JP2005088719A - Vehicle steering control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To secure a high control accuracy of each drive and electric motor by correcting a control error due to a meshing error such as a gear.
A second control circuit is electrically driven based on a steering reaction force target value from a target value determination circuit and an actual turning angle value of an actual turning angle sensor reflecting a control result of the first control circuit. A second rotation angle target value determination circuit 44 for calculating a rotation angle target value of the motor 26, and a current target of the electric motor based on the rotation angle target value output from the circuit and the actual turning angle value of the actual steering angle sensor. A control current to the electric motor is calculated based on the second rotation angle control circuit 45 for determining the value, the current target value and the current detection value of the drive motor 13, and the current output stage drive command is sent to the electric motor. And a second current control circuit 46 for outputting a signal.
[Selection] Figure 3

Description

  The present invention relates to a steering control device for a vehicle, and for example, relates to a steering control device for a steer-by-wire type vehicle in which a steering wheel and a front wheel steering drive mechanism are separated.

  As a conventional vehicle steering control device, for example, one described in Patent Document 1 below is known.

  In this vehicle steering control device, the steering wheel and the left and right steered wheels are directly connected via a steering shaft and a rack and pinion gear. For this reason, it has been impossible to give a turning angle different from the rotation of the steering wheel by giving a rotational phase difference between the steering wheel and the turning wheel. That is, for example, when entering the garage, the turning amount of the steered wheels is increased with respect to the turning operation of the steering wheel, or when turning the vehicle, the turning angle of the steered wheels is set regardless of the turning operation of the steering wheel. Control such as avoiding danger by controlling is not possible.

  Therefore, a steering control device is also provided that gives a degree of freedom in the output of the output shaft on the steered wheel side with respect to the input shaft on the steering wheel side.

This is because a planetary gear mechanism is interposed between the input shaft and the output shaft, and the phase difference between the input shaft and the output shaft is adjusted by controlling the reduction ratio of the input shaft by the planetary gear mechanism. It has become.
Japanese Patent Laid-Open No. 2002-79951 (FIG. 1)

  In the latter vehicle steering control device, as a method for detecting (estimating) the phase difference between the input shaft and the output shaft, a control signal output to a drive motor that drives a rack and pinion mechanism that operates steered wheels And a control signal output to an electric motor for controlling the rotation of the planetary gear mechanism, and measuring the respective independent rotation amounts and estimating the phase difference generated between the output shafts and entering between the respective rotation amounts Has been adopted.

  However, since the phase difference estimated from each control signal as described above includes a control error and a meshing error of each gear such as a planetary gear mechanism, an accurate phase difference cannot be estimated.

  For this reason, an error occurs in the steering reaction force of the steering wheel depending on the driving state of the vehicle, and the steering feeling is deteriorated.

  The present invention has been devised in view of the technical problem of the conventional vehicle steering control device. The invention according to claim 1 is, in particular, the steering means includes the steering angle detection means and the actual turning. The first electric motor whose rotation is controlled by the first control circuit of the electronic controller based on the respective angle information signals from the angle detection means, while the phase difference adjusting mechanism is controlled by the second control circuit of the electronic controller. And a second electric motor that variably controls the reduction gear ratio of the variable gear mechanism, wherein at least one of the first control circuit and the second control circuit reflects a control result of the other control circuit. An actual turning angle signal is inputted and the first electric motor or the second electric motor is controlled as a control condition.

  According to the present invention, for example, the actual turning angle amount of the steered wheels detected by the actual turning angle detection means already reflects the control error of the first motor, the meshing error of the gear of the operating mechanism, and the like. . Therefore, since the second control circuit to which the actual turning control amount is input absorbs the error, the second motor is rotationally controlled by the control signal in which the error is corrected.

  Thereby, the reduction ratio control by the variable gear mechanism can be performed with high accuracy. As a result, an appropriate steering reaction force of the steering wheel can be obtained.

  On the other hand, for example, when the signal detected by the actual turning angle detection means is input to the first control circuit, the control error in the second control circuit and the meshing error of each gear of the variable gear mechanism are corrected. Thus, the rotation angle can be determined, so that the steering control with a small error can be performed by the steering means.

  The invention according to claim 2 is a so-called first electric motor initiative type, wherein the first control circuit is a target for determining at least an actual turning angle target value and a steering reaction force target value from the steering angle detecting means. A first rotation angle target value determination for determining a rotation angle target value of the first electric motor based on a value determination circuit and an actual turning angle target value signal and a steering reaction force target value signal output from the target value determination circuit; Based on the circuit, the rotation angle target value output from the first rotation angle target value determination circuit, and the actual turning angle signal output from the actual turning angle detection means, the rotation angle of the first motor is determined. A first rotation angle control circuit to be controlled, a current target value output from the first rotation angle control circuit, and a current detection value output from the current detection means of the first motor, supply current to the first motor And a first current control circuit for controlling the second current The control circuit determines the rotation angle target value of the second electric motor based on the steering reaction force target value signal detected by the target value determination circuit and the actual turning angle signal output from the actual turning angle detection means. A rotation angle of the second electric motor based on a second rotation angle target value determination circuit, a rotation angle target value from the second rotation angle target value determination circuit, and an actual turning angle signal from the actual turning angle detection means. Based on the second rotation angle control circuit for controlling the current, the current target value output from the second rotation angle control circuit, and the current detection value from the current detection means of the second motor. It is characterized by comprising a second current control circuit to be controlled.

  Therefore, the actual turning angle signal reflecting the control result of the first control circuit is fed back, and the rotation angle target value and the rotation angle control are performed in the second rotation angle target value circuit and the second rotation angle control circuit of the second motor. Since these are used as control elements for calculating, a target value or control value with less error can be obtained in these circuits.

  The invention according to claim 3 is a so-called second electric motor initiative type, and the second control circuit is a target for determining at least an actual turning angle target value and a steering reaction force target value from the steering angle detecting means. A value determination circuit, and a second rotation angle target value determination circuit for determining a rotation angle target value of the second electric motor based on a steering reaction force target value signal detected by the target value determination circuit and an actual turning angle target value And a second rotation angle control circuit for controlling the rotation angle of the second electric motor based on the rotation angle target value from the second rotation angle target value determination circuit and the actual turning angle signal from the actual turning angle detection means. And a second current control circuit that controls the supply current to the second motor based on the current target value output from the second rotation angle control circuit and the current detection value from the current detection means of the second motor. On the other hand, the first control circuit includes the target value determining circuit. A first rotation angle target value determination circuit for determining a rotation angle target value of the first electric motor based on the steering reaction force target value output from the actual steering angle signal output from the actual steering angle detection means. And the rotation angle of the first electric motor is controlled based on the rotation angle target value output from the first rotation angle target value determination circuit and the actual turning angle signal output from the actual turning angle detection means. Based on the first rotation angle control circuit, the current target value output from the first rotation angle control circuit, and the current detection value output from the current detection means of the first motor. It is characterized by comprising a first current control circuit to be controlled.

  According to the present invention, this time, the actual turning angle signal reflecting the control result of the second control circuit is fed back, and the first rotation angle target value circuit and the first rotation angle control circuit of the first motor rotate the rotation angle. Since these are used as control elements for calculating the target value and the rotation angle control, a target value and a control value with less error can be obtained in these circuits.

  The invention according to claim 4 is a first and second electric motor mutual correction type, wherein the first control circuit obtains at least an actual turning angle target value and a steering reaction force target value from the steering angle detecting means. A target value determining circuit to be determined, an actual turning angle target value signal output from the target value determining circuit, and a steering reaction force target value are determined, and a rotation angle target value of the first motor is determined, and the actual rotation A first rotation angle target value determination circuit that corrects the rotation angle target value based on an actual turning angle signal output from the steering angle detection means; and a rotation angle target value output from the first rotation angle target value determination circuit; Based on the actual turning angle signal output from the actual turning angle detection means, a first rotation angle control circuit that controls the rotation angle of the first electric motor, and an output from the first rotation angle control circuit. A current target value and a current detection value output from the current detection means of the first motor; And a second current control circuit that controls a supply current to the first motor based on the actual turning angle target value signal and steering reaction force output from the target value determination circuit. A second rotation angle target for determining the rotation angle target value of the second electric motor based on the target value signal and correcting the rotation angle target value by the actual turning angle signal output from the actual turning angle detection means. A second rotation for controlling a rotation angle of the second motor by a value determination circuit, a rotation angle target value from the second rotation angle target value determination circuit, and an actual turning angle signal from the actual turning angle detection means; Second current control for controlling the supply current to the second motor based on the angle control circuit, the current target value output from the second rotation angle control circuit, and the current detection value from the current detection means of the second motor It is characterized by comprising a circuit.

  According to this invention, the actual turning angle signal generated by the control of the first motor and the actual turning angle signal generated by the control of the second motor are used as the first and second of the first and second motors. Since the rotation angle target value circuit and the first and second rotation angle control circuits are used as control elements for calculating the respective rotation angle target values and rotation angle control, the target values and control values with less errors in these circuits. Can be obtained.

  Hereinafter, embodiments of a vehicle steering control device according to the present invention will be described in detail with reference to the drawings.

  FIG. 1 shows an outline of a steering control device according to the first embodiment. A steering shaft 2 connected to a steering wheel 1 which is a steering input means, and a rack and pinion which is an operating mechanism for steering left and right front wheels FL and FR. A mechanism 3, a steering means 4 for driving the rack and pinion mechanism 3 according to the steering angle of the steering shaft 2, and a steering means 4 provided independently of the steering means 4, and according to the steering angle of the steering shaft 2. It comprises backup means 5 for driving the rack and pinion mechanism 3 and an electronic controller 6 for mainly controlling the steering means 4 in accordance with the steering angle of the steering shaft 2.

  As shown in FIGS. 1 and 2, the steering shaft 2 is provided with a steering angle sensor 7 for detecting the steering angle of the steering wheel 1, and a tip portion 2 a is a planetary gear mechanism described later of the backup means 5. 14 input shafts 14a.

  As shown in FIG. 1, the rack and pinion mechanism 3 includes a rack bar 10 that is linked to front wheels FL and FR on the left and right via tie rods 8 and 8 and knuckle arms 9 and 9, and a pinion that meshes with the rack bar 10. And a gear 11.

  As shown in FIGS. 1 and 2, the steering means 4 includes a worm gear 12 that applies a forward / reverse rotational force to the pinion gear 11, and a so-called reversible type first gear that applies a forward / reverse rotational force to the worm gear 12. It is comprised from the drive motor 13 which is 1 electric motor. The worm gear 12 includes a worm gear 12a provided on the rotation shaft 13a of the drive motor 13 and a worm wheel 12b provided on the gear shaft 11a of the pinion gear 11 and meshed with the worm gear 12a. The drive motor 13 is controlled to rotate forward and backward based on a control signal from the electronic controller 6.

  As shown in FIG. 2, the backup means 5 includes a planetary gear mechanism 14 that is a variable gear mechanism connected to the steering shaft 2 and a reversing gear 15 on the output shaft 14b side of the planetary gear mechanism 14. And a torsion bar 19 connected to the lower shaft 16 via a joint 18. The lower shaft 16 is provided with an actual turning angle sensor 17 which is an actual turning angle detection means.

  Further, the torsion bar 19 is disposed between the actual turning angle sensor 17 and the gear mechanism 12, and the lower end thereof is connected to the gear shaft 11 a of the pinion gear 11 from the axial direction, and on the outer peripheral side. A torque sensor 20 for detecting the twist amount (steering torque T) of the torsion bar 19 is provided.

  As shown in FIG. 2, the planetary gear mechanism 14 is housed in a housing 21, and a sun gear 22 that is provided integrally with the input shaft 14 a and an outer peripheral tooth portion of the sun gear 22 while meshing with the outer gear. A plurality of (for example, three) planetary gears 24 revolving through a plurality of support shafts 23a of the planetary carrier 23, a ring gear 25 meshing with the outer peripheral teeth of each planetary gear 24, and the ring gear 25 rotating. It is comprised from the electric motor 26 which is the 2nd electric motor to control. The ring gear 25 is formed with a worm gear (not shown) that meshes with a worm shaft 27 fixed to the rotating shaft of the electric motor 26 on the outer peripheral surface.

  The output shaft 14 b of the planetary gear mechanism 14 is linked to the two spur gears 15 a and 15 b of the reversing gear 15.

  In the electric motor 26, the rotating shaft rotates forward and backward by the control current from the electronic controller 6, and the ring gear 25 and the planetary gear 24 are rotated by this rotating force, so that the input shaft 14a and the output shaft 14b The rotation ratio (reduction ratio) is changed.

  The electronic controller 6 has a built-in microcomputer, and first performs control as shown in the control block diagram of FIG. 3 as a drive motor driven type.

  That is, as a first control circuit of the drive motor 13, current vehicle state information is input from various signals from a vehicle speed sensor (vehicle speed V), a G sensor, a yaw rate sensor, etc. (not shown), and the steering angle sensor 7 And a target value determination circuit 40 for determining the actual turning angle target value and the steering reaction force target value by calculation, and the actual steering angle target value output from the target value determination circuit 40. Based on a steering reaction force target value, a first rotation angle target value determination circuit 41 that determines a rotation angle target value of the drive motor 13 by calculation, and a rotation angle output from the first rotation angle target value determination circuit 41 From the first rotation angle control circuit 42 for inputting the target value and the actual steering angle signal δ from the actual steering angle sensor 17 to calculate the rotation angle control value of the drive motor 13, and from the first rotation angle control circuit 42 The output current target value and the It comprises a first current control circuit 43 that calculates a control current to the drive motor 13 from the current detection value supplied to the drive motor 13 and outputs a current output stage drive command signal to the drive motor 13. ing.

  On the other hand, as the second control circuit of the electric motor 26, the rotation of the electric motor 26 is determined based on the steering reaction force target value output from the target value determination circuit 40 and the actual turning angle signal from the actual turning angle sensor 17. A second rotation angle target value determination circuit 44 for calculating a target angle value; a rotation angle target value output from the second rotation angle target determination circuit 44; and an actual turning angle output from the actual turning angle sensor 17. A second rotation angle control circuit 45 for determining a current target value of the electric motor 26 based on the value, and the electric motor 26 based on the current target value and a current detection value supplied to the electric motor 13. And a second current control circuit 46 that feeds back a current output stage drive command signal to the electric motor 26.

  That is, the change of each steered wheel FL, FR that is input from the actual turning angle sensor 17 to the second rotation angle target value determination path 44 and is calculated in advance by the second rotation angle target value determination path 44. The signal (actual steering angle control amount signal) already reflects the control error of the drive motor 13, the meshing error of the gear of the rack and pinion mechanism 3, etc., and this actual steering angle control amount signal is used as the second rotation angle. The control circuit 45 and the second current control circuit 46 are used as control conditions.

  Therefore, in this embodiment, since the electric motor 26 can be rotationally controlled by a control signal without an estimation error, highly accurate reduction ratio control can be performed. As a result, it is possible to obtain appropriate steering control and steering reaction torque when the steering wheel 1 is rotated.

  Moreover, as a second embodiment, the electronic controller can perform control as shown in the control block diagram of FIG. 4 as an electric motor initiative type.

  That is, the second control circuit on the electric motor 26 side determines the rotation angle target value of the electric motor 26 based on the steering reaction force target value signal output from the target value determination circuit 40 and the actual turning angle target value. Of the electric motor 26 based on the second rotation angle target value determination circuit 44, the rotation angle target value from the second rotation angle target value determination circuit 44, and the actual turning angle signal from the actual turning angle sensor 17. Based on the second rotation angle control circuit 45 that controls the rotation angle, the current target value output from the second rotation angle control circuit 45, and the current detection value from the current detection means of the electric motor 26, the electric motor 26 is supplied. And a second current control circuit 46 for controlling the supply current.

On the other hand, the first control circuit on the drive motor 13 side is based on the steering reaction force target value output from the target value determination circuit 40 and the actual turning angle signal output from the actual turning angle sensor 17. From the first rotation angle target value determination circuit 41 that determines the rotation angle target value of the drive motor 13, the rotation angle target value output from the first rotation angle target value determination circuit 41, and the actual turning angle sensor 17. Based on the output actual turning angle signal, the first rotation angle control circuit 42 that controls the rotation angle of the drive motor 13, the current target value output from the first rotation angle control circuit 42, and the drive motor The first current control circuit 43 controls the supply current to the drive motor 13 on the basis of the current detection value output from the 13 current detection means. Therefore, it is generated by the control of the electric motor 26 this time. Actual turning angle Since the signal is fed back and used as a control element for calculating the rotation angle target value and the rotation angle control in the first rotation angle target value circuit 41 and the second rotation angle control circuit 42 of the drive motor 13, Since control errors, meshing errors of gears such as the planetary gear mechanism 14 and the like are already reflected, it is possible to calculate target values and control values with less errors in these circuits 41 and 42.

  Furthermore, as a third embodiment, the electronic controller can perform the control shown in the control block diagram of FIG. 5 as a mutual correction type of the drive motor 13 and the electric motor 26.

  That is, the first control circuit on the drive motor 13 side determines the rotation angle target value of the drive motor 13 based on the actual turning angle target value signal output from the target value determination circuit 40 and the steering reaction force target value. The first rotation angle target value determination circuit 41 that corrects the rotation angle target value based on the actual turning angle signal output from the actual turning angle sensor 17 and the first rotation angle target value determination circuit 41 output the rotation angle target value. A first rotation angle control circuit 42 for controlling the rotation angle of the drive motor 13 based on the target rotation angle value and the actual turning angle signal output from the actual turning angle sensor 17, and the first rotation. The first current control circuit 43 controls the current supplied to the drive motor 13 based on the current target value output from the angle control circuit 42 and the current detection value output from the current detection means of the drive motor 13. ing.

  On the other hand, the second control circuit on the electric motor 26 side determines the rotation angle target value of the electric motor 26 based on the actual turning angle target value signal and the steering reaction force target value signal output from the target value determination circuit 40. And a second rotation angle target value determination circuit 44 that corrects the rotation angle target value based on the actual turning angle signal output from the actual turning angle sensor, and the second rotation angle target value determination circuit 44. A second rotation angle control circuit 45 that controls the rotation angle of the electric motor 26 based on the target rotation angle value and the actual turning angle signal from the actual turning angle sensor 17, and is output from the second rotation angle control circuit 45. The second current control circuit 46 controls the current supplied to the electric motor 26 based on the current target value and the current detection value from the current detection means of the electric motor 26.

  According to this embodiment, the actual turning angle signal generated by the control of the drive motor 13 and the actual turning angle signal generated by the control of the electric motor 26 are used as the first and the first of the drive motor 13 and the electric motor 26. Since the two rotation angle target value circuits 41 and 44 and the first and second rotation angle control circuits 42 and 45 are calculated as the respective rotation angle target values and the correction values for the rotation angle control, these circuits further increase the error. A small target value or control value can be obtained.

1 is an overall schematic diagram showing a vehicle steering control device in an embodiment of the present invention. It is a longitudinal cross-sectional view which shows the planetary gear mechanism and steering means which are provided to this embodiment. It is a control block diagram of the electronic controller in this embodiment. It is a control block diagram of the electronic controller in the 2nd Embodiment of this invention. It is a control block diagram of the electronic controller in the 3rd Embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Steering wheel 2 ... Steering shaft 3 ... Rack and pinion mechanism (actuation mechanism)
4 ... Steering means 5 ... Backup means 6 ... Electronic controller 7 ... Steering angle sensor (steering angle detecting means)
13 ... Drive motor 14 ... Planetary gear mechanism (variable gear mechanism)
17 ... Actual steering angle sensor (actual steering angle detection means)
DESCRIPTION OF SYMBOLS 26 ... Electric motor 40 ... Target value determination circuit 41 ... 1st rotation angle target value determination circuit 42 ... 1st rotation angle control circuit 43 ... 1st current control circuit 44 ... 2nd rotation angle target value determination circuit 45 ... 2nd rotation Angle control circuit 46 ... second current control circuit FL, FR ... steering wheel

Claims (4)

An input shaft coupled to the steering wheel;
Steering angle detection means for detecting the steering angle of the input shaft;
An output shaft linked to the steered wheel and linked to the input shaft;
An actual turning angle detecting means provided on the output shaft for detecting an actual turning angle of the steered wheels;
Steering means for applying a steering force to the steered wheels according to the state of the vehicle;
A variable gear mechanism that is provided between the input shaft and the output shaft and converts rotation transmitted from the input shaft to the output shaft into a predetermined reduction ratio;
In a vehicle steering control device comprising a phase difference adjustment mechanism that adjusts a phase difference via the variable gear mechanism when a rotational phase difference occurs between the input shaft and the output shaft.
The steering means includes a first electric motor whose rotation is controlled by a first control circuit of an electronic controller based on angle information signals from the steering angle detection means and the actual turning angle detection means,
On the other hand, the phase difference adjusting mechanism includes a second electric motor that is rotationally controlled by a second control circuit of an electronic controller and variably controls a reduction ratio of the variable gear mechanism,
At least one of the first control circuit and the second control circuit controls the first electric motor or the second electric motor based on the actual turning angle signal reflecting the control result of the other control circuit. A vehicle steering control device. The first control circuit includes a target value determination circuit that determines an actual turning angle target value and a steering reaction force target value from at least the steering angle detection unit;
A first rotation angle target value determination circuit for determining a rotation angle target value of the first electric motor based on an actual turning angle target value signal and a steering reaction force target value signal output from the target value determination circuit;
Based on the rotation angle target value output from the first rotation angle target value determining circuit and the actual turning angle signal output from the actual turning angle detection means, a rotation angle of the first electric motor is controlled. A rotation angle control circuit;
From a first current control circuit that controls a supply current to the first motor based on a current target value output from the first rotation angle control circuit and a current detection value output from the current detection means of the first motor. While configuring
The second control circuit is a rotation angle target of the second electric motor based on a steering reaction force target value signal output from the target value determination circuit and an actual turning angle signal output from the actual turning angle detection means. A second rotation angle target value determining circuit for determining a value;
A second rotation angle control circuit for controlling the rotation angle of the second electric motor based on the rotation angle target value from the second rotation angle target value determination circuit and the actual turning angle signal from the actual turning angle detection means;
And a second current control circuit for controlling a supply current to the second motor based on the current target value output from the second rotation angle control circuit and the current detection value from the current detection means of the second motor. The vehicle steering control device according to claim 1. The second control circuit includes a target value determination circuit for determining an actual turning angle target value and a steering reaction force target value from at least the steering angle detection unit;
A second rotation angle target value determination circuit for determining a rotation angle target value of the second electric motor based on a steering reaction force target value signal output from the target value determination circuit and an actual turning angle target value;
A second rotation angle control circuit for controlling the rotation angle of the second electric motor based on the rotation angle target value from the second rotation angle target value determination circuit and the actual turning angle signal from the actual turning angle detection means;
And a second current control circuit for controlling a supply current to the second motor based on the current target value output from the second rotation angle control circuit and the current detection value from the current detection means of the second motor. on the other hand,
The first control circuit is a rotation angle target of the first electric motor based on a steering reaction force target value output from the target value determination circuit and an actual turning angle signal output from the actual turning angle detection means. A first rotation angle target value determination circuit for determining a value;
Based on the rotation angle target value output from the first rotation angle target value determining circuit and the actual turning angle signal output from the actual turning angle detection means, a rotation angle of the first electric motor is controlled. A rotation angle control circuit;
From a first current control circuit that controls a supply current to the first motor based on a current target value output from the first rotation angle control circuit and a current detection value output from the current detection means of the first motor. The vehicle steering control device according to claim 1, wherein the vehicle steering control device is configured. The first control circuit includes a target value determination circuit that determines an actual turning angle target value and a steering reaction force target value from at least the steering angle detection unit;
Based on the actual turning angle target value signal output from the target value determination circuit and the steering reaction force target value, the rotation angle target value of the first electric motor is determined and output from the actual turning angle detection means. A first rotation angle target value determining circuit for correcting the rotation angle target value by an actual turning angle signal;
Based on the rotation angle target value output from the first rotation angle target value determining circuit and the actual turning angle signal output from the actual turning angle detection means, a rotation angle of the first electric motor is controlled. A rotation angle control circuit;
From a first current control circuit that controls a supply current to the first motor based on a current target value output from the first rotation angle control circuit and a current detection value output from the current detection means of the first motor. While configuring
The second control circuit determines the rotation angle target value of the second electric motor based on the actual turning angle target value signal output from the target value determination circuit and is output from the actual turning angle detection means. A second rotation angle target value determination circuit that corrects the rotation angle target value based on the actual turning angle signal;
A second rotation angle control circuit for controlling the rotation angle of the second electric motor based on the rotation angle target value from the second rotation angle target value determination circuit and the actual turning angle signal from the actual turning angle detection means;
And a second current control circuit for controlling a supply current to the second motor based on the current target value output from the second rotation angle control circuit and the current detection value from the current detection means of the second motor. The vehicle steering control device according to claim 1.

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