Abstract: A method and a device for acquiring a value of a defined reference point of a first variable which is measured by an incrementally measuring sensor of a motor vehicle are disclosed. The method includes the step of acquiring intermediate values of the defined reference point in at least two detection modules using at least one second measured variable, wherein each detection module is adapted to determine a value of the defined reference point of the first variable in a pre-defined driving situation. A quality level for each intermediate value is determined. The quality levels of the intermediate values are compared. The value of the defined reference point is determined from the acquired intermediate values in accordance with a result of the compared quality levels.

Abstract: In an electric power steering apparatus including a capacitor for smoothing out the voltage of a battery and a relay including a relay contact disposed at a place upstream of the capacitor, a path is provided for directly conducting a terminal voltage of the capacitor from a downstream side of the relay contact to a system power supply that generates a source voltage for a control system including a controller and the like, so that the system power supply and the control system that is supplied therefrom with electric power for control purpose are utilized as a discharge circuit. Thus is obtained a simplified configuration of circuit responsible for discharging the capacitor.

Abstract: When the magnitude |?| of a steering angular velocity w is equal to or greater than a determination angular velocity ?th, an electric motor is estimated to be in a predetermined power use state, and a restriction determination threshold Vonth is set to a first voltage value V1. When the magnitude |?| of the steering angular velocity ? is less than the determination angular velocity ?th, the restriction determination threshold Vonth is set to a second voltage value V2 (>V1). When a state in which a power supply voltage Vx is lower than the restriction determination threshold Vonth continues for a predetermined time t1, a power use restriction instruction is output to specific vehicle electrical loads. Thus, power restriction is properly imposed on the vehicle electrical loads, whereby a delay in control of the electric motor is prevented, and excessive imposition of power restriction is prevented.

Abstract: A vehicle including a vehicle behavior control device in an ECU. The vehicle behavior control device obtains a line of sight direction of the driver of the vehicle by a line of sight detecting sensor for detecting the line of sight of the driver from an eye movement of the driver. The vehicle behavior control device decides a targeted traveling direction of the vehicle based on the obtained line of sight direction of the driver. Then, the vehicle behavior control device controls a rear wheel steering device such that a front-rear direction of the vehicle faces the targeted traveling direction of the vehicle.

Abstract: The present invention relates to a cooperative control apparatus of a motor driven power steering apparatus for a smart parking assistant system (SPAS). The cooperative control apparatus may relieve excessive response of the motor driven power steering apparatus even through an excessive required steering angle is inputted from the SPAS, prevent damage of the motor driven power steering apparatus by controlling the motor driven power steering apparatus through a motor angular speed, reduce vibration, and improve steering performance with high control precision regardless of external disturbance.

Abstract: A method for driver support in a vehicle in which a driver assistance system monitors a driving situation of the vehicle. Support takes place after a confirmation or after the absence of an abort instruction, a dialogue about the extent of support the driver wishes being conducted between the driver and the driver assistance system.

Abstract: Disclosed herein is a method for controlling an electric power steering system, wherein a motor is controlled by vector control and driven by a current command value calculated on the basis of a parameter such as a steering torque to provide a steering assist power to a vehicle steering system, and further wherein the current command value is limited on the basis of desired output characteristics and a desired angular speed during a field-weakening control and a non-field-weakening control of the vector control.

Abstract: A method is provided for controlling power supply of an electrically powered steering system on-board an automotive land vehicle equipped with a high voltage source and a low voltage source. A first and a second steering motor operate at a nominal operating voltage which is higher than the voltage of the low voltage source, are fed by the high voltage source and may absorb respectively a first and a second nominal operating power. A step-up circuit is connected to the low voltage source, and is adapted to deliver a back-up electrical power in case of failure of the high voltage source. In the method, in case of failure of the high voltage source, back-up electrical power absorbed by each of the two motors is limited on the basis of a priority rule.

Abstract: In a steering system for a vehicle incorporated with a rear drive electric motor (5) for driving a pair of rear wheels (3rl, 3rr) that can function as a regenerative brake for the rear wheels, a steering torque control unit (38) reduces a steering assist torque provided by the power steering assist unit (21) when the rear drive electric motor is providing a regenerative braking. When the rear wheels are braked by a regenerative braking action without substantially applying a brake to the front wheel, the vehicle may acquire a temporal oversteer tendency. However, by increasing the effort required to steer the front wheels, such a tendency can be canceled or compensated, and the vehicle operator is enabled to control the vehicle without experiencing any unfamiliar feeling or discomfort. The effort required to steer the front wheels can be increased by decreasing the assist steering torque or providing a reactive steering torque at such a time.

Abstract: A steering control system is connectable to a motor configured to control a steering and a LAN (Local Area Network) and is allowed to receive a control signal for controlling said motor from the LAN is received. The steering control system includes: a motor configured to control a steering; a main calculation unit connectable to the LAN; a motor drive circuit connected to the main calculation unit and configured to drive the motor; a sub calculation unit connectable to the LAN; and a motor drive limiting unit connected to the sub calculation unit and configured to limit a drive of the motor.

Abstract: An awake state estimation portion calculates an average steering angle, an average steering angular speed and a corrective steering angle on the basis of the steering angle acquired from a steering angle detection portion. The awake state estimation portion acquires the traveling speed of the vehicle from a vehicle speed detection portion. The awake state estimation portion corrects the calculated corrective steering angle by a correction value commensurate with the type of the traveling path on which the vehicle is traveling, and estimates the degree of the awake state of the driver on the basis of the post-correction corrective steering angle. Besides, the awake state estimation portion specifically determines the correction value commensurate with the type of the traveling path on which the vehicle is traveling, on the basis of at least one of the steering angle, the average steering angular speed and the traveling speed.

Abstract: A correction value calculating section 70 is provided with a pinion shaft torsion angle correction value calculating section 74 and a pinion shaft torsion angular velocity correction value calculating section 75 for calculating a correction value in consideration with the transmission characteristic of the steering assist torque from the electric motor 6 to the steerable vehicle wheel 9. Therefore, the electric motor 6 can generate the steering assist torque compensating for the influence by the transmission characteristic of the steering assist torque from the electric motor 6 to the steerable vehicle wheel 9 by correcting a target value defined by a detection value of the torque sensor 3 with the correction value.

Abstract: Systems and methods for mitigating failure mode effects in a steer-by-wire system. The system includes a controller configured to alter a direction of the vehicle when the controller is in a failure mode. A steering device is coupled to a detector. The detector is configured to detect a steering input from a driver and output a signal representative of the steering input. A first actuator is coupled to a first control device. The first control device is configured to generate a first control signal representative of the steering input when the controller is in the failure mode. The first actuator alters the direction of the vehicle by removing energy from the vehicle. A second actuator is coupled to a second control device. The second control device is configured to generate a second control signal representative of the steering input when the controller is in the failure mode. The second actuator alters the direction of the vehicle by adding energy to the vehicle.

Abstract: Embodiments of the invention provide a computer program product embodied on a computer readable storage medium. The computer program product is encoded with instructions configured to control a controller to perform a process. The process includes setting a target steering angle for the vehicle based on a steering amount of the vehicle, setting a target torque difference between right and left steered wheels based on the target steering angle, and setting a target driving/braking force for the vehicle based on an acceleration amount and a braking amount of the vehicle. The process also includes setting each target torque for the right and left steered wheels based on the target torque difference and the target driving/braking force and controlling driving of the steered-wheel motors based on the target torque. The kingpin point is positioned closer to the vehicle on an inside portion of an inside sidewall of a steered wheel.

Abstract: The present invention provides a steering control apparatus that controls steering of a vehicle of a steer-by-wire type, and includes steered-wheel motors that apply separate torques to right and left steered wheels respectively, a rod member that couples the right and left steered wheels so that the steered wheels can be steered, and a steering controller that controls driving of the steered-wheel motors. In each steered wheel, a center of the contact face thereof and a kingpin point thereof are offset in a lateral direction of the vehicle, and the steering controller controls driving of the steered-wheel motors so as to generate a torque difference between the right and left steered wheels, and provides a steering effort in accordance with this torque difference for each of the right and left steered wheels via the rod member, thereby to steer the vehicle.

Abstract: A system for adjusting a wheel lock angle of a wheel of a motor vehicle, in particular of a rear wheel, wherein at least one wheel guide member, by means of which a wheel carrier of the wheel is connected to a vehicle body, wherein the wheel carrier can pivot about a rotational axis which runs substantially parallel to the plane of the wheel and the wheel guide member is coupled to the wheel carrier at a distance from the rotational axis, and wherein the length of the wheel guide member can be adjusted by an actuator, wherein at least one actuator is driven by a motor and at least one control unit, and the control unit includes a computer unit with a memory and a communication interface, and the control unit transmits and receives data via the communication interface by means of at least one communication bus.

Abstract: This steering wheel retention state judging device includes: a torque application unit that applies a torque on a steering wheel of a vehicle, the steering wheel operated by a driver; an angle sensor that detects a steering angle of the steering wheel; and a steering wheel retention state judging unit that judges a retention state of the steering wheel by the driver based on the steering angle of the steering wheel when the torque is applied by the torque application unit.

Abstract: A system and method for managing faults occurring in a power steering system in a vehicle is disclosed that has particular application for an MRHPS system to provide reliable functioning of the power steering system. The method includes detecting a fault condition in the MRHPS system and selecting a safe mode from a plurality of predetermined safe modes based on the fault condition. The plurality of predetermined safe modes include a normal operation mode, an engine speed follow mode, a manual mode, a fixed duty cycle mode and a voltage control mode. If a fault condition is detected, the method applies the safe mode to manage the fault condition.

Abstract: A vehicle steering device (1) has a steering actuator (14) for steerable wheels (5) to be steered according to operation of a steering member (2), a transmission mechanism (18) including cables (22, 23), a connection mechanism (19) for allowing and interrupting mechanical connection between the steering member (2) and the wheels (5), and control unit (9). When the steering actuator (14) is normal, the control unit (9) causes the connection mechanism (19) to release mechanical connection between the steering member (2) and the wheels (5) and drives and controls the steering actuator (14) according to operation of the steering member (2). The control unit (9) includes a fail detecting section (29) for detecting, when the steering actuator (14) is normal, a fail of the transmission mechanism (18) based on a load on the steering actuator (14).

Abstract: A microcomputer 17 (signal generating section 24) includes an attenuating section 31, which attenuates a specific frequency component included in an input signal. The attenuating section 31 receives a d-axis current value Id and a q-axis current value Iq, which are actual currents supplied to a motor 12. The attenuating section 31 receives a rotational angular velocity ?e of the motor 12. The attenuating section 31 changes the specific frequency component to be attenuated based on the input rotational angular velocity ?e. Then, the microcomputer 17 executes current feedback control for feeding power to the motor 12 based on the d-axis current value Id? and the q-axis current value Iq? that have been attenuated.

Abstract: In an electric power steering system (10) for use in a vehicle incorporated with a vehicle behavior control system (30), a failure detecting unit (12) detects a failure of the electric power steering system according to the steering torque and actual electric current. A criterion for detecting a failure by the failure detecting unit is changed when the vehicle behavior control system is activated. Thereby, even when the vehicle behavior control system is activated and it causes a corrective current to be supplied to the electric motor, because the failure detection criterion is changed, the failure detecting unit is prevented from confusing the corrective current due to the operation of the vehicle behavior control system with an erroneous current caused by a failure of the electric power steering system. Therefore, an unnecessary interruption of the operation of the electric power steering system can be avoided, and the convenience of the electric power steering system can be enhanced.

Abstract: In a steering control unit, a U-phase feed line branches into paired branch feed lines, phase-open MOSFETs are provided in middle portions of the branch feed lines, phase-open MOSFETs are provided in middle portions of a V-phase feed line and a W-phase feed line, and the phase-open MOSFETs are arranged in such a manner that parasitic diodes are in the same orientation with respect to a motor. When an abnormality occurs, all the phase-open MOSFETs are turned off. Then, a closed circuit, which includes phase coils and through which electric currents flow, is no longer present.

Abstract: A steering control system is connectable to a motor configured to control a steering and a LAN (Local Area Network) and is allowed to receive a control signal for controlling said motor from the LAN is received. The steering control system includes: a motor configured to control a steering; a main calculation unit connectable to the LAN; a motor drive circuit connected to the main calculation unit and configured to drive the motor; a sub calculation unit connectable to the LAN; and a motor drive limiting unit connected to the sub calculation unit and configured to limit a drive of the motor.

Abstract: A method for controlling for improper installation of sensors of a vehicle is provided. The method comprises the steps of determining a first indication of direction based at least in part on a yaw value, determining a second indication of direction based at least in part on a steering angle value, and changing the second indication of direction, if the first indication of direction and the second indication of direction are inconsistent with one another.

Abstract: An object of the present invention is to provide a motive power output apparatus including a motor with a permanent magnet and a motor without a permanent magnet. A boost device (10) is connected to a power storage device (B). A first drive device (30) is connected to the boost device (10). A first rotating electric machine (35) with a permanent magnet is connected to the first drive device (30). A second drive device (40) is connected to the power storage device (B). A second rotating electric machine (45) without a permanent magnet is connected to the second drive device (40). A third drive device (20) is connected in parallel to the first drive device (30). A third rotating electric machine (25) with a permanent magnet is connected to the third drive device (20). The second rotating electric machine (45) is formed of a reluctance motor or an induction motor. The first rotating electric machine (35) and the second rotating electric machine (45) of the present invention may be linked to wheels of a vehicle.

Abstract: The present invention relates, in general, to a system and method for keeping a vehicle in a lane in consideration of a steering wheel contortion angle, and more particularly, to a system for keeping a vehicle in a lane in consideration of a steering wheel contortion angle, which estimates the path of a vehicle in consideration of a steering wheel contortion angle attributable to the distortion of a steering shaft, thus improving the safety and riding comfort of occupants.

Abstract: A control system for fault detection with a control device including a processor having a control program that calculates at least one actuating value signal outputted to an actuator. At two process points in the control program, at least one control point (K) is defined at which a program output value is outputted to form a monitoring signal that is outputted to a monitoring device. The monitoring signal contains at least two signal elements of three possible signal elements. A first signal element represents the control point through which the control program should have directly run before the control point, a second signal element represents the present control point, and a third signal element represents the next control point in the program process. The monitoring device checks the monitoring signals for the correct state, and a state signal can be output as a fault signal.

Abstract: A system for performing posture control of a motorcycle is such that in outputting a synthesized output by adjusting a yaw direction output and a roll direction output outputted from a displacement detection sensor by an adjustment part respectively, a synthesized output in which the yaw direction output is larger than the roll direction output is outputted when a vehicle speed is low, and a synthesized output in which the roll direction output is larger than the yaw direction output is outputted when the vehicle speed is high. Accordingly, in either a case where the vehicle is traveling at a low speed or a case where the vehicle is traveling at a high speed, the displacement and the behavior of a motorcycle 10 can be detected with high accuracy thus eventually realizing a control of the posture of the motorcycle 10 with high accuracy.

Abstract: A control section (10) of a vehicle steering system has a steer-by-wire mode, a power steering mode, and a transition mode. In the steer-by-wire mode, a steering actuator (19) is controlled for steering and a reaction force actuator (11) is controlled for reaction force. In the power steering mode, steering assistance control is performed with either of the steering actuator (19) and the reaction force actuator (11) caused to function as an assistance unit. In the transition mode, in a transition period from either of the steer-by-wire mode and the power steering mode to the other, the reaction force actuator (11) is controlled for reaction force.

Abstract: In a method for assisting in error detection for a motor vehicle, characteristic data for an accessory device connected to a device in the motor vehicle are stored in a memory unit provided in the motor vehicle.

Abstract: A vehicle failure analysis system for a vehicle equipped with a plurality of control systems, each of which includes one or more components, includes: a faulty system identification unit that identifies a faulty control system from among the plurality of control systems; and a faulty component identification unit that identifies a faulty component from among the one or more components which are constituents of the identified control system.

Abstract: In a control method for an electric power steering apparatus having a steering member, a steering mechanism, and a motor for assisting steering, a steering torque applied to a steering wheel is detected, frequency analysis is performed on the detected torque, and a determination is made as to whether or not a torque component having a frequency equal to or higher than a predetermined value is included in the result of the frequency analysis. When such a torque component is included in the frequency analysis result, a predetermined rotary torque is generated in a single direction.

Abstract: A highly safe electric power steering device including a control device for determining the failure of a motor current detector based on the difference between the motor current estimate value and the detected motor current value is provided. The abnormality determining unit computes the absolute value of difference between the motor current estimate value and the detected motor current value, measures the number of times when the absolute value of difference exceeded the predetermined threshold value within the predetermined period, and measures further the cumulative value of the number of times of exceeding the threshold value within the predetermined period. When the cumulative value exceeded the predetermined reference number of times for determining abnormality, the motor current detector is determined to be abnormal.

Abstract: A steering-by-wire-type steering apparatus for a vehicle which can detect an anomaly of a connecting-disconnecting device which selectively connects and disconnects an input member on a steering wheel side and an output member on a turnable wheel side based on a steering input operation quantity or a steering state quantity.

Abstract: A device and a method for reducing unwanted or undesireable excitations at a steering wheel include a sensor system with which unwanted excitation at a steering wheel and/or steering gear can be sensed. A closed-loop control unit is configured to generate an additional steering torque on the basis of the sensed unwanted excitation. A servomotor applies the additional steering torque to the steering gear.

Abstract: In a case where an engine ECU determines that the engine is started (restarted), the engine ECU notifies an EPSECU that cranking is to be performed to start the engine before performing the cranking. When such a notification is received, the EPSECU gradually reduces a current command limit value I*_lim and a boost voltage limit value Vbp_lim before the cranking is started.

Abstract: The present invention relates to a yaw stability control system for a vehicle using a steering system and a method of controlling by detecting the occurrence of understeer, determining the degree of understeer after the occurrence of understeer is detected determining if the determined degree of understeer exceeds a threshold value, saving the steering wheel torque value and steering wheel angle value when determined that a calculated drop in steering wheel torque exceeds the threshold value, calculating a guidance torque, a driver-intended steering wheel angle, and updating the steering wheel angle at the start of the guidance torque calculation, applying the guidance torque to the steering of the vehicle, and using the driver-intended steering wheel angle for yaw stability control.

Abstract: A steering system includes: an electric power steering device which includes a steering unit of front wheels having an electric motor for generating an auxiliary torque in accordance with at least a steering torque and for transmitting the auxiliary torque to the steering unit; toe angle changers for changing toe angles of rear wheels in accordance with at least a front wheel turning angle and a vehicle speed; and a steering controller for controlling the electric power steering device and the toe angle changer. The steering system further includes a toe angle changer anomaly detection unit and/or an electric power steering device anomaly detection unit, and when a toe angle changer abnormal state is detected, an auxiliary torque target value and/or a viscosity in the electric power steering device is controlled, and when an electric power steering device abnormal state is detected, the toe angle changer is controlled.

Abstract: There is provided a steering apparatus to ease an uncomfortable feeling given to an operator when a steering wheel is connected to a steering mechanism, on a fail. The apparatus includes a unit that varies an angular ratio of a steering angle of front wheels with respect to an operational angle of a steering wheel. The apparatus also includes a connection unit such as a electromagnetic clutch for connecting the steering wheel to the steering mechanism in order to fix the angular ratio, on a fail such as a failure of a steering motor. The apparatus also includes a rotational body which relatively rotates with respect to the steering wheel by an angular deviation upon this connection. Accordingly, since a real neutral position of the steering mechanism coincides with a neutral position recognized by a pattern on the rotational body being seen, it eases the uncomfortable feeling onto the operator.

Abstract: In a vehicle provided with a rear wheel toe angle varying device for individually varying toe angles of rear wheels, upon detection of a failure to steer one of the rear wheels, the rear wheel of a healthy side is steered to a zero angle. Whereby, when a straight travel determining unit determines that the vehicle is traveling straight, a toe angle estimating unit estimates a steering angle of the rear wheel which has failed to steer based upon the steering angle of the front wheels of the vehicle as determined by a steering angle sensor.

Abstract: A watercraft steering device can include at least one of steerage status detection device configured to detect a steerage status following an operation of the steering wheel, running status detecting device configured to detect a running status of the watercraft, watercraft propulsion unit status recognition device configured to recognize a status of an outboard motor such as an installation number thereof, and electric motor status detection device configured to detect a status of an electric motor, and can further include a lower unit turning force characteristic computation device configured to compute a lower unit turning force characteristic based on a detection value from at least one of the device, and an ECU configured to control at least one of a reaction force to the steering wheel, a limit lower unit turning angle, and a propulsive force based on a computed lower unit turning force characteristic and/or selecting the electric actuator to operate.

Abstract: Two data processing units having the same function, one of which is used for a master and the other for comparison, are provided, control of a circuit unit is performed by the master, the master data processing unit and the circuit unit are operated in synchronization with a first clock signal, the second data processing unit is operated in synchronization with a second clock signal having the same cycle and different phase from the first clock signal, and processing results of both the data processing units are compared in a comparison circuit. Flip flops are disposed on a signal path from the circuit unit to the comparison data processing unit and on a signal path from the master data processing unit to the comparator, and both the first and second clock signals are used for latch clocks of the flip flops in accordance with input signals thereof.

Abstract: A method for controlling the rear steering angle of a vehicle includes receiving a plurality of signals indicative of rear steering angle; checking at least one of the plurality of signals to determine if it falls within a valid range; correlating at least a first signal of the plurality of signals with at least a second signal of the plurality of signals to determine if either the first signal or the second signal is invalid; and rejecting any signals found to be invalid.

Abstract: A vehicle steering control system includes a variable transmission ratio device that rotates an output shaft relative to an input shaft so as to change the transmission ratio, and a locking device that is switched between a lock-on state in which the transmission ratio between the input shaft and the output shaft is inhibited from being changed and a lock-off state in which the transmission ratio between the input shaft and the output shaft is allowed to be changed. The variable transmission ratio device includes an electric motor and a speed reduction mechanism. The locking device inhibits the input shaft and a rotor of the electric motor from rotating relative to each other when placed in the lock-on state, and allows the input shaft and the rotor to rotate relative to each other when placed in the lock-off state.

Abstract: A steering control apparatus is provided for a vehicle having a steering wheel for steering its steered wheels, a power source for generating power, and drive shafts for transferring the power to the wheels, to be served as driving wheels of the vehicle, and a traction control device for controlling braking torque applied to the wheels. The apparatus comprises a detection device for detecting the braking torque applied to the wheels, a calculation device for calculating a driving force difference between the wheels, on the basis of the detected braking torque, a power source state detection device for detecting an actuating state of the power source, and a control device provided for controlling steering torque created by the steering wheel, and applying torque steer reducing torque to the steering wheel. A desired value of the torque steer reducing torque is determined, on the basis of the driving force difference and the actuating state of the power source.

Abstract: A steering control system and method for automated steering of work vehicles that adapts to nonlinearities and uncertainties of steering mechanisms including a tolerance control law, a dynamic control law, and a saturation control law selected and executed in real time based on the magnitude of steering angle error, steering mode command, and manual override signal in real time. The dynamic control law includes a dynamic compensator having a double compensation zero, an integral, and a compensation gain, and further includes a deadband compensator and a control signal limiter.

Abstract: An electronic control unit reads a side slip angle of a vehicle body. Next, the electronic control unit reads a correction amount entered by a driver. Next, the electronic control unit calculates a target steering angle by subtracting a correction term from a rotation amount of a steering output shaft, which has a predetermined relation with a rotation amount of a steering input shaft, to reduce a lateral force generated in the vehicle due to the side slip angle of the vehicle body. Subsequently, the electronic control unit drives and controls an electric motor of a variable-gear-ratio actuator until the rotation amount of the steering output shaft reaches the target steering angle.

Abstract: A field-oriented control method for an electric drive comprising a plurality of electric motors, for implementing a tension mechanism, especially for load cable and/or gearing means, using measurements of a polyphase motor actual current. The measured values are transformed into a direct current component and a quadrature current component, based upon a magnetic rotor field or flux angle, in a rotor flux-based d,q coordinate system. The quadrature and direct current components from the actual current are subjected to a comparison with predetermined quadrature and direct current components of a current command value.

Abstract: A controller samples a motor current value detected by a motor current detector at a sampling start timing for turning on a switching device to start holding in a motor current hold section, and fetches the motor current value held in the motor current hold section at a hold timing for turning off the switching device. The sampling start timing and the hold timing are variable.

Abstract: Provided is a power steering apparatus capable of suppressing an abrupt change in steering force and preventing a deterioration in steering feeling even in the event of a transition from power steering to manual steering. The power steering apparatus includes a torque sensor, a motor of a permanent magnet field type, and a controller having a motor driving unit and an abnormality monitoring unit, for controlling the driving of the motor. The motor driving unit includes an inverter for driving the motor, and a drive signal generating unit for calculating a target current caused to flow through the motor and outputting a drive signal of the inverter based on the target current. The abnormality monitoring unit includes an abnormality processing unit for constituting a closed-loop circuit including the motor in stopping the driving of the motor.