Brake apparatus, brake control method, and method for determining lock abnormality in motor

A brake control method for a brake apparatus including a pump configured to generate a brake hydraulic pressure for a braking force generator mounted at a wheel and configured to be rotationally driven by a motor, the brake control method comprising:

• issuing a drive instruction to repeat ON/OFF driving a plurality of times and drive the motor such that a rotational frequency of the motor corresponding to speed 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 whether there is a lock abnormality in the motor based on whether the terminal voltage that is detected by the carrying out of the terminal voltage detection is higher than a predetermined threshold value after a predetermined time period has elapsed since the ON/OFF driving is repeated the plurality of times and the motor is switched off by the issuing of the drive instruction,
• wherein the issuing of the drive instruction is performed prior to determining whether there is a lock abnormality by determining whether there is an electric abnormality in the motor.

A method for determining an abnormality in a motor, the method comprising:

• issuing a drive instruction to repeat ON/OFF driving a plurality of times and drive the motor such that a rotational frequency of the motor corresponding to speed 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 whether there is a lock abnormality in the motor based on whether the terminal voltage that is detected by the carrying out of the terminal voltage detection is higher than a predetermined threshold value after a predetermined time period has elapsed since the ON/OFF driving is repeated the plurality of times and the motor is switched off by the issuing of the drive instruction,
• wherein the issuing of the drive instruction is performed prior to being determined whether there is a lock abnormality by the determining of the electric abnormality in the motor.