Electric power steering apparatus

摘要

A driving control unit ( 21 b) of a controller ( 21 ) determines which of an input shaft ( 32 ) and an output shaft ( 33 ) in a steering shaft ( 3 ) is dynamically superior and when the output shaft ( 33 ) is dynamically superior to the input shaft ( 32 ), a motor ( 6 ) is driven so that torque resulting in a time integral value smaller than a time integral value of relative torque between the input shaft ( 32 ) and the output shaft ( 33 ) is generated in a backward assist direction.