Electric power steering apparatus

An electric power steering apparatus that drives a motor based on a current command value, and performs an assist control and a steering angle control for a steering system by drive-controlling said motor, comprising:

• a steering angle control section that calculates a steering angle control current command value for said steering angle control based on at least a steering angle command value and an actual steering angle,
• wherein said steering angle control section comprises:
• a position control section to calculate a basic steering angular velocity command value based on said steering angle command value and said actual steering angle;
• a steering intervention compensating section to obtain a compensatory steering angular velocity command value for a steering intervention compensation depending on a steering torque;
• and
• a steering angular velocity control section to calculate said steering angle control current command value based on a steering angular velocity command value calculated from said basic steering angular velocity command value and said compensatory steering angular velocity command value, and an actual steering angular velocity,
• wherein said position control section comprises:
• a reference model section to convert said steering angle command value into a target steering angle using a reference model;
• a proportional gain section to calculate a first basic steering angular velocity command value by multiplying a deviation between said target steering angle and said actual steering angle with a proportional gain;
• and
• a filter section to convert said steering angle command value into a second basic steering angular velocity command value by using a feedforward filter (an FF filter),
• wherein said basic steering angular velocity command value is calculated by adding said second basic steering angular velocity command value to said first basic steering angular velocity command value,
• wherein said steering intervention compensating section comprises a compensating map section having a steering intervention compensating map that determines a characteristic of said compensatory steering angular velocity command value to said steering torque, and said steering intervention compensating section obtains said compensatory steering angular velocity command value by said steering torque through said compensating map section, and
• wherein said electric power steering apparatus calculates said current command value using at least said steering angle control current command value.