Electric power steering apparatus

An electric power steering apparatus that assists and controls a steering system by driving a motor based on a current command value calculated based on a steering torque and a vehicle speed, comprising:

• a self-aligning torque (SAT) compensation value calculating section that calculates a SAT compensation value based on a SAT value;
• and
• a steering reaction compensation value calculating section that calculates a steering reaction compensation value based on said SAT compensation value, a steering angle and a steering angular velocity,
• wherein said steering reaction compensation value calculating section comprises a virtual spring constant gain section that inputs said steering angle and calculates a spring component compensation value, a virtual damper constant gain section that inputs said steering angular velocity and calculates a damper component compensation value, an adding section that calculates a spring-damper component compensation value by adding said spring component compensation value and said damper component compensation value, and a subtracting section that calculates said steering reaction compensation value by subtracting said spring-damper component compensation value from said SAT compensation value and
• wherein said electric power steering apparatus corrects said current command value by said steering reaction compensation value from said steering reaction compensation value calculating section.