Motor control unit and electric power steering apparatus and vehicle equipped with the same

Abstract

[Problem] An object of the present invention is to provide a motor control unit that improves a discontinuous feeling of an assist by flexibly making an adjustment of a current command value of a normal system when a failure occurs in any system of multi-system motor control, and enables smooth handling, and to provide an electric power steering apparatus and a vehicle equipped with the same. [Means for Solving the Problem] A motor control unit comprises motor driving circuits of respective winding systems that supply a motor having multi-system motor windings with driving currents; and a control calculating section that calculates a current command value of each winding system for driving the motor, when a failure occurs in the motor winding or the motor driving circuit in any of the systems, performs a first change of changing a characteristic of the current command value of a normal system to a first characteristic that forms a characteristic equivalent to a total of the current command values at normal time, after performing the first change, performs a second change of changing the characteristic of the current command value to a second characteristic whose output is more suppressed than the first characteristic, and controls the motor driving circuit.