Patent ID: 11453372

Abstract:
Provided is a brake apparatus, a brake control method, and a method for determining a lock abnormality in a motor capable of reducing motor drive noise at the time of a self-diagnosis of the motor regardless of a condition. A brake control method includes issuing a drive instruction to repeat ON/OFF driving a plurality of times and drive a motor in such a manner that a rotational frequency of the motor during an OFF time period does not fall to zero and a peak of the rotational frequency of the motor during an ON time period increases as the ON/OFF driving is repeated, carrying out terminal voltage detection to detect a terminal voltage of the motor at the time of the ON/OFF driving carried out by the issuing of the drive instruction, and determining a lock abnormality in the motor to determine whether there is the lock abnormality in the motor based on a characteristic of the terminal voltage during the OFF time period of the ON/OFF driving that is detected by the carrying out of the terminal voltage detection.