Steering control device

A steering control device comprising:

• processing circuitry that executes processes that control driving of a motor using an input from outside to operate a steering mechanism such that a steerable wheel steers a vehicle, the motor being a generation source of force applied to the steering mechanism, the input including a steering torque that is input by a driver and a driving support command value that is used to support driving by the driver, the processing circuitry executing:
• a support command value input process that sets the driving support command value as a correction amount of an angle as an input;
• a torque control process including:
• a torque feedback control process that calculates a feedback torque component corresponding to an operation amount used to execute a feedback control for the steering torque so that the steering torque follows a torque command value corresponding to a target value of the steering torque to be input by the driver, and
• a torque command value calculation process that calculates the torque command value using a sum of the feedback torque component and the steering torque, and a value corresponding to the feedback torque component is output;
• and
• a steerable angle control process including:
• an angle command value calculation process that calculates, using the outputted value corresponding to the feedback torque component, an angle command value corresponding to a target value of a rotation angle of a rotary shaft convertible into a steerable angle of the steerable wheel,
• an angle feedback control process that calculates an operation amount used to execute a feedback control for the rotation angle so that the rotation angle follows the angle command value, and
• a control signal generation process that includes calculating an assist command value corresponding to an assist force to be generated by the motor using only the calculated operation amount by the angle feedback control process, and generating the motor control signal using the assist command value, the motor control signal being necessary for driving the motor,
• wherein the correction amount of the angle is used by the steerable angle control process.