Turning control device

A turning control device for controlling a turning motor that generates a turning force for turning wheels of a vehicle, the turning control device calculates a target angle of a rotary member rotating along with an operation of the turning wheels based on a steering state of a steering wheel and calculates a turning torque command value for the turning motor by performing feedback control such that an actual angle of the rotary member conforms to the target angle, the turning control device comprising:

• a first processor configured to calculate a torque command value based on a difference between the target angle and the actual angle;
• a second processor is a damping controller that outputs a compensation value for the torque command value;
• a third processor configured to perform a limitation process to limit a variation range of the torque command value based on a limit value of the torque command value and to limit a variation range of the compensation value based on a limit value of the compensation value;
• and
• a fourth processor configured to calculate the turning torque command value using the torque command value after the limitation process is performed and the compensation value after the limitation process is performed,
• wherein the turning torque command value from the fourth processor is sent to the turning motor to generate the turning force to turn the wheels of the vehicle, and
• wherein the third processor is configured to individually increase the limit value of the torque command value and the limit value of the compensation value based on a traveling state of the vehicle.