Patent attributes
An ECU including a control circuit is provided to control driving of a motor, which outputs at least a part of torque required for steering a vehicle. The control circuit is configured to switch control modes including an ADS mode for controlling driving of the motor based on an angle command value and an EPS mode for controlling the driving of the motor based on a basic assist command value which is a torque command value. The control circuit is configured to change the calculation cycle period of at least a part of the calculations related to the driving control of the motor according to the selected control mode. Accordingly, an appropriate calculation cycle period can be set for each calculation related to the driving control of the motor according to the control mode, and the calculation load can be reduced.
