Electric power steering apparatus

An electric power steering apparatus that drives a motor based on a current command value, and performs assist control and steering angle control to a steering system by driving and controlling said motor, comprising:

• a steering angle control section that calculates a steering angle control current command value for said steering angle control based on at least a steering angle command value and an actual steering angle;
• wherein said steering angle control section comprises
• a position control section that calculates a basic steering angular velocity command value based on said steering angle command value and said actual steering angle,
• a steering intervention compensating section that obtains a compensatory steering angular velocity command value for steering intervention compensation depending on a steering torque, and
• a steering angular velocity control section that calculates said steering angle control current command value based on a steering angular velocity command value calculated by using said basic steering angular velocity command value and said compensatory steering angular velocity command value and an actual steering angular velocity;
• wherein said steering intervention compensating section comprises a compensation gain section that multiplies said steering torque by a steering intervention compensation gain, and said steering intervention compensating section obtains said compensatory steering angular velocity command value by said steering torque through said compensation gain section;
• and
• wherein said electric power steering apparatus calculates said current command value using at least said steering angle control current command value.