[0001]The present invention is to vector control in the dq-axis rotating coordinate system driving the 3-phase brushless motor, different dead time compensation function (eg dead time compensation function of the inverter based on the motor terminal voltage and the motor rotational angle of performance (electrical gradually switched while mixing the dead time compensation function) of the inverter based on the function of the angular), and improve the steering performance by implementing a dead time compensation according to the steering state, the assist control without smooth steering sound possible and the relates to an electric power steering system. BACKGROUND [0002] 　Steering assist force by the rotation force of the motor to a steering mechanism of a vehicle electric power steering apparatus which provides (assist force) (EPS) is the driving force of the motor as an actuator, a transmission mechanism such as gears or a belt via reduction gear the, so as to impart a steering assist force to a steering shaft or a rack shaft. Such conventional electric power steering apparatus, in order to accurately generate a torque of the steering assist force, and performs a feedback control of a motor current. The feedback control is the difference between the steering assist command value (current command value) and the motor current detection value to adjust the voltage applied to the motor so as to reduce, adjustment of the voltage applied to the motor, generally a PWM (Pulse Width modulation) is performed by adjustment of the control of the Duty. [0003] 　To describe the general construction of an electric power steering apparatus shown in FIG. 1, column shaft of the handle 1 (steering shaft, the steering wheel shaft) 2 is a reduction gear 3, universal joints 4a and 4b, a pinion rack mechanism 5, tie rods 6a, through 6b, it is connected further hub unit 7a, via 7b steering wheels 8L, the 8R. In addition, the column shaft 2, a steering angle sensor 14 for detecting a steering angle of the steering wheel 1 theta, a torque sensor 10 for detecting is provided a steering torque Th of the steering wheel 1, to assist the steering force of the steering wheel 1 motor 20 is connected to the column shaft 2 via the reduction gear 3. The control unit (ECU) 30 for controlling the electric power steering apparatus, the electric power from the battery 13 is supplied, the ignition key signal is inputted through the ignition key 11. Control unit 30 performs the calculation of the assist (steering assist) command current command value based on the vehicle speed Vs detected by the steering torque Th and the vehicle speed sensor 12 detected by the torque sensor 10, the calculated current command value controlling the current supplied to the motor 20 by the voltage control command value Vref subjected to compensation for the. Steering angle sensor 14 is not mandatory and may not be disposed, may be from the rotation sensor such as a resolver connected to the motor 20 to obtain the θ steering angle (motor rotation angle). [0004] 　The control unit 30, CAN (Controller Area Network) 40 for exchanging various kinds of information of the vehicle and is connected, the vehicle speed Vs is also possible to receive from CAN40. Further, the control unit 30, communications other than CAN40, an analog / digital signal, even non CAN41 for exchanging radio waves connectable. [0005] 　In such an electric power steering apparatus, the control unit 30 is mainly composed of a CPU (Central Processing Unit) (MPU (Micro Processor Unit) or MCU (including Micro Controller Unit), etc.), a program in the CPU When showing the general functions performed has a configuration as shown in FIG. 2, for example. [0006] 　To explain the function and operation of the control unit 30 with reference to FIG. 2, the vehicle speed Vs from the steering torque Th and the vehicle speed sensor 12 from the torque sensor 10 is inputted to the steering assist command value calculating section 31, the steering assist command value calculation part 31 calculates the steering assist command value Iref1 using an assist map or the like based on the steering torque Th and the vehicle speed Vs. Limiting calculated steering assist command value Iref1 in the addition unit 32A, is added to the compensation signal CM from the compensator 34 to improve the characteristics, the steering assist command value Iref2 that are subject to the maximum value by the current limiting unit 33 is the maximum value the current command value is limited to Irefm is inputted to the subtraction unit 32B, is subtracted and the motor current detection value Im. [0007] 　A subtraction result of the subtraction unit 32B deviation ΔI (= Irefm-Im) is a current control such as PI (proportional integration) in the PI control unit 35, current controlled voltage control command value Vref is the modulation signal (triangular wave carrier ) are inputted to the PWM controller 36 along with CF is calculated the Duty command value to PWM drive the motor 20 via the inverter 37 with the PWM signal which is calculated the Duty command value. Motor current value Im of the motor 20 is detected by a motor current detector 38, is inputted to the subtraction unit 32B by feedback. [0008] 　Compensation unit 34 adds the inertia compensation value 342 by an adder 344 to detect or estimated self aligning torque (SAT), by adding the convergence control value 341 in further addition unit 345 to the addition result, the addition the results were input to the addition unit 32A as the compensation signal CM, implementing the performance improvement. [0009] 　Recently, with the actuator of the electric power steering apparatus is a three-phase brushless motor has become a mainstream, because the electric power steering system is a vehicle products, wide operating temperature range, the inverter home electronics for driving the motor in terms of fail-safe products in comparison with the general industrial use to the representative, it is necessary to increase the dead time (industrial equipment VR1), holding a constant limit value DTCa2 a predetermined voltage VR2 higher it is a characteristic that. Compensation amount limit value DTCa is is inputted to the contact a1 and the comparison unit 255 of the switching unit 252, is input to the inverting section 254. Also, 3-phase voltage loss PLB (V Loss_u , V Loss_v , V Loss_w ) with the input to the comparator 255 and 256 are inputted to the contact b1 of the switching unit 252. The output -DTCa the inverting unit 254 is input to the contact a2 of the switching unit 253. Contacts a1 and b1 of the switching unit 252 is switched based on the comparison result CP1 of the comparison unit 255, the contacts a2 and b2 of the switching unit 253 is switched based on the comparison result CP2 of the comparator 256. [0054] 　Comparing unit 255 compares the compensation amount limiting value DTCa and a three-phase loss voltage PLB, switches the contacts a1 and b1 of the switching unit 252 according to the following equation 8. The comparison unit 256 compares the compensation amount limiting value -DTCa and a three-phase loss voltage PLB, switches the contacts a2 and b2 of the switching unit 253 according to the following equation (9). (8) 3-phase voltage loss PLB ≧ compensation amount upper limit value: When (DTCA), (contacts b2 = DTCA switching unit 253) contacts a1 switching unit 252 is ON 3-phase voltage loss PLB compensation amount lower limit value: (- DTCA) when the contact b2 of the switching unit 253 is ON (the dead time compensation value DTC = switching output section 252) 　the dead time compensation value of the three-phase DTC is input to the 3-phase AC / dq axis conversion section 260 together with the motor rotation angle theta, is converted from three-phase AC / dq axis conversion section 260 into two phases d-axis compensation value C dA and the q-axis compensation value C qA is output. Compensation value C dA and the compensation value C qA is input to the compensation value switching section 500. [0055] 　Then, the dead time compensator (B) 400 will be described. [0056] 　Dead time compensation section (B) 400, the current control delay model 401 as shown in FIG. 12, the compensation code estimator 402, the multiplication unit 403,404d and 404q, addition unit 421, the phase adjusting section 410, the inverter application voltage sensing gain part 420, angle - dead time compensation value function unit 430U, 430V and 430 W, the multiplication unit 431U, 431V and 431W, 3-phase AC / dq axis conversion section 440, and a current command value sensitive gain unit 450. Respectively, from the multiplication unit 404d and 404q, d-axis compensation value C dB and q-axis compensation value C qB is output. [0057] 　Incidentally, the multiplication unit 431U, constitutes a compensation value output section in the 431V and 431W and a three-phase AC / dq axis conversion section 440. The current control delay model 401, the compensation code estimator 402, a current command value sensitive gain unit 450 constitute a current command value sensitive gain calculating unit in the multiplication section 403. [0058] 　Detailed configuration of the dead-time compensator 400 is 13 will be described with reference to FIG. 13 below. [0059] 　q-axis steering assist command value i qref is input to the current control delay model 401. current command value dq axis i d * and i q * so far is reflected in the actual current, delays caused by the noise filter, etc. of ECU. Therefore, direct current command value i q * From attempting determining the sign, there is a case where the timing shift occurs. To solve this problem, it approximates the delay of the overall current control as first-order filter model to improve the phase difference. Current control delay model 401, a T as a filter time constant, and a primary filter of the 6. Current control delay model 401 may model a with the structure of the second or higher order filter. [0060] 　The current command value I is output from the current control delay model 401 cm is input to the current command value sensitive gain unit 450 and the compensation code estimator 402. May dead time compensation amount is overcompensated in the low current region, the current command value sensitive gain unit 450, current command value I cm (steering assist command value i qref calculates the gain to reduce the compensation amount by the size of) It has the ability to. Further, the current command value I cm (steering assist command value i qref such noise from), the gain to reduce the compensation amount using the weighted-average filter to prevent vibrations, are subjected to processing for noise reduction. [0061] 　Current command value sensitive gain unit 450 is configured as shown in FIG. 14, the current command value I cm an absolute value by the absolute value unit 451. Absolute value is limited to a maximum value at the input limiting unit 452, a current command value of the absolute value that is limited to the maximum value is input to the weighted average filter 454 through the scale converter 453. The weighted average filter 454 current command value I is reduced noise in am is input summing the subtraction unit 455 subtracts a predetermined offset OS subtraction unit 455. The reason for subtracting the offset OS is for chattering prevention by small current command value, to fix the following input value offset OS to the minimum gain. Offset OS is a constant value. The current command value I is subtracted the offset OS subtraction unit 455 the as is input to the gain unit 456, current command value sensitive gain G in accordance with the gain characteristic as shown in FIG. 15 c outputs a. [0062] 　Current command value sensitive gain G outputted from the current command value sensitive gain unit 450 c , the current command value I is input cm a characteristic as shown in FIG. 16, for example with respect to. That is, a predetermined current I cm1 constant gain G to cc1 a predetermined current I cm1 from the predetermined current I cm @ 2 (> I cm1 increases linearly (or non-linear) to) a predetermined current I cm @ 2 constant gain G above cc2 hold it is a characteristic that. The predetermined current I cm1 may be 0. [0063] 　Compensation code estimator 402 current command value I is input cm relative to output a compensation code SN positive hysteresis characteristic shown in FIG. 17 (A) and (B) (+1) or negative (-1). Current command value I cm is to estimate the compensation code SN as a reference point to the zero crossing, and has a hysteresis characteristic for the chattering suppressing. Estimated compensation code SN is input to the multiplier 203. Incidentally, the positive and negative thresholds of the hysteresis characteristic can be appropriately changed. [0064] 　Current command value sensitive gain G from the current command value sensitive gain portion 450 c is input to the multiplier 203, the multiplication unit 403 compensates sign current command value obtained by multiplying the SN sensitive gain G cs (= G c × SN) output to. Current command value sensitive gain G cs is input to the multiplier 404d and 404q. [0065] 　Since the optimum dead time compensation amount is changed according to the inverter application voltage VR, calculates a dead time compensation amount corresponding to the inverter application voltage VR, so that variable. Voltage sensitive gain G to enter the inverter application voltage VR v inverter application voltage sensing gain unit 420 that outputs is as shown in FIG. 18, the inverter application voltage VR is limited to the positive and negative maximum value at the input limiting unit 421, the maximum inverter application voltage VR is limited to the value l is input to the inverter application voltage / time compensation gain conversion table 422. Characteristics of the inverter application voltage / time compensation gain conversion table 422, for example, as in Figure 19. An inverter applied voltage 9.0V and 15.0V inflection point, voltage sensitive gain "0.7" and "1.2" is an example, can be appropriately changed. Voltage sensitive gain G v is the multiplication unit 431U, 431V, is input to 431W. [0066] 　Or early dead time compensation timing by the motor rotation speed omega, if you want to slow down, and a phase adjustment unit 410 for the function to calculate the adjustment angle in accordance with the motor rotational speed omega. Phase adjustment section 410, if the advance angle control is a characteristic as shown in FIG. 20, the calculated phase adjustment angle Δθ is input to the adder 421, is added to the motor rotational angle θ that is detected. Motor rotational angle theta is the addition result of the adder 421 m (= theta + [Delta] [theta]) is the angle - dead time compensation value function unit 430U, 430V, is input to the 430 W, are inputted to the 3-phase AC / dq axis conversion section 440 that. [0067] 　Angle - dead time compensation value function unit 430U, 430V, 430W, as shown in detail in Figure 21, the motor rotational angle θ is phase adjusted m against, 120 [deg in the range of electrical angle 0 ~ 359 [deg] ] by 3-phase dead time reference compensation value U of the phase-shifted square wave dt , V dt , W dt and outputs a. Dead time compensation value angle function unit 430U, 430V, 430W is the dead time compensation value required at three phases as a function depending on the angle, calculated on real time ECU, the dead time reference compensation value U dt , V dt , W Dt to output. Angle function of the dead time reference compensation value is different depending on the characteristics of the dead time of the ECU. [0068] 　Dead time reference compensation value U dt , V dt , W dt Each multiplier unit 431U, 431V, is input to 431W, the voltage sensitive gain G v is multiplied with. Voltage sensitive gain G v multiplied three phase compensation value U dtc (= G v · U dt ), V dtc (= G v · V dt ), W dtc (= G v · W dt ) is 3-phase AC / is input to the dq axis conversion section 440. 3-phase AC / dq axis conversion section 440, the motor rotation angle theta m in synchronization with the three-phase compensation value U dtc , V dtc , W dtc compensation value dq axes of two phases v da *And V Qa * to convert to. Compensation value v da * and v qq * are input to respective multipliers portion 404d and 404q, the current command value sensitive gain G cs is multiplied with. Multiplication result of the multiplying unit 404d and 404q compensation value C of the dq-axis dB and C qB is, the compensation value C dB and C qB are input to the compensation value switching section 500. [0069] 　Compensation value C of dq-axis from the dead time compensator (A) 200 dA and C qA is input to the multiplier 531 and 533, respectively compensation value changeover portion in 500, dq from the dead time compensator (B) 400 axis compensation values C dB and C qB , is input to the multiplier 532 and 534, respectively compensation value changeover portion 500. [0070] 　Compensation value switching determination unit 510 of the compensation value switching section 500 has a dead zone to the input of the steering assist command value iqref, outputs a switching determination flag SF when it becomes more than a predetermined threshold value (e.g., "H") while has a hysteresis characteristic. Switching determination flag SF is input to the mixing ratio calculating unit 520, mixing ratio calculating unit 520 compensator (A) 200 ratio R tA and the compensation unit (%) (B) 400 of the ratio R tB calculates a (%) . [0071] 　Mixing ratio calculation unit 520 is as shown in FIG. 22 for example, a switch 523 is switched to the contact a and b by the switching determination flag SF, the count-up value 521 is input to a contact a, the countdown value to the contact b 522 has been entered. For example, the count-up value 521 is connected to the contact a when the switching determination flag SF is not input is output from the switch 523, is switched to the contact b when the switching determination flag SF is input, the countdown value 522 switches is output from the 523. The output of the switch 523 is input to the adder 524, the added value is the count value limiting section (0-100%) is limited to a maximum value at 525, the ratio R tB is outputted as (%), the subtraction to the subtraction unit 527 is input, the holding unit (Z -1 is input to the adder 524 via) 526. The ratio R tB is inputted to the subtraction unit 527, a value obtained by subtracting from 100% the fixed ratio R tA output as (%). As a result, the ratio R tA varies linearly from 100% to 0%, the ratio R tB varies linearly from 0% to 100%, the ratio R of the characteristics shown by the solid line in FIG. 23 tA and R tB the it is possible to obtain. The ratio R tA and R tB between, always a relationship of the following Expression 10. (Number 10) 　R tA (%) + R tB (%) = 100% 　point t in Figure 23 0 ~ t 1 but is switching time by mixing, can be varied switching time by changing the size of the count value. Also, by increasing or decreasing the count-up value 521 and countdown value 522 you can adjust the speed of the switched. [0072] 　As indicated by the broken line in FIG. 23, it is also possible to vary in a non-linear. [0073] 　Ratio R is computed as described above tA is input to the multiplier 531 and 533, the ratio R tB is input to the multiplier 532 and 534. To the multiplier 531 d-axis compensation value C from the dead time compensator (A) 200 dA is input, q-axis compensation value C to the multiplier 533 qA are entered. Moreover, the multiplication unit 532 d-axis compensation value C from the dead time compensator (B) 400 dB is input, q-axis compensation value C to the multiplier 534 qB are entered. As a result, from the multiplication unit 531 R tA · C dA is input to the adder 535 is output, R from the multiplication section 533 tA · C dA is input to the adder 536 is output. Similarly, R from the multiplication unit 532 tB · C dB are input to the adder 535 is output, R from the multiplication section 534 tB · C dB is input to the adder 536 is output. Therefore, from the adder 535 and 536, the dead time compensation value v shown in the following Expression 11 d * and v q * is output, the dead time compensation is performed are input to the adder 121d and 121q of dq-axis control system. (Number 11) v d * = R tA · C dA + R tB · C dB v q * = R tA · C dA + R tB · C dB 　ratio R tA and R tB has a number 10 relationship (FIG. 23) since it is, the ratio R as shown in FIG. 24 (B) tA and R tB dead time compensation value in accordance with changes in (v d * , v q *) Can be smoothly switched. In FIG. 24 (B), the time t 1 to conducted a dead time compensation by the compensation function A (100%), the time t 1 is switched to the compensation function B in is made in switch determining unit 510 value switching compensation, the not performed switching to the immediately compensating function B in the invention. Time t 1 with the lower the ratio of compensation A gradually increasing gradually the ratio of the compensation function B, the time t 2 the ratio of the compensation function A to 0% at, the ratio of the compensation function B to 100%. Therefore, the time t 1 ~ t 2 is the compensation of the compensation function A + B, the time t 2 since implementing the dead time compensation of the compensation function B (100%) since, has a smooth property changes. Figure 24 (B) shows a case where switching instantaneously by the switch. [0074] 　Next, a description will be given space vector modulation. Space vector modulation section 300, as shown in FIG. 25, 2-phase voltage (v a dq-axis space d ** , v q ** ) the three-phase voltage converter (Vua, Vva, Vwa), the 3-phase voltages ( Vua, Vva, may have a function of superimposing the third harmonic in Vwa), for example, JP 2017-70066 by the present applicant, the space vector modulation proposed in Japanese Patent application No. 2015-239898 or the like method it may also be used. [0075] 　That is, space vector modulation, the voltage command values of dq-axis spatial v d ** and v q ** , based on the motor rotational angle θ and sector number n (# 1 ~ # 6) , the coordinate transformation as shown below was carried out, the bridge structure of the inverter of the FET (the upper arm Q1, Q3, Q5, lower arm Q2, Q4, Q6) for controlling the oN / OFF of the switching patterns S1-S6 corresponding to the sector # 1 to # 6 by supplying to the motor, it has a function of controlling the rotation of the motor. The coordinate transformation, in the space vector modulation, the voltage command value v d ** and v q ** , based on the number 12, coordinate transformation is performed on the voltage vector Vα and Vβ of alpha-beta coordinate system. The relationship between the coordinate axes and motor rotation angle θ used in the coordinate transformation is shown in Figure 26. [0076] [Expression 12] 　Further, between the target voltage vector in the target voltage vector and alpha-beta coordinate system in d-q coordinate system, there is the relationship such as the number 13, the absolute value of the target voltage vector V is stored It is. [0077] [Expression 13] 　In the switching pattern in space vector control, the output voltage of the inverter in accordance with a switching pattern S1 ~ S6 of FET (Q1 ~ Q6), 8 types of discrete reference voltage vector shown in the space vector diagram of FIG. 27 V0 ~ defined by V7 (π / 3 [rad] by different non-zero voltage vector V1 ~ V6 phases and zero voltage vector V0, V7). Then, so as to control the selection and its time of occurrence of their reference output voltage vector V0 ~ V7. Further, by using the six regions sandwiched by the adjacent reference output voltage vector, it is possible to divide the space vector into six sectors # 1 to # 6, target voltage vector V, sector # 1 to # 6 belong to one can be assigned a sector number. Vα and the target voltage vector V is the resultant vector of Vβ is, whether present in any sector, as shown in Figure 27, separated in a regular hexagon in alpha-beta space, the target voltage vector V alpha it can be obtained based on the rotation angle γ in -β coordinate system. Further, the rotation angle gamma voltage command value v in the rotational angle theta and d-q coordinate system of the motor d ** and v q ** as the sum of the obtained from the relationship phase [delta], is determined by γ = θ + δ. [0078] 　Figure 28 is a digital control by the inverter switching pattern S1, S3, S5 in space vector control, in order to output the target voltage vector V from the inverter, the switching pulse in the ON / OFF signals S1 ~ S6 (switching pattern) for FET It shows a basic timing chart to determine the width and its timing. Space vector modulation, performs like operation on each defined sampling period Ts in the sampling period Ts, converts the operation result in the next sampling period Ts, the switching pulse width in the switching patterns S1 ~ S6 and its timing to and output. [0079] 　Space vector modulation, and generates a switching pattern S1 ~ S6 corresponding to the sector number obtained based on the target voltage vector V. Figure 28 is in the case of sector number # 1 (n = 1), an example of a switching pattern S1 ~ S6 of inverter FET is shown. Signals S1, S3 and S5 shows a gate signal corresponding to the upper arm FET Q1, Q3, Q5. The horizontal axis represents time, Ts corresponds to the switching period is divided into 8 time, T0 / 4, T1 / 2, T2 / 2, T0 / 4, T0 / 4, T2 / 2, T1 / 2 and a period consisting of T0 / 4. Moreover, the period T1 and T2 is the time that depends on the sector number n and the angle of rotation γ respectively. [0080] 　If there is no space vector modulation, a dead time compensation of the present invention is applied onto the dq axis, the dead time compensation value only dq axis / three-phase conversion the dead time compensation value waveform (U-phase waveform) is indicated by a broken line in FIG. 29 tertiary components such as becomes a waveform which is removed. The same applies to the V-phase and W-phase. By applying the spatial vector modulation instead of the dq-axis / three-phase converter, it can be superimposed on the third harmonic to the 3-phase signal and it can compensate for third-order components become deficient by three-phase conversion , it is possible to generate an ideal dead time compensation waveform shown in solid line in FIG. 29. claims It calculates a steering assist command value of the dq-axis on the basis of at least steering torque, the steering of the dq-axis current command value from the assist command value is calculated, and converts the dq axis current command value to the three-phase Duty command value, PWM control of the 3-phase brushless motor is driven and controlled by an inverter, an electric power steering apparatus of a vector control method for imparting assist torque to a steering mechanism of a vehicle, a plurality of performance for performing time compensation of the inverter is different dead time compensation function has the plurality from one of the dead-time compensation function to another dead time compensation function, the electric power steering apparatus which comprises carrying out the dead time compensation is switched slowly with mixing. [Requested item 2] Said plurality of dead time compensation function is two, is effective in the low speed steering condition, a dead time compensation function A of the inverter based on the motor terminal voltage, it is effective in the slow-medium speed steering condition, the motor rotation angle the electric power steering apparatus according to claim 1 which is a dead time compensation function B of the inverter based on the function. [Requested item 3] Wherein based on the steering assist command value of q-axis, the electric power steering apparatus according to the ratio of the mixing to claim 1 or 2 adapted to vary linearly or non-linearly. [Requested item 4] It calculates a steering assist command value of the dq-axis on the basis of at least steering torque, the steering of the dq-axis current command value from the assist command value is calculated, and converts the dq axis current command value to the three-phase Duty command value, PWM control inverter the drives and controls the three-phase brushless motor, an electric power steering apparatus of a vector control method for imparting assist torque to a steering mechanism of a vehicle, the dq axis of said inverter based on the three-phase terminal voltages of the three-phase brushless motor a dead time compensation unit a for calculating a first dq axis compensation value related to, the dead time compensation unit for calculating a second dq axis compensating value for the dq axis of said inverter based on the motor rotation angle of the three-phase brushless motor B and, and said steering assist command the second dq axis compensation value and the first dq axis compensation value based on the value of the q-axis Miki Gradually switched to each other with single, a compensation value changeover portion calculates and outputs dq axis dead time compensation value, comprising, said by correcting the dq-axis current command value by the dq-axis dead time compensation value electric power steering apparatus which comprises carrying out the dead time compensation of the inverter. [Requested item 5] The compensation value changeover portion is, with the steering assist command value compensation value switching determination unit for determining the compensation value switching based the q-axis, by the compensation value switching determination flag from the compensation value switching determination unit, the first 1 mixing ratio R of the dq-axis compensation value tA (%) and the mixing ratio R of the second dq axis compensation value tB and mixing ratio calculation unit for calculating a (%), the first dq-axis compensation value and the enter the second dq axis compensation value, the mixing ratio R tA (%) and R tB (%) and the mixing section, computes the dq axis dead time compensation value based on claim 4 which is in configuration the electric power steering apparatus according to. [Requested item 6] The mixing ratio calculation section, enter the count-up value and countdown value, and a switch that is switched by the compensation value switching determination flag, together with the count-up value or the countdown value from the switch, limiting through the addition section , the mixing ratio R tB and the count value limiting unit for outputting (%), the mixing ratio R tB (%) and the holding unit to be added to the addition unit holds, the mixing ratio R of 100% of the numerical tB (%) obtained by subtracting in the mixing ratio R tA (%) and the subtraction unit outputs the electric power steering apparatus according to claim 5, in being configured. [Requested item 7] The electric power steering apparatus according to claim 6 wherein the count-up value and the countdown value is variable. [Requested item 8] The mixing unit, the mixing ratio R to the first dq axis compensation value tA a first multiplication unit for multiplying (%), wherein the mixing ratio R to the second dq axis compensating value tB (percent) a second multiplication section for multiplying the first multiplication portion and the second adding unit and outputs the dq axis dead time compensation value by adding the multiplication results of the multiplying unit, in claims is constituted the electric power steering apparatus according to any one of claim 5 to 7. [Requested item 9] The mixing ratio R tA (%) and the mixing ratio R tB with (%) is revise the nonlinear, R tA (%) + R tB (%) = 100% of the claims 5 to 8 are turned relationship the electric power steering apparatus according to any one. [Requested item 10] It said correction electric power steering device according to any one of claims 4 to 9 wherein the dq axis dead time compensation value to be a sum of the dq-axis current command value.