Patent ID: 8548684

Claim:
An electric power steering control apparatus comprising: steering torque detecting means for detecting a steering torque by an operator from a relative angle of a torsion bar; a torque controller that computes an auxiliary torque current for assisting the steering torque based on the detected steering torque signal; a motor that generates a torque for assisting the steering torque; current steering component removing means for removing a component by steering from a detection value or a command value of a current passed through the motor; vibration velocity estimating means for estimating a vibration velocity in a rotational direction of the motor; and a damping controller that computes a damping current to be added to the auxiliary torque current using an estimation value of the estimated motor vibration velocity, wherein the vibration velocity estimating means includes vibration acceleration computing means for computing vibration acceleration in the rotational direction of the motor by multiplication of a motor current output from the current steering component removing means, and rotational acceleration integrating means for computing the vibration velocity in the motor rotational direction by integrating an output of the vibration acceleration computing means.