A control device includes a first system and a second system being a redundant system for the first system, and controls a device to be controlled. The control device includes a first abnormality detector detecting abnormality of a first-system circuit constituting the first system, and a second abnormality detector detecting abnormality of a second-system circuit constituting the second system. The first abnormality detector detects existence of abnormality of the first-system circuit by comparing the detected value of a first predetermined part of the first-system circuit with a first threshold. The second abnormality detector detects existence of abnormality of the second-system circuit by comparing the detected value of a second predetermined part in the second-system circuit corresponding to the first predetermined part, with a second threshold different from the first threshold.

A vehicle kinematic control circuit for a vehicle adjusts the track of one or more rear wheels of the vehicle through a limited angular range, using an electric motor, connected mechanically to at least one rear wheel. The motor has at least two independently operable sets of phase windings, each set comprising at least two phase windings, each set connected to a motor bridge, controlled by a microcontroller. In normal use the microcontroller generates motor control signals that apply appropriate PWM modulated voltage waveforms to the set of phase windings connected to that bridge to drive the rotor of the motor in a first manner thereby to actively steer the rear wheel. A fault detection circuit monitors the operation of the one microcontroller, the motor bridge driver circuit, and the two sets of phase windings, to detect a fault condition, and in the event of a fault condition being detected causes one of the non-faulty motor bridges and an associated non-faulty set of phase windings to be operated to drive the rotor of the motor in a second, different manner.

A dual path agricultural machine including a control system having a number of input sensors, status sensors, and output sensors, and a controller configured to operate the dual path machine in a stability control mode and a selective rear-steer engagement and actuation mode. In the stability control mode, the controller adjusts an actual drive output of the dual path machine according to data received from the input sensors and feedback received from the output sensors so as to reduce a difference between the actual drive output and a desired drive output. In selective rear-steer engagement and actuation mode, the controller engages rear-steer mechanisms with caster wheels of the dual path machine and actuates the caster wheels via the rear-steer mechanisms if a criterion is satisfied. The controller disengages the rear-steer mechanisms from the caster wheels or does not actuate the caster wheels if the criterion is not satisfied.

A motor controller for controlling a motor includes first and second angle sensors detecting motor rotation, and first and second detection circuits detecting rotation number information based on sensor output from the angle sensors. Further, the motor controller includes a steer angle information obtainer obtaining steer angle information involving steering of a vehicle from an external sensor, which is different from the angle sensors, and an abnormality determiner determining abnormality of information that has a matching degree of lower than a preset value when post-conversion information, or value measured by the same characteristics. This information is compared with each other after conversion from the rotation number information and from the steer angle information, and is used by a control amount calculator to calculate a control amount of the motor based on the information determined as having no abnormality by the abnormality determiner.

A motor controller is configured to control a motor including a plurality of winding groups. The motor controller includes a plurality of processors. Each of the processors is configured to independently control supply of driving electric power to each of the winding groups. When an abnormality occurs in which a torque to be generated in one of the winding groups is smaller than an individual rated torque and when a target overall torque is larger than a total of the individual rated torque for the winding group in which the abnormality does not occur, the processor, controlling supply of driving electric power to the winding group in which the abnormality does not occur, out of the plurality of processors controls supply of the driving electric power such that the winding group generate a torque larger than the individual rated torque.

A power conversion device includes a first inverter connected to one end of a winding of each phase of a motor of n phases, n being an integer equal to or greater than 3, a second inverter connected to the other end of the winding of each phase, and at least two drivers to drive n H bridges including windings of n phases, n legs of the first inverter, and n legs of the second inverter. Each of the n H bridges is connected to any one of the at least two drivers.

The disclosure relates to a method including the steps of: acquiring a time sequence of sets of vehicle parameter values; determining, for each set of acquired vehicle parameter values, based the set of acquired vehicle parameter values, a measure indicative of an observed strain in a steering rod, between a steering actuator and a wheel; determining, for each set of acquired vehicle parameter values, a measure indicative of a predicted strain in the rod, between the steering actuator and the wheel; and determining the functional status of the steering system based on a relation between the measures indicative of the observed strain in the rod and the measures indicative of the predicted strain in the rod.

A power conversion device includes a first inverter and a control circuit that controls on/off operations of switches in the first inverter and diagnoses disconnection failures of n-phase windings where n is an integer of three or more. The control circuit generates a control signal to turn on one low-side switch of a first specific phase among n low-side switch in the first inverter, turn off the remaining n1 low-side switches, and turn off all n high-side switches, supplies the control signal to the n low-side switches and the n high-side switches in a state where a neutral point of a motor is provided, measures n-phase voltages that change depending on patterns of disconnection failures of the n-phase windings, and diagnoses a disconnection failure based on the measured n-phase voltages by referring to a table associating the patterns of the disconnection failures with n-phase voltage levels.

A steering system in a vehicle includes a plurality of subsystems provided with a control unit. The control unit includes a storage unit storing steer angle information regarding a steer angle of one of a steering mechanism and a steered mechanism when the steering mechanism or the steered mechanism stops, an abnormality determiner determining abnormality of the motor rotation detection value and the detection circuit in the plurality of subsystems at a start time of a motor based on a comparison of at least two parameters, and a steer angle calculator calculating the steer angle based on the parameters having been determined by the abnormality determiner as not abnormal.

The description relates to a method for controlling a servo drive of a steering system of a vehicle, comprising the step of: failure of the feedback comprising the step of: monitoring the control of the servo drive.