Steering apparatus for vehicles

A steering apparatus for vehicles that comprises at least a torsion bar having an arbitrary spring constant, a sensor for detecting a torsional angle of said torsion bar, and a sensor for detecting a steering angle of a steering wheel, drives and controls a motor, and assists and controls a steering system, comprising:

• a torsional angle control section that calculates a motor current command value to make said torsional angle follow a target torsional angle;
• wherein said torsional angle control section comprises
• a steering angle disturbance compensating section that calculates a first compensation motor current command value by performing filter processing to said detected steering angle,
• a torsional angle feedback compensating section that calculates a target torsional angular velocity by a deviation between said target torsional angle and said torsional angle,
• a torsional angular velocity calculating section that calculates a torsional angular velocity by said torsional angle, and
• a velocity control section that calculates a basic motor current command value based on said target torsional angular velocity and said torsional angular velocity, and
• said torsional angle control section calculates said motor current command value by compensating said basic motor current command value by said first compensation motor current command value;
• and
• wherein said steering apparatus for vehicles drives and controls said motor based on said motor current command value.