| 摘要 |
PROBLEM TO BE SOLVED: To provide a steering device capable of suppressing variation of responsiveness of travel support control.SOLUTION: A steering device comprises a motor control device 10 for controlling drive of a motor 31 on the basis of an assist command value Ta*. The motor control device 10 comprises an angle command value calculation part 52 for calculating an angle command value &thetas;t1* on the basis of an input value Tin1 including steering torque Tg, and calculating an assist component Ta2* by executing angle feedback control for making a steering angle &thetas;t of the vehicle track the angle command value &thetas;t1*. The motor control device 10 calculates the assist command value Ta* with the assist component Ta2* as a foundation. The motor control device 10 calculates a corrected value Tac on the basis of deviation &Dgr;YR between a yaw rate YR and a yaw rate command value YR* of the vehicle. At the time, the input value Tin1 of the angle command value calculation part 52 is corrected on the basis of the corrected value Tac. |
