Patent ID: 6704632
Filing Date: 2004-03-09
Classification: B62D

Abstract:
A controller of a steering apparatus including a motor for generating auxiliary force applied to a steering wheel to steer a vehicle, wherein the motor is controlled in accordance with an auxiliary torque command value, the controller comprising:a main computer for computing the auxiliary torque command value in a main control routine, which is repeated cyclically, based on steering torque generated by the steering wheel and velocity of the vehicle; a sub-computer for computing a value equivalent to the auxiliary torque command value in a sub-control routine, which is repeated cyclically, based on the steering torque and the vehicle velocity, wherein each cycle of the sub-control routine is longer than each cycle of the main control routine; a first comparison circuit for comparing the auxiliary torque command value with the steering torque in each cycle of the main control routine; and a second comparison circuit for comparing the auxiliary torque command value and the equivalent value in each cycle of the sub-control routine.