Patent attributes
The actuator control device includes an assist control circuit for calculating a first assist component and an automatic steering control circuit for calculating a second assist component. The automatic steering control circuit is allowed to calculate the second assist component while a steering torque is less than a first threshold value. The automatic steering control circuit calculates the second assist component by performing PID control that uses an integral term obtained on the basis of an angle deviation. When the steering torque is less than the first threshold value but not less than a second threshold value, the automatic steering control circuit limits the integral term in such a manner that it is harder for the integral term to increase while the steering torque is not less than the second threshold value than while the steering torque is less than the second threshold value.
