Abstract: A terminal voltage detection circuit of a motor control device detects first detection values of a first terminal of a DC motor and second detection values of a second terminal of the DC motor. An inter-terminal voltage calculation unit calculates inter-terminal voltage calculation values from the first detection values and the second detection values. The inter-terminal voltage calculation unit outputs one of the calculation values having the smallest absolute value as an inter-terminal voltage selection value. A steering angle speed estimation unit estimates a steering angle speed based on the selection value and a motor current. A compensation control unit executes a compensation control based on the steering angle speed estimated by the steering angle speed estimation unit. Accordingly, robustness of the compensation control is improved and excess assist is restricted.

Abstract: A terminal voltage detection circuit of a motor control device detects first detection values of a first terminal of a DC motor and second detection values of a second terminal of the DC motor. An inter-terminal voltage calculation unit calculates inter-terminal voltage calculation values from the first detection values and the second detection values. The inter-terminal voltage calculation unit outputs one of the calculation values having the smallest absolute value as an inter-terminal voltage selection value. A steering angle speed estimation unit estimates a steering angle speed based on the selection value and a motor current. A compensation control unit executes a compensation control based on the steering angle speed estimated by the steering angle speed estimation unit. Accordingly, robustness of the compensation control is improved and excess assist is restricted.