| 摘要 |
[Problem] To achieve enhanced on-center feel so as to reduce an odd feel of stationary friction around on-center while improving vehicle response (motion on the speed-reduction mechanism side) by increasing steering assist current mainly in a torque region in which steering torque is not more than a stationary friction torque of a speed-reduction mechanism. [Solution] According to the present invention, an electric power steering device that drivingly controls a motor (20) providing a steering mechanism with steering assist force with a current command value (Iref) computed on the basis of at least steering torque (Th) is provided with a stationary friction compensation unit (40) that computes a stationary friction compensation command value (SCC) for compensating for stationary friction of the steering mechanism on the basis of the steering torque (Th) and a vehicle speed (Vel), wherein the current command value (Iref) is corrected with the stationary friction compensation command value (SCC). |
