Electric power steering device

An electric power steering apparatus for determining a basic assisting current value with an assistance controller based on a steering torque value which is detected by a steering torque sensor depending on operation of a steering wheel, determining an inertia current value with an inertia controller based on a differential value of the steering torque value, determining a damper current value with a damper controller based on a rotational speed of a motor, and controlling the motor based on an assisting current value that is calculated from the basic assisting current value, the inertia current value, and the damper current value, the electric power steering apparatus comprising:

• hardware processor circuitry, comprising:
• a friction controller determining a friction torque value;
• and
• a first friction generator generating a corrected steering torque value by correcting the steering torque value with the friction torque value;
• wherein among the assistance controller, the inertia controller, and the damper controller, only the assistance controller determines the basic assisting current value based on the corrected steering torque value.