of the difference, and, that the state continues more than predetermined time w,
Second condition: the at least one of the absolute value of the main torque signal and the sub torque signal is determined to torque neutral nearby when smaller predetermined value gamma, and, that the state continues over a predetermined time x. A torque sensor comprising a main torque sensor and a sub torque sensor for detecting a steering torque generated in the steering shaft, a steering assist motor coupled to the steering shaft, and a current supplied to the motor based on the detected steering torque A current command value calculating means for calculating a command value, an abnormality determining means for determining an abnormality of the torque signal detected by the torque sensor based on the torque signals detected by the main torque sensor and the sub torque sensor, and the motor In an electric power steering apparatus comprising a control device having a gradual decrease / gradual increase calculating means for gradually decreasing / gradually increasing the supplied assist force,
The control device is configured so that the torque signal detected by the torque sensor is based on whether a torque signal system abnormality determination condition and a normal return determination condition are satisfied, and the torque signal system abnormality and normal from an abnormal state are detected. To determine the return,
The normal return determination condition of the torque signal system is that, in addition to the failure determination condition not being satisfied, the first condition described below and the second condition are simultaneously satisfied,
The abnormality determination condition of the torque signal system is that the absolute value of the difference between the main torque signal and the sub torque signal detected by the main torque sensor and the sub torque sensor, respectively, exceeds a predetermined value α and a predetermined value. An electric power steering apparatus, characterized in that the determination condition is abnormal when a state exceeding α continues for a predetermined time t or longer .
First condition: an absolute value of a difference between the main torque signal and the sub torque signal is equal to or less than a predetermined value α set in advance, and the state continues for a predetermined time w or more,
Second condition: The direction of the torque detected by the torque sensor is reversed from the direction of the torque stored when the abnormality is determined, and the state continues for a predetermined time x.

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