Motor control device

1. A motor control device comprising:

a torque detector that is arranged to detect a steering torque;

a steering angle detector that is arranged to detect an actual steering angle;

an automatic steering controller that sets an automatic steering control amount;

an assist controller that sets an assist control amount using the steering torque;

an integrated control amount calculating portion that calculates an integrated control amount by adding the automatic steering control amount and the assist control amount; and

a controller that controls, based on the integrated control amount, an electric motor for steering angle control; and

wherein the motor control device further comprises: an actual automatic steering angle calculating portion that calculates, based on at least one of either of the steering torque and the assist control amount and on the actual steering angle, an actual automatic steering angle that is a steering angle due to automatic steering control and included in the actual steering angle; and

the automatic steering controller

sets the automatic steering control amount using a target automatic steering angle and the actual automatic steering angle.

2. The motor control device according to claim 1 , wherein the actual automatic steering angle calculating portion includes

an actual manual steering angle calculating portion that calculates, based on at least one of either of the steering torque and the assist control amount, an actual manual steering angle that is a steering angle due to manual steering and assist control and included in the actual steering angle and

a subtractor that calculates the actual automatic steering angle by subtracting the actual manual steering angle from the actual steering angle.

3. The motor control device according to claim 2 , wherein the actual manual steering angle calculating portion is arranged to calculate the actual manual steering angle using a reference model of a steering system that includes the electric motor.

4. The motor control device according to claim 2 , further comprising: a third weighting portion that performs, in accordance with predetermined third information, a weighting process on the assist control amount set by the assist controller; and

a fourth weighting portion that performs, in accordance with predetermined fourth information, a weighting process on the actual manual steering angle calculated by the actual manual steering angle calculating portion; and

wherein the subtractor is arranged to calculate the actual automatic steering angle by subtracting the actual manual steering angle after the weighting process by the fourth weighting portion from the actual steering angle, and

the integrated control amount calculating portion is arranged to calculate the integrated control amount by adding the automatic steering control amount and the assist control amount after the weighting process by the third weighting portion.

5. The motor control device according to claim 2 , further comprising: a seventh weighting portion that performs, in accordance with predetermined seventh information, a weighting process on the automatic steering control amount set by the automatic steering controller;

an eighth weighting portion that performs, in accordance with predetermined eighth information, a weighting process on the assist control amount set by the assist controller; and

a ninth weighting portion that performs, in accordance with predetermined ninth information, a weighting process on the actual manual steering angle calculated by the actual manual steering angle calculating portion; and

wherein the subtractor is arranged to calculate the actual automatic steering angle by subtracting the actual manual steering angle after the weighting process by the ninth weighting portion from the actual steering angle, and

the integrated control amount calculating portion is arranged to calculate the integrated control amount by adding the automatic steering control amount after the weighting process by the seventh weighting portion and the assist control amount after the weighting process by the eighth weighting portion.

6. The motor control device according to claim 1 , wherein the automatic steering controller includes

a disturbance torque estimator that uses the automatic steering control amount and the actual automatic steering angle to calculate an automatic disturbance torque estimate that is an estimate of a disturbance torque corresponding to automatic steering and included in a disturbance torque besides a motor torque acting on a driven object of the electric motor and an estimate of the actual automatic steering angle,

a target basic torque calculating portion that calculates a target basic torque using the target automatic steering angle and the estimate of the actual automatic steering angle, and

a disturbance torque compensator that corrects the target basic torque by the automatic disturbance torque estimate.

7. The motor control device according to claim 1 , wherein the automatic steering controller includes

a disturbance torque estimator that uses the automatic steering control amount and the actual automatic steering angle to calculate an automatic disturbance torque estimate that is an estimate of a disturbance torque corresponding to automatic steering and included in a disturbance torque besides a motor torque acting on a driven object of the electric motor,

a target basic torque calculating portion that calculates a target basic torque using the target automatic steering angle and the actual automatic steering angle, and

a disturbance torque compensator that corrects the target basic torque by the automatic disturbance torque estimate.

8. The motor control device according to claim 1 , further comprising: a first weighting portion that performs, in accordance with predetermined first information, a weighting process on the automatic steering control amount set by the automatic steering controller; and

wherein the integrated control amount calculating portion is arranged to calculate the integrated control amount by adding the automatic steering control amount after the weighting process by the first weighting portion and the assist control amount.

9. The motor control device according to claim 1 , further comprising: a second weighting portion that performs, in accordance with predetermined second information, a weighting process on the steering torque detected by the torque detector; and

wherein the assist controller is arranged to set the assist control amount using the steering torque after the weighting process by the second weighting portion,

the actual automatic steering angle calculating portion is arranged to calculate the actual automatic steering angle based on the steering torque after the weighting process by the second weighting portion, the assist control amount calculated by the assist controller, and the actual steering angle, and

the integrated control amount calculating portion is arranged to calculate the integrated control amount by adding the automatic steering control amount and the assist control amount calculated by the assist controller.

10. The motor control device according to claim 1 , further comprising: a fifth weighting portion that performs, in accordance with predetermined fifth information, a weighting process on the automatic steering control amount set by the automatic steering controller; and

a sixth weighting portion that performs, in accordance with predetermined sixth information, a weighting process on the steering torque detected by the torque detector; and

wherein the assist controller is arranged to set the assist control amount using the steering torque after the weighting process by the sixth weighting portion,

the actual automatic steering angle calculating portion is arranged to calculate the actual automatic steering angle based on the steering torque after the weighting process by the sixth weighting portion, the assist control amount calculated by the assist controller, and the actual steering angle, and

the integrated control amount calculating portion is arranged to calculate the integrated control amount by adding the automatic steering control amount after the weighting process by the fifth weighting portion and the assist control amount calculated by the assist controller.