| 摘要 |
A motor is driven by the γ-axis current of a γδ coordinate system that is an imaginary rotating coordinate system. A command current value preparation unit sets the γ-axis command current value based on the command steering torque and the detected steering torque. The command current value preparation unit includes a command current increase/decrease amount calculation unit and an addition unit. The command current increase/decrease amount calculation unit calculates the current increase/decrease amount for the command current value based on the sign of the command steering torque and the deviation of the detected steering torque from the command steering torque. The current increase/decrease amount calculated by the command current increase/decrease amount calculation unit is added to the immediately preceding value of the command current value by the addition unit. Thus, the command current value in the present calculation cycle is calculated. |
