A power steering apparatus according to the present invention comprises: a steering mechanism having a steering shaft and a rack bar which steers steer steerable wheels by a movement in an axial direction of the rack bar in association with a rotation of steering shaft; an electrically driven motor having a stator, a rotor, and a drive shaft integrally rotated with the rotor; a worm gear transmitting the rotation of the drive shaft to the steering mechanism; a housing member having a reduction gear housing section, a rack bar housing section, and a motor ECU housing section in which the electrically driven motor and the control circuit are housed; and a moisture detection sensor having a moisture detection section disposed within the reduction gear housing section and a transmission section connected with the control circuit passing through an inner part of the motor ECU housing from the moisture detection section.

A motor control unit that vector-controls a 3-phase brushless motor based on dq-axes current command values, converts 3-phase current detection values of the 3-phase brushless motor into dq-axes feedback currents, performs feedbacks of the dq-axes feedback currents to the dq-axes current command values, converts dq-axes deviation voltages of the feedbacks into 2-phase duty command values, converts the 2-phase duty command values into 3-phase duty command values, and vector-controls the 3-phase brushless motor via an inverter, comprising a dq-axes dead time compensating section to calculate dq-axes dead time compensation values of the inverter and perform a dead time compensation, and a dq-axes disturbance estimating observer to input the dq-axes current command values, a motor rotational number, the dq-axes feedback currents and the deviation voltage, and calculate and output dq-axes disturbance compensation values, wherein the motor control unit estimates a disturbance, which cannot be compensated by said dead time compensation of said inverter, by adding with the dq-axes disturbance compensation values and said dq-axes deviation voltages.

An electric steering device includes a motor and a control circuit. The motor applies a steering force to a steering mechanism of a vehicle. The control circuit includes an inverter that converts DC power of a DC power supply to AC power and supplies the AC power to the motor, and a power supply relay that permits or blocks a current flow to the motor through the inverter. In the control circuit, the power supply relay is provided on a ground line connecting the inverter and a ground.

A motor includes a first inverter electrically connected to a first end of a winding of each phase, and a second inverter electrically connected to a second end of the winding of each phase. Each of the first and second inverters includes low-side switching elements and high-side switching elements. FETs of the first inverter are electrically connected to a first end of a U-phase winding. FETs of the second inverter are electrically connected to a second end of the U-phase winding. At least a portion of a current flowing from one of the FETs of the first inverter to the U-phase winding flows to one of the FETs of the second inverter. One of the FETs of the first inverter and one of the FETs of the second inverter are adjacent to each other.

A motor control device includes a table in which a motor torque generated from a reluctance torque utilizing motor is stored with respect to a combination of an armature current command value and a current phase angle command value at which the motor torque is maximized for the armature current command value, a first setting portion that sets a motor torque command value that is a command value of a motor torque to be generated by the reluctance torque utilizing motor, and a second setting portion that sets, based on the table, an armature current command value and a current phase angle command value for making a motor torque that is in accordance with the motor torque command value set by the first setting portion be generated from the reluctance torque utilizing motor.

An electric driver device provides a partial redundancy system that is at least partially redundant, or a full redundancy system. The electric driver device has a plurality of circuit systems. The electric driver device includes, in at least a part of the electric circuit, a common circuit extending over at least two of a plurality of circuit systems. The common circuit includes a power supply and/or a connection line that complements signals. At least one of the power supply circuit, an interface circuit, a power supply cutoff circuit, and a connector is not separated and independent from each other for each redundant circuit system.

In an electric power steering device including a controller, which is configured to carry out feedback control for a motor including independent two coil winding groups and being configured to rotate a steering mechanism of a vehicle, when one of the two groups recovers from a failure that has occurred in the one group while control is continued solely by another group due to the failure, the controller resumes cooperative control by the two groups, and when starting the cooperative control, sets target current values of the one group and the another group to values different from a final target current value based on an actual current value or a target current value of the another group at a time of the recovery, to thereby output respective control amounts for the cooperative control.

A method for vehicle stabilization includes, in response to a determination that a fault occurred in a rear steering mechanism, identifying a fault type associated with the fault. The method also includes determining whether a position of a rack of the rear steering mechanism is controllable based on the fault type. The method also includes, in response to a determination that the position of the rack is controllable, selectively positioning the rack to a center position and holding, using a motor control system of the rear steering mechanism, the rack in the center position. The method also includes, in response to a determination that the position of the rack is not controllable, holding, using the motor control system of the rear steering mechanism, the rack in a current position.

A power conversion device includes a first inverter connected to a first end of a winding of each phase of a motor, a second inverter connected to a second end of the winding of each phase, and first and second switching circuits. The power conversion device further includes a normal state operation mode in which power conversion is performed by using a first neutral point of the winding of each phase in the second inverter and the first inverter and an abnormal state operation mode in which the power conversion is performed by using a second neutral point of the winding of each phase in the first inverter and the second inverter. An operation mode of the power conversion is switched from the normal state operation mode to the abnormal state operation mode when at least one switch in the first inverter fails.

A motor drive device includes an inverter circuit, a first switching circuit to switch a path between a power supply and the inverter circuit to conduction and interruption, a second switching circuit to switch a path between the inverter circuit and the motor, a current detector to detect a current of the inverter circuit, a controller to, in a case in which a current value of the detected current is not within a predetermined range, output a command voltage which commands switching from the conduction to the interruption, a driver to boost the command voltage input from the controller and output the boosted command voltage to each switching circuit, and a delay circuit disposed between the second switching circuit and the driver to set a timing at which the command voltage is input to the second switching circuit to be later than a timing at which the command voltage is input to the first switching circuit.