Motor control device

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

• a first assist torque command value setting unit that sets a first assist torque command value using steering torque;
• a manual steering command value generation unit that generates a manual steering command value using the steering torque and the first 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 second assist torque command value setting unit that sets a second assist torque command value using the steering torque;
• an angle control unit that calculates a first integrated torque command value according to the integrated angle command value;
• a subtraction unit that calculates a second integrated torque command value by subtracting the second assist torque command value from the first integrated torque command value;
• a guard processing unit that calculates a third integrated torque command value by performing a guard process on the second integrated torque command value;
• an addition unit that calculates a fourth integrated torque command value by adding the second assist torque command value to the third integrated torque command value;
• and
• a control unit that controls the electric motor based on the fourth integrated torque command value or the second assist torque command value.

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

• a first assist torque command value setting unit that sets a first assist torque command value using steering torque;
• a manual steering command value generation unit that generates a manual steering command value using the steering torque and the first 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;
• an angle control unit that calculates a first integrated torque command value according to the integrated angle command value;
• a subtraction unit that calculates a fifth integrated torque command value by subtracting the first assist torque command value from the first integrated torque command value;
• a guard processing unit that calculates a sixth integrated torque command value by performing a guard process on the fifth integrated torque command value;
• an addition unit that calculates a seventh integrated torque command value by adding the first assist torque command value to the sixth integrated torque command value;
• and
• a control unit that controls the electric motor based on the seventh integrated torque command value.