Motor control device

A motor control device that controls drive of an electric motor for steering angle control, the motor control device comprising:

• an assist torque command value setting unit that calculates an assist torque command value using steering torque;
• a manual steering command value calculation unit that calculates a manual steering command value using the steering torque and the assist torque command value;
• an integrated angle command value calculation unit that calculates an integrated angle command value by adding the manual steering command value to an automatic steering command value;
• a control unit that performs angle control on the electric motor based on the integrated angle command value;
• a dead zone processing unit that, assuming that the steering torque input to the manual steering command value calculation unit, the assist torque command value input to the manual steering command value calculation unit, and the steering torque input to the assist torque command value setting unit are input torques, is provided for at least one of the input torques;
• and
• an alert vibration application unit that applies alert vibration torque as a component of a motor torque command value of the electric motor, wherein
• the manual steering command value calculation unit is configured to use road information including information on a road reaction torque to calculate the manual steering command value when a first condition that the at least one of the input torques for which the dead zone processing unit is provided is outside a dead zone range is satisfied, and not to use the road information to calculate the manual steering command value when the first condition is not satisfied, and
• when the alert vibration torque is being applied, the manual steering command value calculation unit uses the road information to calculate the manual steering command value for a predetermined period from a time when a state in which the first condition is satisfied changes to a state in which the first condition is not satisfied.