JP5831060B2 - Motor control device and vehicle steering device - Google Patents

Description

  The present invention relates to a motor control device and a vehicle steering device.

  Conventionally, by turning on either one of the switching elements on the upper stage (power supply side) or the switching element on the lower stage side (ground side) in the switching arm of each phase constituting the drive circuit, the motor is Regenerative control that applies a braking force to the rotation of the motor is known. For example, in a vehicle steering apparatus equipped with a motor that drives the components of the steering system, such as an electric power steering apparatus, disturbances (such as when traveling on rough roads and curbstones) that act on the steering system by executing the regeneration control. The structure which suppresses the time of a collision etc. is proposed (for example, refer patent document 1).

  By the way, many motor control apparatuses execute the motor control by executing a well-known PWM control using a triangular wave as a carrier wave. Also, a current sensor for detecting each phase current value of the motor is known to be provided on the low potential side (ground side) of each switching arm. And each phase current value of a motor is detected based on the output value of each current sensor periodically acquired at the timing based on the triangular wave.

  For example, as shown in FIG. 5, when the reference signal (DUTY instruction value Sd) of each phase is above the triangular wave δ, the upper switching element in each phase switching arm is turned on and the lower switching is performed. The element is turned off. When the DUTY instruction value Sd is below the triangular wave δ, the lower switching element in each switching arm is turned on and the upper switching element is turned off.

  Further, the output value of each current sensor is periodically acquired at a timing Ta when the triangular wave δ becomes a trough and a timing Tb when it becomes a peak. At timing Ta, all upper switching elements in each switching arm are turned on and all lower switching elements are turned off, so that the output value of each current sensor is detected as an offset current value Ix0. At the timing Tb, all lower switching elements in each switching arm are turned on and all upper switching elements are turned off, so that the output value of each current sensor is detected as the current value Ix1 before correction. . Each phase current value is detected by correcting the pre-correction current value Ix1 with the offset current value Ix0.

JP 2008-265605 A

However, in such a conventional current detection method, the current value of each phase cannot be detected when the regeneration control is executed.
For example, as shown in FIG. 6, when regenerative control is performed by turning off all of the upper switching elements and turning on all of the lower switching elements based on the triangular wave δ, at the timing Ta at which the triangular wave δ becomes a trough, All switching elements are turned off. Therefore, since the output value of each current sensor acquired at this timing Ta becomes a regenerative current value that is fed back to the power supply via the parasitic diode of each switching element, it cannot be used as the offset current value Ix0. Also, as shown in FIG. 7, when regenerative control is performed by turning off all of the lower switching elements and turning on all of the upper switching elements based on the triangular wave δ, the timing at which the triangular wave δ peaks. At Tb, all the upper switching elements are turned on and all the lower switching elements are turned off, so that the output value of each current sensor can be used as the offset current value Ix0. However, also in this case, all the switching elements are turned off at the timing Ta when the triangular wave δ becomes a valley. Therefore, since the output value of each current sensor acquired at this timing Ta becomes a regenerative current value that is fed back to the power supply via the parasitic diode of each switching element, it cannot be the pre-correction current value Ix1. And since the detection of each phase current value becomes impossible in this way, when performing regenerative control, monitoring of each phase current value, for example, abnormality detection based on the presence or absence of overcurrent, the sum of each phase current, etc. There was a problem that it was impossible.

  The present invention has been made in order to solve the above-described problems, and an object of the present invention is to provide a motor control device and a vehicle steering device that can detect each phase current value of a motor even when regenerative control is executed. Is to provide.

  In order to solve the above problem, the invention according to claim 1 is a control means for outputting a control signal by executing PWM control based on a carrier wave, and a plurality of switching elements that are turned on / off based on the control signal. The driving circuit comprises a switching arm formed by connecting a pair of switching elements in series, connected in parallel corresponding to each phase of the motor. A motor control is provided with a current sensor on either the potential side or the high potential side, and the control means includes current acquisition means for periodically acquiring the output value of each current sensor at a timing based on the carrier wave. The control means turns off all lower switching elements in each of the switching arms and controls the upper side based on the carrier wave. A first period for generating the control signal to turn on all the switching elements on the side, and the control signal to turn off all the switching elements on the lower stage based on the carrier wave while turning off all the switching elements on the upper stage And a regenerative control unit that alternately repeats a second period for generating the current and a regenerative time phase current detection unit that detects each phase current value of the motor based on an output value of each current sensor. .

  According to the above configuration, in the first cycle, the same regenerative braking action as in the conventional regenerative control in which all the upper switching elements are turned on is obtained, and in the second cycle, all the lower switching devices are turned on. Thus, the regenerative braking action similar to the conventional regenerative control is obtained. Also, at the same timing based on the triangular wave, all the switching elements on the upper stage are turned on and all the switching elements on the lower stage are turned off in the first period, and all the switching elements on the lower stage are turned on and on the upper stage in the second period. All the switching elements are turned off. Therefore, the motor control means according to claim 1 is provided such that each current sensor acquired at a timing when all the upper-side switching elements are turned on in the first period when each current sensor is provided on the low potential side of the switching arm. The current value of each phase of the motor is detected by correcting the output value of each current sensor acquired at the timing when all of the lower-stage switching elements are turned on in the second cycle, with the output value of Can do. When each current sensor is provided on the high potential side of the switching arm, the motor control means according to claim 1 outputs the output of each current sensor acquired at a timing when all the lower-stage switching elements are turned on in the second period. Each phase current value of the motor can be detected by correcting the output value of each current sensor acquired at the timing when all the upper switching elements are turned on in the first period, using the value as the offset current value. . Therefore, the motor control means according to the first aspect of the present invention is based on the output value of each current sensor acquired in the first cycle and the second cycle without adding new parts, and the motor control unit at the time of executing the regeneration control. Each phase current value can be detected. As a result, even when regeneration control is being executed, it is possible to execute abnormality detection based on each phase current value, thereby ensuring high reliability.

Further, in the invention described in claim 1, wherein the control means, based on the output value of each current sensor first period and the second period and switches all the switching elements is obtained at the timing when turned off And a regenerative current detecting means for detecting a regenerative current value fed back to the power supply via the parasitic diode of each switching element .

  At the timing of switching between the first period and the second period, all the switching elements on the upper stage side and the lower stage side are turned off. Therefore, based on the output value of each current sensor acquired at this timing, the regenerative current value that is fed back to the power supply via the parasitic diode of each switching element can be detected. Then, by detecting the occurrence of overcurrent based on the regenerative current value, it is possible to prevent overheating of the power supply system (for example, overheating of a coil, a battery, etc.) caused by the execution of regenerative control. As a result, higher reliability can be ensured.

The invention according to claim 2 includes a motor that is controlled by the motor control device to drive a component of the steering system, and the control means includes a disturbance detection means that detects a disturbance acting on the steering system. The gist is to execute the regenerative control when a disturbance is detected by the disturbance detecting means.

  According to the above configuration, the braking force can be applied to the steering system by executing the regeneration control. Thereby, for example, it is possible to obtain an effect such as suppressing the influence of disturbance acting on the steering system. Even during the execution of the regeneration control, it is possible to detect each phase current value of the motor and to detect an abnormality based on each phase current value. As a result, better steering feeling and high reliability can be ensured.

  ADVANTAGE OF THE INVENTION According to this invention, the motor control apparatus and vehicle steering device which can detect each phase current value of a motor also at the time of execution of regeneration control can be provided.

1 is a schematic configuration diagram of a vehicle steering apparatus to which the present invention is applied. 1 is a block diagram showing an electrical configuration of a vehicle steering apparatus to which the present invention is applied. The flowchart which shows the switch determination process of motor control and electric current detection. The timing chart which shows the aspect of the regeneration control of this invention, and the electric current detection at the time of regeneration. The timing chart which shows the aspect of PWM control and electric current detection. The timing chart which shows the aspect of the conventional regeneration control. The timing chart which shows the aspect of the conventional regeneration control.

DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, an embodiment of the invention will be described with reference to the drawings.
As shown in FIG. 1, in the vehicle steering apparatus 1, a steering shaft 3 to which a steering 2 is fixed is connected to a rack shaft 5 via a rack and pinion mechanism 4. The steering shaft 3 has a known configuration including a column shaft 3a, an intermediate shaft 3b, and a pinion shaft 3c. Then, the rotation of the steering shaft 3 is converted into the axial movement of the rack shaft 5 and transmitted to the knuckle (not shown) via the tie rods 6 connected to both ends of the rack shaft 5, whereby the steering angle of the steered wheels 7 is increased. Be changed.

  Further, the vehicle steering apparatus 1 is configured as an electric power steering apparatus (EPS) including an EPS actuator 10 that applies assist force to a steering system by driving a motor and an ECU 11 that controls the operation of the EPS actuator 10. .

  Specifically, the EPS actuator 10 includes a motor 12 that is a drive source, and a speed reduction mechanism 13 that decelerates the rotation of the motor 12 and transmits it to the column shaft 3a. In addition, a torque sensor 14 and a vehicle speed sensor 15 are connected to the ECU 11. The ECU 11 controls the operation of the EPS actuator 10 based on the steering torque τ and the vehicle speed V detected by these sensors (power assist control).

  As shown in FIG. 2, the ECU 11 includes a microcomputer 17 as a control unit that outputs a control signal, and a drive circuit 18 that supplies three-phase drive power to the motor 12 based on the control signal output from the microcomputer 17. ing.

  More specifically, the microcomputer 17 determines an assist force (target assist force) to be applied to the steering system based on the steering torque τ and the vehicle speed V. Then, the microcomputer 17 outputs a control signal to the drive circuit 18 so that the motor 12 generates a motor torque corresponding to the target assist force.

  The motor 12 employs a brushless motor that rotates based on three-phase (U, V, W) driving power. The drive circuit 18 is formed by connecting a plurality of FETs 18a to 18f that are turned on / off based on a control signal.

  Specifically, the drive circuit 18 is formed by connecting three sets of switching arms 19u, 19v, 19w in parallel. The switching arm 19u is configured by connecting FETs 18a and 18d as a pair of switching elements in series at a connection point 20u. The connection point 20u is connected to the U-phase motor coil 12u of the motor 12 through the power line 21u. Similarly, the switching arm 19v is configured by connecting FETs 18b and 18e as a pair of switching elements in series at a connection point 20v, and the connection point 20v is connected to the V-phase motor coil 12v of the motor 12 via a power line 21v. It is connected to the. The switching arm 19w is configured by connecting FETs 18c and 18f as a pair of switching elements in series at a connection point 20w, and the connection point 20w is connected to the W-phase motor coil 12w of the motor 12 via a power line 21w. It is connected.

  Hereinafter, for convenience of explanation, the FETs 18a to 18c on the power supply Vb side (high potential side: upper side in the figure) in each switching arm 19u, 19v, 19w are referred to as “upper stage side” and the ground terminal Gnd side ( Each of the FETs 18d to 18f on the low potential side (lower side in the figure) is defined as the “lower stage side”.

  Further, well-known current sensors 22u, 22v, and 22w using shunt resistors are provided on the low potential sides of the switching arms 19u, 19v, and 19w, respectively. The microcomputer 17 detects the phase current values Iu, Iv, Iw of the motor 12 based on the output values of the current sensors 22u, 22v, 22w.

  More specifically, the microcomputer 17 detects the motor rotation angle θ based on the output signal of the rotation angle sensor 23. The microcomputer 17 outputs a control signal corresponding to the motor rotation angle θ by executing known PWM control using a triangular wave δ as shown in FIG. 5 as a carrier wave.

  Further, the microcomputer 17 as current acquisition means periodically acquires the output values of the current sensors 22u, 22v, 22w at the timing Ta when the triangular wave δ becomes a trough and the timing Tb when it becomes a peak. The microcomputer 17 uses the output values of the current sensors 22u, 22v, and 22w acquired at the timing Ta when the triangular wave δ becomes the valley as the offset current value, and each current sensor acquired at the timing Tb when the triangular wave δ becomes the peak. The phase current values Iu, Iv, and Iw are detected by correcting the output values of 22u, 22v, and 22w.

  The microcomputer 17 executes current feedback control so as to generate a motor torque corresponding to the target assist force based on the phase current values Iu, Iv, Iw and the motor rotation angle θ detected in this way. Then, the PWM control is executed based on the DUTY instruction value Sd of each phase obtained as a result.

  Further, the microcomputer 17 executes abnormality detection based on monitoring of the detected phase current values Iu, Iv, and Iw. Specifically, the microcomputer 17 as the abnormality detection means determines the presence or absence of overcurrent based on the phase current values Iu, Iv, and Iw. Further, it is determined whether or not the sum of the phase current values Iu, Iv, and Iw is a value corresponding to “0”. If an overcurrent is detected in any of the phase current values Iu, Iv, Iw, for example, there is a possibility that a short circuit failure (so-called arm short circuit) has occurred in each switching arm 19u, 19v, 19w. If the sum of the phase current values Iu, Iv, and Iw is not a value corresponding to “0”, for example, there is a possibility that an abnormality has occurred in each of the current sensors 22u, 22v, and 22w. When such an abnormality is detected, the microcomputer 17 outputs a control signal to the drive circuit 18 (fail-safe control) in order to quickly stop the power supply to the motor 12.

(Regeneration control and current detection during regeneration)
Next, regenerative control executed by the microcomputer 17 and current detection modes during regenerative control will be described.

  Further, the microcomputer 17 detects a disturbance acting on the steering system, more specifically, for example, application of shocking reverse input stress to the steered wheels 7 such as a curb collision. And the microcomputer 17 as a disturbance detection means will switch the aspect of the motor control to regenerative control, when application of such reverse input stress is detected.

  More specifically, as shown in the flowchart of FIG. 3, the microcomputer 17 determines whether or not the absolute value of the motor rotation angular velocity ω is equal to or less than a predetermined threshold value ω0 (step 101). The motor rotation angular velocity ω is detected based on the output signal of the rotation angle sensor 23, similarly to the motor rotation angle θ. The threshold value ω0 is set to a value corresponding to the absolute value of the motor rotational angular velocity ω that is generated when reverse input stress is applied. Then, when the absolute value of the motor rotation angular velocity ω is equal to or smaller than the threshold ω0 (step 101: YES), the microcomputer 17 executes normal current detection and normal motor control as shown in FIG. Step 102).

  On the other hand, if the absolute value of the motor rotational angular velocity ω exceeds the threshold value ω0 in step 101 (step 101: NO), the microcomputer 17 determines that application of reverse input stress to the steered wheels 7 has occurred. Perform regenerative control. Then, in accordance with the change of the control mode, the mode of current detection is changed (step 103).

  More specifically, as shown in FIG. 4, the microcomputer 17 as the regeneration control means generates a switching signal Sr whose signal level (Hi / Lo) is inverted corresponding to one cycle of the triangular wave δ. Then, based on the switching signal Sr, the first period C1 for turning on all the upper FETs 18a to 18c in the switching arms 19u, 19v, and 19w of the drive circuit 18 and all the lower FETs 18d to 18f are all set. The second cycle C2 to be turned on is repeated alternately.

  Specifically, the microcomputer 17 turns off all the lower FETs 18d to 18f in the first cycle C1 (switching signal Sr = “Hi”), and the DUTY instruction value Sd is above the triangular wave δ. A control signal for turning on all the upper FETs 18a to 18c is output. In the second cycle C2 (switching signal Sr = “Lo”), all the upper FETs 18a to 18c are turned off, and when the DUTY instruction value Sd is above the triangular wave δ, each lower FET 18d to A control signal that turns on all of 18f is output.

  Here, at the time of executing such regenerative control, the microcomputer 17 outputs the output values of the current sensors 22u, 22v, and 22w acquired at the timing when the upper FETs 18a to 18c are all turned on in the first cycle C1. The offset current value is Ix0. Further, the microcomputer 17 sets the output value of each of the current sensors 22u, 22v, and 22w acquired at the timing when all the lower FETs 18d to 18f are turned on in the second period C2 as the pre-correction current value Ix1. Then, the microcomputer 17 serving as the regenerative time phase current detection means determines the first cycle C1 in the second cycle C2 based on the offset current value Ix0 acquired at the timing Tb when the triangular wave δ peaks in the first cycle C1. Each phase current value Iu, Iv, Iw is detected by correcting the uncorrected current value Ix1 acquired at the timing Tb when the same triangular wave δ becomes a peak.

  Further, the microcomputer 17 as the regenerative current detecting means outputs the output values of the current sensors 22u, 22v, and 22w acquired at the timing Ta when the triangular wave δ becomes a trough, that is, at the timing when the first cycle C1 and the second cycle C2 are switched. Based on the above, the regenerative current value Irg fed back to the power supply Vb is detected via the parasitic diode D of each of the FETs 18a to 18f. Further, the microcomputer 17 as the abnormality detecting means detects the occurrence of overcurrent based on the detected regenerative current value Irg. And when generation | occurrence | production of overcurrent is detected, the microcomputer 17 stops the regenerative control, and transfers to normal motor control.

  If there is no abnormality in the detected regenerative current value Irg, the microcomputer 17 continues such regenerative control and regenerative current detection for a predetermined time set in advance. During this time, the microcomputer 17 determines the DUTY so that the total on-time t0 of the upper FETs 18a to 18c (first cycle C1) or the lower FETs 18d to 18f (second cycle C2) gradually decreases. The instruction value Sd is changed. Then, after the predetermined time has elapsed, the microcomputer 17 again executes the motor control and current detection switching determination process based on the detection of the reverse input stress as shown in the flowchart of FIG.

(Function)
Next, the operation of the ECU 11 as the motor control device configured as described above will be described.

  When the regenerative control is executed by the ECU 11, the first FETs 18d to 18f on the lower side are all turned off and the upper FETs 18a to 18c are all turned on based on the triangular wave δ, and the upper FETs 18a to 18c are turned on. The second cycle C2 in which all the FETs 18d to 18f on the lower stage side are all turned on is repeated based on the triangular wave δ.

  Thereby, in the 1st period C1, the regenerative braking action similar to the conventional regenerative control (refer to Drawing 6) which turns on each FET18a-18c of the upper stage side is obtained, and in the 2nd period C2, the lower stage side is obtained. A regenerative braking action similar to the conventional regenerative control (see FIG. 7) in which all the FETs 18d to 18f are turned on is obtained.

  Further, in the first period C1, at the timing Tb when the triangular wave δ becomes a peak, all the upper FETs 18a to 18c are turned on and all the lower FETs 18d to 18f are turned off. On the other hand, in the second cycle C2, the upper FETs 18a to 18c are all turned off and the lower FETs 18d to 18f are all turned off at the same timing Tb when the triangular wave δ peaks. Accordingly, the output values of the current sensors 22u, 22v, and 22w acquired at the timing Tb respectively become the offset current value Ix0 in the first cycle C1, and the pre-correction current value Ix1 in the second cycle C2.

  Furthermore, at the timing Ta when the triangular wave δ becomes a valley, the first cycle C1 and the second cycle C2 are switched, and the upper FETs 18a to 18c and the lower FETs 18d to 18f are all turned off. Accordingly, the output values of the current sensors 22u, 22v, and 22w acquired at the timing Tb correspond to the regenerative current value Irg that is fed back to the power supply Vb via the parasitic diode D of each of the FETs 18a to 18f.

As described above, according to the present embodiment, the following effects can be obtained.
(1) According to the above configuration, a regenerative braking action similar to the conventional regenerative control can be obtained. By executing the regenerative control, for example, the influence of disturbance such as application of reverse input stress to the steered wheels 7 can be suppressed, and good steering feeling can be ensured.

  Further, the offset current value Ix0 and the current value before correction necessary for detecting the phase current values Iu, Iv, Iw from the output values of the current sensors 22u, 22v, 22w periodically acquired at the timing based on the triangular wave δ. Ix1 can be obtained. Therefore, the phase current values Iu, Iv, and Iw can be detected even when regenerative control is executed without adding new parts.

  Furthermore, by performing abnormality detection based on the detected phase current values Iu, Iv, and Iw, it is possible to quickly shift to fail-safe control even during regeneration control. As a result, high reliability can be ensured.

  (2) In addition, by detecting the regenerative current value Irg and detecting the occurrence of overcurrent based on the regenerative current value Irg, overheating of a power supply system (for example, a battery, a coil, etc.) caused by the execution of regenerative control Can be prevented in advance. As a result, higher reliability can be ensured.

In addition, you may change the said embodiment as follows.
In the above embodiment, the present invention is embodied in the vehicle steering apparatus 1 configured as a column assist type electric power steering apparatus (EPS). However, the present invention is not limited to this, and the present invention may be applied to an EPS other than the column assist type, such as a rack assist type or a pinion assist type. Further, the present invention may be applied to a vehicle steering apparatus including a motor for driving a steering system component such as a transmission ratio variable device. And you may apply to the motor control apparatus used other than the steering apparatus for vehicles.

  In the above embodiment, the case where the switching signal Sr is “Hi” is the first cycle C1, and the case where the switching signal Sr is “Lo” is the second cycle C2, but the switching signal Sr is “Lo”. The case may be the first cycle C1, and the case where the switching signal Sr is “Hi” may be the second cycle C2.

  In the above embodiment, when the absolute value of the motor rotational angular velocity ω exceeds the predetermined threshold ω0, it is determined that the application of reverse input stress has occurred and the regenerative control is executed. However, the method of detecting the reverse input stress is not limited to this. In addition, the present invention may be applied when a disturbance other than reverse input stress occurs, and may also be applied to uses other than disturbance suppression.

  In the above embodiment, the regeneration control and regeneration current detection are continued for a predetermined time. However, the present invention is not limited to this. For example, the duration may be determined according to the absolute value of the motor rotational angular velocity ω used for detecting the reverse input stress. Further, the DUTY instruction value Sd may be fixed.

  In the above embodiment, when the occurrence of an overcurrent is detected based on the regenerative current value Irg, the regenerative control is stopped and the normal motor control is shifted. However, the drive circuit 18 and the motor 12 It is good also as a structure which interrupts | blocks the power lines 21u, 21v, and 21w which connect. With such a configuration, overheating of the power supply system can be more effectively suppressed.

  In the above embodiment, the present invention is embodied in a configuration in which the current sensors 22u, 22v, and 22w are provided on the low potential side of the switching arms 19u, 19v, and 19w, but the current sensors 22u, 22v, and 22w You may apply to the structure provided in the high electric potential side of the arms 19u, 19v, and 19w.

  Specifically, as in the above embodiment, as shown in FIG. 4, the microcomputer 17 turns on the first period C1 for turning on the upper FETs 18a to 18c and turning on the lower FETs 18d to 18f. It is assumed that the second cycle C2 is repeated alternately. In this case, the microcomputer 17 sets the output values of the current sensors 22u, 22v, and 22w acquired at the timing when all the lower FETs 18d to 18f are turned on in the second period C2 as the offset current value Ix0. Further, the microcomputer 17 sets the output value of each of the current sensors 22u, 22v, and 22w acquired at the timing when all the upper FETs 18a to 18c are turned on in the first period C1 as the pre-correction current value Ix1. The microcomputer 17 may be configured to detect the respective phase current values Iu, Iv, and Iw by correcting the pre-correction current value Ix1 with the offset current value Ix0.

Next, technical ideas that can be grasped from the above embodiments will be described together with effects.
(B) The gist of the present invention is that it includes an abnormality detection means for detecting an abnormality based on each phase current value.

(B) The gist of the present invention is to include an abnormality detection means for detecting an abnormality based on the regenerative current value.
(C) An electric power steering device that applies assist force to a steering system using a motor controlled by the motor control device as a drive source. Thereby, the regenerative braking action can be effectively utilized.

  DESCRIPTION OF SYMBOLS 1 ... Steering device for vehicles, 3 ... Steering shaft, 3a ... Column shaft, 10 ... EPS actuator, 11 ... ECU, 12 ... Motor, 12u, 12v, 12w ... Motor coil, 17 ... Microcomputer, 18 ... Drive circuit, 18a- 18f ... FET, D ... parasitic diode, 19u, 19v, 19w ... switching arm, 21u, 21v, 21w ... power line, 22u, 22v, 22w ... current sensor, .delta .... triangular wave, Ta, Tb ... timing, Sd ... DUTY instruction Value, t0 ... all on time, C1 ... first cycle, C2 ... second cycle, Sr ... switching signal, Iu, Iv, Iw ... phase current value, Ix0 ... offset current value, Ix1 ... current value before correction, Irg ... Regenerative current value, ω ... motor rotational angular velocity, ω0 ... threshold, Vb ... power source.

Claims (2)

Control means for outputting a control signal by executing PWM control based on a carrier wave;
A drive circuit including a plurality of switching elements that are turned on / off based on the control signal,
The drive circuit has a switching arm formed by connecting a pair of switching elements in series and connected in parallel corresponding to each phase of the motor,
A current sensor is provided on either the low potential side or the high potential side of each switching arm,
The control means is a motor control device including current acquisition means for periodically acquiring the output value of each current sensor at a timing based on the carrier wave,
The control means includes
The first period for generating the control signal that turns off all the lower switching elements in each switching arm and turns on all the upper switching elements based on the carrier wave, and turns off all the upper switching elements. And regenerative control means that alternately repeats a second period for generating the control signal that turns on all lower-stage switching elements based on the carrier wave,
Regenerative time phase current detecting means for detecting each phase current value of the motor based on the output value of each current sensor ;
The control means is based on the output value of each current sensor acquired at a timing when the first period and the second period are switched and all the switching elements are turned off, via the parasitic diode of each switching element. A motor control device comprising regenerative current detection means for detecting a regenerative current value that is fed back to a power source . A motor control device according to claim 1 ;
A motor controlled by the motor control device to drive the components of the steering system,
The control means includes
A disturbance detecting means for detecting a disturbance acting on the steering system;
Executing the regenerative control when a disturbance is detected by the disturbance detecting means;
A vehicle steering apparatus characterized by the above.

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