The present invention is to vector control in the dq-axis rotating coordinate system driving the 3-phase brushless motor, the motor rotation angle function (electrical angle) (dq-axis angle or 3-phase angle - dead time compensation value reference table) based on the to compensate for the dead time of the inverter, smooth relates to a motor control apparatus with reduced noises and electric power steering apparatus equipped with it. BACKGROUND [0002] 　As equipped with devices of the motor control device, a 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), electric vehicles, there is a machine tool. Electric power steering apparatus, a driving force of the motor as an actuator, the transmission mechanism such as gears or a belt via reduction gears, 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 integral) with PI (Proportional-Integral) control unit 35, the voltage control command value Vref, which is the current control modulated signal with (triangular wave carrier) CF is input to the PWM control unit 36 ​​is calculated the Duty command value, via the inverter 37 at the calculated PWM signal Duty command value to PWM drive the motor 20. 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 such as an electric power steering apparatus 3-phase brushless motor has become a mainstream, because the electric power steering system is a vehicle products, wide operating temperature range, the inverter for driving the motor in terms of failsafe home appliances in comparison with the general industrial use to the representative, it is necessary to increase the dead time (industrial equipment Icm1), is a characteristic to maintain a constant gain Gcc2 a predetermined current Icm2 more. The predetermined current Icm1 may be 0. [0041] 　Compensating the code estimating unit 202 with respect to the current command value Icm inputted, it outputs a compensation code SN positive hysteresis characteristic shown in FIG. 10 (A) and (B) (+1) or negative (-1). Although the current command value Icm estimates 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. [0042] 　If you decide the sign of the dead time compensation value simply from the current sign of the phase current command value model, chattering occurs in the low load. When you turn off the handle gently to the left and right in the on-center, torque ripple is generated. The hysteresis is set to the code determination in order to improve this problem, except if the sign exceeds the current value set is changed to suppress the chattering holds the current code. [0043] 　Current command value sensitive gain Gc from the current command value sensitive gain unit 250 is input to the multiplier 203, the multiplication unit 203 outputs a current command value sensitive gain Gcs obtained by multiplying the compensation code SN (= Gc × SN). Current command value sensitive gain Gcs is input to the multiplier 204d and 204q. [0044] 　The optimum dead time compensation amount because changes in accordance with the inverter application voltage VR, in this embodiment calculates the voltage sensitive gain Gv corresponding to the inverter application voltage VR, so that varying the dead time compensation amount . Inverter application voltage sensing gain unit 220 for outputting a voltage sensitive gain Gv by entering the inverter application voltage VR is as shown in FIG. 11, the inverter application voltage VR is limited to the positive and negative maximum value at the input limiting unit 221, the maximum value inverter application voltage VRl that is limited to the input to the inverter application voltage / time compensation gain conversion table 222. Characteristics of the inverter application voltage / time compensation gain conversion table 222, for example, as shown in FIG. 12. 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. The calculated voltage sensitive gain Gv is multiplied portion 231U, is input to 231V and 231W. [0045] 　Additionally, or earlier timing dead time compensation by the motor rotation speed omega, if you want to or slower, for the function of calculating the adjustment angle in accordance with the motor rotational speed omega, have the phase adjusting section 210 in this embodiment doing. The phase adjusting section 210, in the case of the advance angle control is a characteristic as shown in FIG. 13, the calculated phase adjustment angle Δθ is input to the adder 221, is added to the motor rotational angle θ that is detected. Motor rotation angle θm which is the addition result of the adder 221 (= θ + Δθ), the angle - the dead time compensation value function unit 230 U, is input to 230V and 230 W, are inputted to the 3-phase AC / dq axis conversion section 240 . [0046] 　By detecting the motor rotation angle after calculating the Duty command value, there is a time lag of several tens to hundred [.mu.s] until it is actually reflected in the PWM signal. During this time, the motor is rotating, the phase shift occurs in the motor rotation angle at the time of operation and the motor rotation angle at the time of reflection. Therefore to compensate for the phase shift, performs advance in accordance with the motor rotational speed omega, which adjusts the phase. [0047] 　Angle - dead time compensation value function unit 230 U, 230V and 230W, as shown in detail in FIG. 14, the phase adjusted motor rotation angle .theta.m, 120 in the range of electrical angle 0 ~ 359 [deg] [deg] each phase-shifted rectangular wave of each phase dead time reference compensation value UDT, and outputs the Vdt and Wdt. Angle - dead time compensation value function unit 230 U, 230V and 230W is a dead time reference compensation value required by the three-phase as a function depending on the angle, calculated on real time ECU, the 3-phase dead time reference compensation value Udt, and outputs the Vdt and Wdt. Angle function of the dead time reference compensation value is different depending on the characteristics of the dead time of the ECU. [0048] 　Dead time reference compensation value UDT, Vdt and Wdt each multiplication unit 231U, is input to 231V and 231W, is multiplied by the voltage sensitive gain Gv. Voltage sensitive gain Gv multiplied three phase dead time compensation value Udtc (= Gv · Udt), Vdtc (= Gv · Vdt) and Wdtc (= Gv · Wdt) is inputted to the 3-phase AC / dq axis conversion section 240 It is. 3-phase AC / dq axis conversion section 240 converts in synchronization with the motor rotation angle .theta.m, 3-phase dead time compensation value Udtc, the Vdtc and dead time compensation value for dq-axis of two phases WDTC vda * and VQA * to. Dead time compensation value vda * and VQA * are input to respective multipliers portion 204d and 204q, it is multiplied by the current command value sensitive gain Gcs. Multiplication result of the multiplying unit 204d and 204q are dead time compensation value vd * and vq *, the dead time compensation value vd * and vq * is added to the voltage command value vd and vq respectively adding section 121d and 121 q, subtraction unit 141d and through the addition section 141q, is input to the space vector modulation section 300 as the voltage command values ​​vd ** and vq **. [0049] 　Thus, in the first embodiment, a three-phase function corresponding to the dead time compensation value to the motor rotational angle (electrical angle), by converting the three-phase / dq axis feedforward voltage command value on the dq axis in and has a configuration to compensate. Compensation sign of dead time using the steering assist command value dq axis, the size of the size and the inverter application voltage VR of the steering assist command value iqref, is variable so that the compensation amount is optimum size there. [0050] 　Next, a description will be given space vector modulation. [0051] 　Space vector modulation section 300, as shown in FIG. 15, two-phase voltage of the dq-axis space (vd **, vq **) into a three-phase voltages (Vua, Vva, Vwa), 3-phase voltage (Vua, Vva, Vwa) the third harmonic may have a function to superimpose, for example, 2017-70066 JP by the present applicant, WO / 2017/098840 has proposed in JP like space vector modulation approach it may also be used. [0052] 　That is, space vector modulation, the voltage command values ​​vd ** and vq ** of dq-axis space, based on the motor rotational angle θ and sector number n (# 1 ~ # 6), performs a coordinate transformation as shown below bridge configuration 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 to the motor by providing a function of controlling the rotation of the motor. The coordinate transformation, in the space vector modulation, the voltage command values ​​vd ** and vq ** based on the number 2, is coordinate converted into 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 16. [0053] [Number 2] Further, between the target voltage vector in the target voltage vector and alpha-beta coordinate system in d-q coordinate system, there is relation shown in Equation 3, the absolute value of the target voltage vector V is stored It is. [0054] [Equation 3] 　In the switching pattern in the 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 output voltage shown in the space vector diagram of FIG. 17 vectors V0 ~ defined V7 (π / 3 [rad] by the non-zero voltage vectors out of phase V1 ~ V6 and zero voltage vector V0 and 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, alpha-beta is either present in any sector, as shown in Figure 17, separated in a regular hexagon in the space, the target voltage vector V alpha- it can be determined based on the rotational angle γ of β coordinate system. Further, the rotation angle gamma as the sum of the obtained phase [delta] from the relationship between the voltage command values vd ** and vq ** in the rotation angle theta and d-q coordinate system of the motor is determined by γ = θ + δ. [0055] 　Figure 18 is a digital control by the inverter switching pattern S1, S3 and S5 in the 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 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. [0056] 　Space vector modulation, and generates a switching pattern S1 ~ S6 corresponding to the sector number obtained based on the target voltage vector V. Figure 18 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 of a corresponding FET Q1, Q3 and Q5 on the upper side arm. 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. [0057] 　If there is no space vector modulation, a dead time compensation of this embodiment is applied on the dq axis, the dead time compensation value only dq axis / three-phase conversion the dead time compensation value waveform (U-phase waveform) is broken line in FIG. 19 3-order component becomes a waveform that has been removed, such as. 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 value waveform as shown in solid line in FIG. 19. [0058] 　20 and 21 are simulation results showing the effect of the present embodiment, FIG. 20 is U-phase current when there is no compensation for the dead time indicates the d-axis current and q-axis current. By applying the dead time compensation of this embodiment, the steering state in the low and medium speed steering, less ripple in the phase current and the improvement of the waveform distortion of the dq-axis current (dq axis current waveform as shown in FIG. 21, phase current waveform) can be checked close to a sine wave, improvement of improvement and steering sound of the torque ripple at the time of steering was observed. [0059] 　In FIG. 20 and FIG. 21 shows only a U-phase current as a representative. [0060] 　Next, a second embodiment of the present invention. [0061] 　Figure 22 is the present invention is shown by the overall structure of the Second Embodiment to correspond to FIG. 5, the dead time compensation section 200A is provided for calculating the dead time compensation value vd * and vq on the dq axes * cage, detailed configuration of the dead-time compensator 200A is 23, it will be described with reference to FIG. 23 below. [0062] 　The dead time compensation section 200A, the current control delay model 201 for the same configuration and operation as the first embodiment, the compensation code estimating unit 202, the phase adjusting section 210, the inverter application voltage sensing gain unit 220, an adder 221, multipliers part 203,204d and 204q, and the current command value sensitive gain unit 250 is provided. Then, in the second embodiment, by inputting the motor rotation angle θm from the addition section 221, the d-axis angle and outputs a dead time reference compensation value vda the d-axis - and dead time compensation value criterion table 260d, the q-axis q-axis angle and outputs a dead time reference compensation value VQA - and dead time compensation value criterion table 260q are provided. Dead time reference compensation value vda and vqa are input to respective multipliers portion 205d and 205Q, is multiplied by a voltage sensitive gain Gv from the inverter application voltage sensing gain unit 220, a voltage sensing gain Gv and multiplied dead time compensation value vdb and vqb is inputted to each of the multiplying unit 204d and 204q. The multiplying unit 204d and 204q are inputted current command value sensitive gain Gcs, the dead time compensation value vd * and vq * is output is the result of multiplying the current command value sensitive gain Gcs the dead time compensation value vdb and vqb It is. [0063] 　Angle - as dead time compensation value reference table 260d and 260q are shown in detail in Figure 24, on the off-line, the dead time compensation value which is a function of the angle which is required in three phases calculated, dead on the dq axis to convert to time compensation value. That is, as described in the first embodiment, the angle - the dead time compensation value function unit 230 U, at 230V and 230 W, the phase adjusted motor rotation angle .theta.m, electrical angle of 0 to 359 range [deg] 120 [deg] by the phase-shifted square wave of each phase dead time reference compensation value UDT, and outputs the Vdt and Wdt. Angle - dead time compensation value function unit 230 U, 230V and 230W is calculated in off-line dead time reference compensation value required by the three-phase as a function depending on the angle, the dead time reference compensation value UDT, and outputs the Vdt and Wdt . Dead time reference compensation value UDT, the angle function Vdt and Wdt, different according to the characteristics of the dead time of the ECU. [0064] 　Dead time reference compensation value UDT, Vdt and Wdt are input to three-phase AC / dq axis conversion section 261, the d-axis dead time compensation value DTd and q-axis dead time compensation value DTq output waveform as shown in FIG. 24 It is converted. Based on the dq axis output waveform of FIG. 24, the angle by the angle (.theta.m) Input - generating a dead time compensation value reference table 260d and 260Q. d axis angle - dead time compensation value criterion table 260d, as shown in FIG. 25 (A), it has a saw tooth output voltage characteristic (d axis dead time reference compensation value) with respect to the motor rotation angle .theta.m, q-axis angle - dead time compensation value criterion table 260q, as shown in FIG. 25 (B), it has an output voltage characteristic of the wave waveform obtained by adding an offset voltage (q-axis dead time reference compensation value). [0065] 　Angle - dead time reference compensation value vda and vqa from the dead time compensation value reference table 260d and 260q are respectively input to multiplying section 205d and 205Q, is multiplied by the voltage sensitive gain Gv. Dead time compensation value vdb and vqb of dq-axis which is multiplied by the voltage sensitive gain Gv are respectively input to multiplying section 204d and 204q, it is multiplied by the current command value sensitive gain Gcs. Multiplying unit 204d and the dead time compensation value vd from 204q * and vq * is added to the voltage command values ​​vd and vq respectively adding section 121d and 121 q, via the subtraction unit 141d and the adder unit 141q, the voltage command values ​​vd ** and is input to the space vector modulation section 300 as vq **. [0066] 　As described above, in this embodiment, the angle of the function corresponding to the dead time compensation value to the motor rotation angle (electric angle) - calculated by the dead time compensation value criteria table, the voltage command value on the dq axis dead time compensation value and it has a configuration to compensate directly in the feed-forward. Compensation sign of dead time using the steering assist command value (iqref), the size of the size and the inverter voltage applied steering assist command value, the compensation amount is variable so that the optimum size. [0067] 　26 and 27, the effects of the second embodiment is a result of the bench test apparatus simulating the actual vehicle showing a U-phase, FIG. 26 is U-phase current when there is no compensation for the dead time, d-axis current and shows the q-axis current. By providing the dead time compensation of this embodiment, the steering state in the low and medium speed steering, less ripple in the phase current and the improvement of the waveform distortion of the dq-axis current (dq axis current waveform as shown in FIG. 27, phase current waveform) can be checked close to a sine wave, improvement of improvement and steering sound of the torque ripple at the time of steering was observed. [0068] 　Next, a third embodiment of the present invention, shown in FIG. 28 in correspondence with FIG. Details of the dead time compensation unit 200B is shown in FIG. 29. In the third embodiment, the dead time compensator 200B is three-phase dead time compensation value VUM, calculates the Vvm and Vwm, the voltage command of the three-phase dead time compensation value VUM, the Vvm and Vwm from the space vector modulation section 300 values ​​Vu *, so that to the dead time compensation by adding to Vv * and Vw *. [0069] 　In the third embodiment, the multiplication unit 271U, 271V and compensation value adjuster 270 is provided comprising at 271W, multiplying unit 231U, the dead time compensation value from 231V and 231W Udtc, Vdtc and Wdtc multiplication unit 271U, 271V and is inputted is multiplied by a current instruction value sensitive gain Gcs to 271W. Current command value sensitive gain Gcs and the multiplication result is a dead time compensation value VUM, Vvm and is output as Vwm, the voltage command value of three-phase after spatial vector modulation Vu *, Vv * and Vw * respectively adding unit 310U, 310 V and it is added in the 310W. A sum voltage command value Vuc *, Vvc * and Vwc * is input to the PWM control unit 160. [0070] 　As described above, in this embodiment, a function of three-phase according to the dead time compensation value to the motor rotational angle (electrical angle) are configured to compensate the voltage command value of the direct three-phase feedforward. Compensation sign of dead time using the steering assist command value dq axis, the size of the size and the inverter voltage applied steering assist command value, the compensation amount is variable so that the optimum size. [0071] 　30 and 31 the effect of the present embodiment is a simulation result showing a U-phase, FIG. 30 is U-phase current when there is no compensation for the dead time indicates the d-axis current and q-axis current. By applying the dead time compensation of this embodiment, the steering state in the low and medium speed steering, less ripple in the phase current and the improvement of the waveform distortion of the dq-axis current (dq axis current waveform as shown in FIG. 31, phase current waveform) can be checked close to a sine wave, improvement of improvement and steering sound of the torque ripple at the time of steering was observed. [0072] 　Next, the motor rotation angle is described embodiment adds the ability to phase correction by using the d-axis current command value and the q-axis current command value. [0073] 　In medium speed and high speed steering area, for the rolling add propensity, it is necessary to flow a current to the d-axis. At this time, depending on the current amount of the d-axis, the phase of the phase current to the motor rotational angle (electrical angle) is varied. When in a state in which current flows in the d-axis in accordance with the motor rotation angle to adapt the dead time compensation feedforward, the timing with dead time compensation for the phase current, which may lead to the torque ripple. To solve this problem, the phase difference between the motor rotation angle and the phase current from the d-axis current command value and the q-axis current command value is calculated (the variation angle), function of the motor rotational angle phase correction (hereinafter, "phase Add a to) the correction function ", by the dead time compensation using the motor rotational angle that is phase-corrected (phase correction angle of rotation) in the phase correction function, allowing less dead time compensation of timing shift. [0074] 　Figure 32 is a configuration example of adding the phase correction function with respect to the first embodiment is shown in the Fourth Embodiment is corresponding to FIG. 5, the dead time compensation unit 200C, executes the phase correction function axis current factor phase correction calculation unit 280 is provided. Details of the dead time compensation unit 200C are shown in FIG. 33, a motor rotation angle θm is the axial current source phase correction calculation unit 280, d-axis current command value id * and the q-axis current command value iq * are input shaft phase correction rotation angle θd outputted from the current source phase correction calculation unit 280 is an angle - the dead time compensation value function unit 230 U, is input to 230V and 230 W. [0075] 　Axis current factor phase correction calculation unit 280 calculates the current rate from the d-axis current command value id * and the q-axis current command value iq *, computation by the inverse tangent function (hereinafter referred to as "arctan calculation") to perform the Accordingly, to calculate the change angle of the phase current caused by the d-axis current. Then, the calculated variation angle added to the motor rotation angle .theta.m, performs rollover process, and outputs a phase correction angle of rotation [theta] d. An example of the configuration of the axial current source phase correction calculator 280 is shown in FIG. 34, axis current factor phase correction calculation unit 280, the absolute value unit 281 and 282, divide-by-zero prevention limiting unit 283, dq axis current ratio calculation unit 284 , the input limiting section 285, variation angle calculation unit 286, the sign determination unit 287, rollover processing unit 288 comprises a multiplier unit 289A and adder unit 289B. [0076] 　dq-axis current ratio calculation unit 284 calculates the current rate Rdq from d-axis current command value and the q-axis current command value. Therefore, the absolute value unit 281 and 282, d-axis current command value id * and the q-axis current command value iq * of the absolute value calculated, further, the q-axis current command value as the denominator in the current rate Rdq calculated for the absolute value of iq * is prevented from becoming zero, limiting the absolute value of q-axis current command value iq * by the divide-by-zero prevention limiting unit 283. For example, the maximum detection value the upper limit value (e.g. 200A), place a limit lower limit minimum detecting value other than 0 as (e.g. 0.05 A). By dividing the d-axis current command value id * of the absolute value in the absolute value of q-axis current command value iq *, which is subjected to restriction, dq axis current ratio calculation unit 284 calculates the current rate Rdq. [0077] 　Input restriction unit 285, so that the current ratio Rdq is arctan calculation of the target is not outside the operational range, applying a limit operation range as a limiting value. [0078] 　Change angle calculation unit 286 performs an arctan operation on the current rate Rdq which is limited by the input limiting unit 285, calculates a variation angle d [theta]. Considering the processing load of the CPU mounted in the ECU, to process the arctan operation offline, to create a further table unit of the operation result of converting from rad (radian) in deg (degrees), the variation angle calculation unit 286 It holds on. The online variation angle calculation unit 286, based on the table created, determine the variation angle dθ from the current ratio Rdq. If there is no problem in the processing load on the CPU executes the arctan calculation and unit conversion online may calculate the fluctuation angle d [theta]. Fluctuation angle dθ is input to the multiplier 289A. [0079] 　Sign determination unit 287 receives the d-axis current command value id * and the q-axis current command value iq *, if both signs are different "-" outputs, if they match outputs "+". The output value from the code determination unit 287 is input to the multiplier unit 289A, is multiplied by the variation angle d [theta] at the multiplication unit 289A, the multiplication result is inputted to the adder 289B as the fluctuation angle d [theta] '. [0080] 　In addition section 289B, by adding the variation angle d [theta] 'to the motor rotation angle .theta.m, the motor rotation angle .theta.m phase correction, calculates a phase correction angle of rotation Shitadi0. Then, the phase correction rotation angle θd0 case above 360 ​​deg, in order to perform a rollover process of an angle of 0 ~ 360 deg, and inputs the phase correction angle of rotation θd0 rollover processing unit 288. Rollover processing unit 288, the phase correction rotation angle Shitadi0, rollover process in units of 360 deg, i.e., performs a process of obtaining a modulo value of the phase correction angle of rotation Shitadi0 at 360, processing results phase and outputs it as a correction rotation angle θd. [0081] 　Such a configuration and each part of the process, the axial current source phase correction calculation unit 280, a motor rotation angle θm and a phase correction using the d-axis current command value id * and the q-axis current command value iq *, the phase correction and calculates the rotation angle θd. [0082] 　35 to 42, in order to confirm the effect of the phase correction in the present embodiment, the medium-speed steering condition (motor applied voltage = 12 [V], q-axis current command value = 45 [A], d-axis current command value = 15 [a], the motor rotation speed = 1200 in [rpm]), which is the result of a simulation performed with and without the phase correction. 35 to 38 are the result of the case where there is no phase correction, FIGS. 39 to 42 is the result when there is a phase correction. Further, the motor rotation angle in FIGS. 35 and 39 (FIG. 35) or the phase correction angle of rotation (Fig. 39), U-phase current, a d-axis current and q-axis current, U-phase current and in FIGS. 36 and 40 the U-phase dead time compensation value, the U-phase current and the d-axis dead time compensation values ​​in FIGS. 37 and 41, the U-phase current and the q-axis dead time compensation values ​​in FIGS. 38 and 42 show respectively . [0083] 　As shown in FIG. 35, when a current flows in the d-axis, U-phase current, distortion occurs in the d-axis current and q-axis current. If the d-axis current is zero, (intersects the horizontal axis, the value is in terms of zero) zero crossing point of the U-phase current when the motor rotation angle is the point of zero matches, a current flows in the d-axis, the motor it is understood that advances the phase of the U-phase current with respect to the rotation angle. Although U-phase dead time compensation values ​​shown in FIG. 36 is a signal in the middle of operation, with respect to the U-phase current advances the phase by supplying a current to d axis and shift the timing of the U-phase dead time compensation value it can be seen that you are. Also in the d-axis dead time compensation value and the q-axis dead time compensation value, as shown in FIGS. 37 and 38, are displaced similarly occurs. [0084] 　In contrast, by performing the phase correction according to the d-axis current, the dead time compensation of the feed forward in response to the motor rotation angle, even when a current flows in the d-axis, as shown in FIG. 40 , it can be confirmed that the timing of the dead time compensation is fit. Also in the d-axis dead time compensation value and the q-axis dead time compensation value, as shown in FIGS. 41 and 42, matching the timing as well. Thus, by performing phase correction according to the present embodiment improves the timing of the dead time compensation of the feed forward in response to the motor rotation angle, as shown in FIG. 39, an improvement in the distortion of the current waveform, ripple is reduced in the waveform of the d-axis current and q-axis current, the waveform of the U-phase current can be confirmed that a waveform close to a sine wave. [0085] 　Figure 43 is a configuration example of adding the phase correction function with respect to the third embodiment is shown in the Fifth Embodiment is corresponding to FIG. 28, the dead time compensation unit 200D, as in the fourth embodiment , the axis current factor phase correction calculation unit 280 to perform the phase correction function is provided. Details of the dead time compensation unit 200C are shown in FIG. 33, axis current factor phase correction calculating unit 280 performs a phase correction function in the same configuration and operation as in the fourth embodiment. Incidentally, the multiplication unit 231U, constitutes a dead time compensation value output unit with 231V and 231W. [0086] 　Also in the fifth embodiment, the dead time compensation values ​​shown in FIG. 40, since the compensation voltage command value of the direct three-phase feedforward show the same effects as in the fourth embodiment. [0087] 　Incidentally, it is assumed that the motor control device mounted on any electric power steering apparatus in the above embodiments, it is naturally possible to mount the electric vehicles and machine tools. DESCRIPTION OF SYMBOLS [0088] 1 handle 2 column shaft (steering shaft, the handle shaft) 10 torque sensor 20, 100 motor 30 control unit (ECU) 31 steering assist command value calculating section 35,120d, 120q PI controller 36,160 PWM controller 37,161 inverter 130,240,261 3-phase AC / dq axis conversion section 200,200A, 200B, 200C, 200D dead time compensation unit 201 current control delay model 202 compensates code estimator 210 phase adjustment unit 220 inverter application voltage sensing gain unit 230 U, 230V , 230 W angle - dead time compensation value function unit 250 current command value sensitive gain section 270 compensation value adjuster 280 axis current factor phase correction calculation unit 284 dq axis current Rate calculation unit 286 change the angle calculating unit 300 spatial vector modulation section 301 2-phase / 3-phase conversion unit 302 third harmonic superposition unit WE claims [Requested item 1] calculates a control assist command value of dq-axis, the control auxiliary calculates the dq-axis current command value from the command value, and converting the dq-axis current command value to the Duty command value of the three-phase, 3-phase by the PWM control inverter the motor control apparatus of a vector control method for driving and controlling the brushless motor, and calculates the phase-corrected three-phase dead time reference compensation value based on the motor rotation angle by using the dq-axis current command value, the 3-phase dead time with a reference compensation value processing gain and coding, 3-phase / dq axis conversion to determine the dq axis dead time compensation value, the dq-axis dead time compensation to the dq-axis voltage command value by processing the dq-axis current command value motor control apparatus characterized by by adding the value performs the dead time compensation of the inverter. [Requested item 2] calculates a control assist command value of dq-axis, the control auxiliary calculates the dq-axis current command value from the command value, and converting the dq-axis current command value to the Duty command value of the three-phase, 3-phase by the PWM control inverter the motor control apparatus of a vector control method for driving and controlling the brushless motor, and calculates the phase-corrected three-phase dead time reference compensation value based on the motor rotation angle by using the dq-axis current command value, the 3-phase dead time obtains a reference compensation value 3-phase dead time compensation value treated with gain and codes, the addition to the dead time compensation of the inverter to the 3-phase dead time compensation value to the three-phase voltage command value after the dq-axis space vector modulation motor control device and performing. [Requested item 3] The motor control device according to claim 1 having a function to adjust based on the dq axis dead time compensation value to the control assist command value. [Requested item 4] The motor control device according to claim 2 having a function to adjust based on the 3-phase dead time compensation value to the control assist command value. [Requested item 5] The motor control device according to any one of claims 1 to 4 in which the phase of the motor rotation angle is adapted to variable according to motor speed. [Requested item 6] calculates a control assist command value of dq-axis, the control auxiliary calculates the dq-axis current command value from the command value, and converting the dq-axis current command value to the Duty command value of the three-phase, 3-phase by the PWM control inverter the motor control apparatus of a vector control method for driving and controlling the brushless motor, and the shaft current source phase correction calculator for calculating a phase correction angle of rotation by phase correction of the motor rotation angle by using the dq-axis current command value, the phase computes the 3-phase dead time reference compensation value based on the corrected rotational angle angle - and dead time compensation value function unit, and the inverter application voltage sensing gain unit for calculating a voltage sensitive gain based on the inverter application voltage, the three-phase dead a dead time compensation value output unit for multiplying the voltage sensitive gain in time reference compensation value is converted to the dq axis output dq-axis dead time compensation value comprises a, Motor control apparatus characterized by adding said dq-axis dead time compensation value to the dq-axis voltage command value by processing the dq-axis current command value performs time compensation of the inverter. [Requested item 7] The dead time compensation value output section, the voltage multiplication unit for multiplying the sensitivity gain, the 3-phase dead time reference compensation value 3-phase AC for converting the three-phase output of the multiplying unit to the dq axis dead time compensation value / a dq axis conversion section, in the motor control device according to claim 6 is configured. [Requested item 8] The motor according to the current command value sensitive gain claims arithmetic unit is provided in claim 6 or 7 for calculating a current command value sensitive gain of varying the compensation amount of the dq axis dead time compensation value in response to the control assist command value Control device. [Requested item 9] calculates a control assist command value of dq-axis, the control auxiliary calculates the dq-axis current command value from the command value, and converting the dq-axis current command value to the Duty command value of the three-phase, 3-phase by the PWM control inverter the motor control apparatus of a vector control method for driving and controlling the brushless motor, the dq-axis current command value and a space vector modulator for a three-phase voltage command value by modulating the space vector, by using the dq-axis current command value motor a shaft current source phase correction calculator rotation angle by the phase correction calculating a phase correction angle of rotation, angle and calculates the 3-phase dead time reference compensation value based on the phase correction angle of rotation - and the dead time compensation value function unit , an inverter application voltage sensing gain unit for calculating a voltage sensitive gain based on the inverter voltage applied, first by multiplying the voltage sensitive gain to the 3-phase dead time reference compensation value A dead time compensation value output unit for outputting the three-phase dead time compensation value of 1, the current command value sensitive gain of varying the compensation amount of the first 3-phase dead time compensation value in response to the control assist command value calculation a current command value sensitive gain calculating unit which, provided with, the first by multiplying the current command value sensitive gain to a three-phase dead time compensation value determined for the second three-phase dead time compensation value, the three-phase voltage motor control device and performing the dead time compensation of the inverter by adding the second three-phase dead time compensation value to the command value. [Requested item 10] The current command value sensitive gain calculating unit, and a current control delay model for compensating the delay of the current to enter the control assist command value, and the compensation code estimator for estimating the sign of the output of the current control delay model, the a current command value sensitive gain unit which outputs the current command value sensitive gain based on the output of the current control delay model, to claim 9, which is constituted by a multiplication unit for multiplying said sign to the current command value sensitive gain the motor control device according. [Requested item 11] The axis current factor phase correction calculation unit, and the dq-axis current ratio calculation unit for calculating the current rate of the dq-axis current command value, and a variation angle calculation unit for obtaining a fluctuation angle based on the current rate comprises a, the motor control device according to any one of claims 6 to 10 corrects the phase of the motor rotation angle by using the changing angle. [Requested item 12] Equipped with a motor control device according to any one of claims 1 to 11, the electric power steering apparatus characterized by imparting assist torque to a steering mechanism of a vehicle.