Patent ID: 8897965

Claim:
An electric power steering apparatus comprising a steering force assisting device and a control unit, wherein the steering force assisting device comprises a motor as a drive source and applies assist force to a steering system, the control unit sets a basic component of the assist force based on steering torque transmitted to a steering shaft, the control unit increases/decreases a compensation component based on a change rate of the basic component relative to a change in the steering torque, and calculates a first assist component based on a value obtained by adding the compensation component to the basic component, the control unit calculates a rotation angle instruction value of a rotation shaft that can be converted into a turning angle of a turning wheel based on the steering torque and the first assist component, the control unit executes a rotation angle feedback control based on the rotation angle instruction value to calculate a second assist component, and the control unit controls an actuation of the steering force assisting device based on an assist instruction value that is on a basis of a value obtained by adding the second assist component to the first assist component.