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|1. (WO2016088705) ELECTRIC POWER STEERING DEVICE|
|Title:||ELECTRIC POWER STEERING DEVICE|
[Problem] To provide an electric power steering device which is capable of switching control in a smooth and self-steerless manner by gradually changing the command values of the control torque for torque control and of position/velocity control during a fade process. [Solution] An electric power steering device having a torque sensor that detects the steering torque and having a motor control device that controls a motor which applies assist torque, which assists steering, to a steering system of a vehicle, wherein: the electric power steering device is equipped with a function with which a control method for the motor is switched, in accordance with a prescribed switching trigger, between a torque control method in which the motor output torque is controlled and a position/velocity control method in which the steering angle is controlled; and the fade process of a transition from the position/velocity control method to the torque control method or of the reverse transition is varied in response to the steering torque.