Electric power steering apparatus

An electric power steering apparatus comprising:

• an assist mechanism for applying assist force of a motor to a steering mechanism of a vehicle, and
• a control unit for controlling drive of the motor on the basis of an assist command value,
• wherein the control unit has:
• a basic assist component calculating unit for calculating a first assist component on the basis of steering torque applied to the steering mechanism;
• a turning angle command value calculating unit for calculating a turning angle command value on the basis of an ideal model obtained by modeling an ideal turning angle of a steerable wheel corresponding to input information including steering torque applied to the steering mechanism;
• a turning angle feedback control unit for calculating a second assist component by execution of turning angle feedback control for matching a turning angle of the steerable wheel with the turning angle command value;
• and
• an assist command value calculating unit for calculating the assist command value based on a value obtained by adding the second assist component to the first assist component,
• wherein when a deviation between the turning angle of the steerable wheel and the turning angle command value is out of an allowable range, the control unit removes the second assist component from the assist command value and changes the ideal model to enhance convergence in the turning angle feedback control system.