| 摘要 |
The rotational angle correction controller (40) includes a second correction amount-computing part (42) that computes a second correction amount µ2 for correcting the rotational angle ¸ such that the phase is shifted in the steering operation direction, and the rotational angle correction controller (40) performs the rotational angle correction by adding the computed second correction amount µ2 to the rotational angle ¸. Further, the rotational angle correction controller includes a stuck steering wheel determining part (45) that detects the significant reduction in the follow-up performance of the motor (12) with respect to the steering operation that occurs due to the existence of the deceleration section caused by execution of the above-described electric current restriction, that is, the occurrence of the stuck steering wheel. When the occurrence of the stuck steering wheel is detected, the second correction amount-computing part (42) changes the second correction amount µ2 to a value (µ2') larger than the normal value. |
