Motor control device

A motor control device comprising:

• a torque detector that is arranged to detect a steering torque;
• a steering angle detector that is arranged to detect an actual steering angle;
• an automatic steering controller that sets an automatic steering control amount;
• an assist controller that sets an assist control amount using the steering torque;
• an integrated control amount calculating portion that calculates an integrated control amount by adding the automatic steering control amount and the assist control amount;
• and
• a controller that controls, based on the integrated control amount, an electric motor for steering angle control;
• and
• wherein the motor control device further comprises:
• an actual automatic steering angle calculating portion that calculates, based on at least one of either of the steering torque and the assist control amount and on the actual steering angle, an actual automatic steering angle that is a steering angle due to automatic steering control and included in the actual steering angle;
• and
• the automatic steering controller
• sets the automatic steering control amount using a target automatic steering angle and the actual automatic steering angle.