The present invention is to vector control in the dq-axis rotating coordinate system driving the 3-phase brushless motor, based on a function or table of the motor rotational angle (electrical angle), and the control unit equipped with a power element (inverter or near ) according to the temperature of, smooth to compensate for the dead time of the inverter, to enable the the motor controller and an electric power steering apparatus equipped with it without steering sound control. BACKGROUND [0002] 　As equipped with devices of the motor control apparatus, there is a steering assist force by the rotation force of the motor to a steering mechanism of the vehicle (assist force) electric power steering apparatus which provides a (EPS), there are electric vehicles and machine tools other. 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 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 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. It should be noted that the predetermined current Icm1 may be "0". [0042] 　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. [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 the multiplication portion 241U of the compensation value adjusting portion 240, 241V, is input to 241W. [0044] 　Optimum dead time compensation amount because changes in accordance with the inverter application voltage VR, in this example calculates the dead time compensation amount corresponding to the inverter application voltage VR, so that variable. 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 is as shown in Figure 12, for example. An inverter application voltage 9.0 inflection point [V] and 15.0 [V], the voltage sensitive gain "0.7" and "1.2" is an example, can be appropriately changed. Voltage sensitive gain Gv is multiplied unit 231U, 231V, is input to 231W. [0045] 　Also, or early dead time compensation timing by the motor rotation speed omega, if you want to slow down, and a phase adjustment unit 210 for the function to calculate the adjustment angle in accordance with the motor rotational speed omega. 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, 230V, is input to 230 W. [0046] 　Angle - dead time compensation value function unit 230 U, 230V, 230 W, 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, Vdt, and outputs a Wdt. Dead time compensation value angle function unit 230 U, 230V, 230 W, 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 UDT, Vdt, Wdt to output. Angle function of the dead time reference compensation value is different depending on the characteristics of the dead time of the ECU. [0047] 　Dead time reference compensation value Udt, Vdt, Wdt each multiplication unit 231U, is input 231V, to 231W, is multiplied by the voltage sensitive gain Gc. Voltage sensitive gain Gc multiplied three phase dead time compensation value Udtc (= Gc · Udt), Vdtc (= Gc · Vdt), Wdtc (= Gc · Wdt) the multiplication of the respective compensation value adjusting unit 240 241U, 241V, is input to 241W. Further, multiplying unit 241U, 241V, is inputted current command value sensitive gain Gcs to 241W, the multiplication result is a dead time compensation value VUM, Vvm, is output as Vwm, voltage command 3 phase after spatial vector modulation values ​​Vu *, Vv *, Vw * respectively adding unit 310U, 310 V, are added in 310 W. A sum voltage command value Vuc *, Vvc *, Vwc * is input to the PWM control unit 160. [0048] 　Thus, as a function of the 3-phase corresponding to the dead time compensation value to the motor rotational angle (electrical angle), has a configuration that compensates 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. [0049] 　Next, a description will be given space vector modulation. 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, may have a function of superimposing the third harmonic in Vwa), for example 2017-70066 JP by the present applicant, a method of space vector modulation proposed in WO / 2017/098840, etc. it may also be used. [0050] 　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, 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 16. [0051] [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. [0052] [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 voltage vector shown in the space vector diagram of FIG. 17 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 17, separated in a regular hexagon in alpha-beta space, the target voltage vector V alpha can be obtained based on the rotation angle γ in -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. [0053] 　Figure 18 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 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. [0054] 　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 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, T0 / 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. [0055] 　If there is no space vector modulation, a dead time compensation of the present 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 indicated by a broken line in FIG. 19 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. 19. [0056] 　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, the sine wave phase current waveform) can be confirmed closer to the, improvement of improvement and steering sound of the torque ripple at the time of steering was observed. [0057] 　In FIG. 20 and FIG. 21 shows a U-phase current as a representative. [0058] 　Meanwhile, the power element such as a FET is heated by ON operation, characteristics of the power element changes depending on the temperature. Therefore, it is necessary to correct the dead time in accordance with the temperature of the power element, in the present invention, to measure the temperature of the control unit the power element is mounted such FET (inverter or near), depending on the measured temperature Te corrects the dead time compensation value, so that more accurately compensates for the dead time of the inverter. [0059] 　Figure 22 shows in a first embodiment in correspondence with FIG. 5 of the present invention, the temperature detecting unit 400, the temperature coefficient calculating unit 280 and the multiplication unit 281 is added. Construction and operation of other parts will be omitted because it is identical to the example of FIG. [0060] 　Temperature detection unit 400, the control unit detects the temperature of Pawade element or near a known technique (ECU in EPS) (or estimated), and the temperature coefficient calculator in the dead-time compensator 200 the detected temperature Tm input to 280. When performing the dead time compensation feedforward, compensation amount is a value obtained according to the amount to compensate for the dead band characteristics of the Duty command value according to the dead time of the control unit at room temperature. However, as the temperature of the control unit becomes high, actually dead time (hereinafter, "actual dead time" to) required is small, also becomes small dead zone required Duty command value, the torque ripple due to the compensation amount excessive which may lead to. Further, when the outside air temperature is low, the temperature of the control unit is lower than the normal temperature becomes the actual dead time is large, but an increase in the dead zone required Duty command value, which may lead to a torque ripple due to the compensation amount insufficient . Therefore, in order to avoid the compensation amount insufficient compensation amount excessive and at a low temperature at a high temperature, using the temperature coefficient Tc is calculated by the temperature coefficient calculating unit 280, the compensation amount by the temperature of the control unit or near the variable It can be so. Temperature coefficient calculation unit 280, as shown in FIG. 23, the compensation amount setting temperature, the amount of compensation required by the three-point performance guaranteed temperature upper and performance guarantee temperature lower limit is measured, based on the value of the compensation amount setting temperature a value "1.00", determine the temperature coefficient Tc by calculating the ratio of the performance guarantee temperature upper and performance guarantee temperature limit respectively. The ratio of the three points to generate a table for linear interpolation calculation or temperature Tm, but may be a limit on the performance guaranteed temperature upper and performance guarantee temperature limit. Also, if the temperature characteristic of the control unit is complex increases the number of contact points may be a curve interpolation table. 20 ° C. The compensation amount set temperature as a characteristic example of the temperature coefficient Tc, -40 ℃ performance guaranteed temperature lower limit, and 80 ° C. The performance guaranteed temperature limit, at the compensation amount required is -40 ℃ against time 20 ° C. 10 % increase, assuming that decreased 80 ° C. at 10%, characteristic table of the temperature coefficient Tc is as shown FIG. 142. [0061] 　Temperature coefficient Tc from the temperature coefficient calculator 280 is input to the multiplier 281 is multiplied by the voltage sensing gain Gv, voltage coefficient Gvt corrected by the temperature coefficient Tc is input to the multiplier unit 231U, 231V and 231W. The subsequent operation is similar to the example of FIG. [0062] 　Low-load and low-speed steering condition (motor applied voltage = 12 [V], Iq = 8 [A], Id = 0 [A], the motor rotation speed 120 [rpm]), the temperature characteristic of the control unit is in Fig. 24 the results simulated performed without temperature correction is made and the temperature correction when shown in FIGS. 25 and 26. Results Figure 25 without the temperature compensation, the result of there FIG 26 is a temperature correction, the time variation of the U-phase current on the left side of the figure, shows the time variation of the U-phase dead time compensation value on the right. As shown in FIG. 25, because the temperature of 20 ° C. compensation amount is appropriate, (see FIG. 25 (A)) is not observed distortion of the U-phase current waveform due to the dead time, - 40 ° C. of temperature for compensation amount insufficient under the condition, the distortion of the concave is seen in the vicinity of 0 [a] in the U-phase current (see FIG. 25 (B)). Further, since the compensation amount excessive is at a temperature of 80 ° C., convex distortion is seen near 0 [A] in the U-phase current (see FIG. 25 (C)). In contrast, by adapting the temperature correction of the present embodiment, as shown in FIG. 26, because the temperature of 20 ° C. is appropriate as compensation amount ± 0.41 [V], the dead time of the temperature-corrected also in compensation, distortion correction as before U-phase current waveform is not observed (see FIG. 26 (a)). Since at a temperature of -40 ℃ compensation amount is corrected to ± 0.45 [V], the distortion of the concave which has been generated by the compensation amount insufficient near 0 [A] in the U-phase current is improved (FIG. 26 (B) see). Further, since the compensation amount is at a temperature of 80 ° C. is corrected to ± 0.37 [V], convex distortion that occurred by the compensation amount excessive to the U-phase current 0 near [A] is improved ( Figure 26 (C) see). In FIG. 25 and FIG. 26 shows only the waveform of the U-phase, a similar improvement for the waveform of the V-phase and W-phase were confirmed. [0063] 　In the first embodiment described above, three-phase dead time compensation value VUM, Vvm, voltage command values ​​of the three phase after spatial vector modulation the Vwm Vu *, Vv *, but is added to Vw *, the dq axis it is also possible to perform the dead time compensation by adding the dead time compensation value on the dq-axis (second embodiment). [0064] 　Figure 27 shows in a second embodiment in correspondence to FIG. 22 of the present invention, a three-phase AC / dq axis conversion section 290, along with a multiplication unit 204d and 204q is newly provided, the voltage command of the dq axis adding section 141d and 141q are provided on the path. Multiplying unit 204d and dq axes obtained by 204q dead time compensation value vd * and vq * are compensated by adding the voltage command values ​​vd and vq respectively adding section 141d and 141q. [0065] 　In the dead-time compensator 200A of the second embodiment shown in FIG. 27, the dead time reference compensation value U dt , V dt , W dt Each multiplier unit 231U, 231V, is input to 231W, voltage coefficient from the multiplication unit 281 gvt It is multiplied with. Voltage coefficient gvt the multiplied with the corrected three-phase dead time compensation value Udtc (= Gvt · Udt), Vdtc (= Gvt · Vdt), Wdtc (= Gvt · Wdt) is 3-phase AC / dq axis conversion section 290 It is input to. 3-phase AC / dq axis conversion section 290 converts in synchronization with the motor rotation angle .theta.m, 3-phase dead time compensation value Udtc, Vdtc, the dead time compensation value dq axes 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, voltage command is input to the space vector modulation section 300 as a value vd ** and vq **. [0066] 　Thus, in the second embodiment, the 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. [0067] 　29 and 30 are simulation results showing the effect of the present invention to compensate the feed-forward voltage command value on the dq-axis (second embodiment), FIG. 29 is the case where there is no compensation for the dead time U-phase current, shows a 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. 30, 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. In FIG. 29 and FIG. 30 shows only a U-phase current as a representative. [0068] 　Low-load and low-speed steering condition (motor applied voltage = 12 [V], Iq = 8 [A], Id = 0 [A], the motor rotation speed 120 [rpm]), the temperature characteristic of the control unit is in Fig. 24 the results simulated performed without temperature correction is made and the temperature correction when shown in FIGS. 31 and 32. Figure 31 is the result without temperature compensation, the result of there FIG 32 is a temperature correction. Since the compensation amount at a temperature of 20 ° C. As shown in FIG. 31 is appropriate, but is not observed distortion of the current waveform due to the dead time, the U-phase current for the compensation amount insufficient under the condition of -40 ° C. 0 [a] strain concave was observed in the vicinity of, the ripple is generated in the current of the dq-axes. Further, under the condition of 80 ° C. convex distortion is seen near 0 [A] in the U-phase current for the compensation amount excessive ripple is generated in the current of the dq-axes. Adaptation of a temperature correction of the present invention as shown in FIG. 32, by correcting the amount of compensation for each temperature, the U-phase current and the improvement of the waveform distortion of the dq-axis current (dq-axis current waveforms at each temperature condition ripple can phase current waveform) is confirmed near the small sin wave, improvement of torque ripple is observed. [0069] 　Next, a third embodiment using the dead time reference compensation value dq axis. [0070] 　Figure 33 is shows in correspondence with FIGS. 22 and 29, the dead time compensation unit 200B for calculating the dead time compensation value vd * and vq on the dq axes * provided the overall configuration of a third embodiment , detailed configuration of the dead-time compensator 200B is 34, it will be described with reference to FIG. 34 below. [0071] 　The dead time compensation section 200B, a current control delay model 201 for the same configuration and operation as the first embodiment and the second embodiment, the compensation code estimating unit 202, a phase compensation unit 210, an inverter application voltage sensitive table 220, adder part 221, multiplying section 203,204d, 204q, 281, the temperature coefficient calculator 280 is provided. Then, in the third embodiment, the d-axis angle by entering the motor rotation angle motor rotation angle .theta.m, and outputs a dead time reference compensation value vda the d axis from the adder 221 - and the dead time reference compensation value table 260d, q-axis angle and outputs a dead time reference compensation value vqa q-axis - and the dead time reference compensation value table 260q are provided. Dead time reference compensation value vda and vqa are input to respective multipliers portion 205d and 205Q, it is multiplied by the corrected voltage coefficient Gc, voltage coefficient Gvt and multiplied dead time compensation value vdb and VQB, respectively multiplying unit 204d and It is input to 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. [0072] 　dq axis angle - as the dead time reference compensation value table 260d and 260q are shown in detail in Figure 35, on the off-line, and calculates the dead time compensation value which is a function of the angle which is required in three phases, on the dq axis converting the dead time compensation value. That is, as described in the second embodiment, 3-phase angle - dead time compensation value function unit 230 U, 230V, at 230 W, the phase adjusted motor rotation angle .theta.m, electrical angle of 0 to 359 [deg] range 120 [deg] by the phase-shifted square wave of each phase dead time reference compensation value UDT, Vdt, and outputs a Wdt. Dead time compensation value function unit 230 U, 230V, 230 W is calculated in off-line time compensation values ​​required in three phases as a function depending on the angle, and outputs the dead time reference compensation value UDT, Vdt, the Wdt. Dead time reference compensation value UDT, Vdt, the angle function Wdt, different according to the characteristics of the dead time of the ECU. [0073] 　Dead time reference compensation value Udt, Vdt, Wdt are input to three-phase AC / dq axis conversion section 261, dq axis dead time compensation value of the output waveform as shown in FIG. 35 DTd, it is converted to DTQ. Based on the dq axis output waveform of FIG. 35, the angle by the angle (.theta.m) Input - generating a dead time reference compensation value table 260d and 260Q. Dead time reference compensation value table 260d, as shown in FIG. 36 (A), a saw tooth output voltage characteristic (d axis dead time reference compensation value) with respect to the motor rotation angle .theta.m, the dead time reference compensation value table 260q, as shown in FIG. 36 (B), and an output voltage characteristic of the wave waveform obtained by adding an offset voltage (q-axis dead time reference compensation value). [0074] 　dq axis angle - dead time reference compensation value vda and vqa from the dead time reference compensation value table 260d and 260q are respectively input to multiplying section 205d and 205Q, it is multiplied by a voltage factor gvt. Dead time compensation value for dq-axis which is multiplied by the voltage coefficient gvt vda * and VQA * are input to respective multipliers portion 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, space vector modulation section 300 as the voltage command values ​​vd ** and vq ** It is input to. [0075] 　In this manner, the third embodiment, the function corresponding to the dead time compensation value to the motor rotational angle (electrical angle), the angle of the dq-axis - is calculated by the dead time reference compensation value table, which is corrected according to the temperature Dead and has a configuration that compensates directly feedforward time compensation value to the voltage command value on the dq axis. 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. [0076] 　37 and 38, the effects of the third embodiment is a simulation result showing a U-phase, FIG. 37 is U-phase current when there is no compensation for the dead time indicates the d-axis current and q-axis current. By providing the dead time compensation of the present invention, in a steering state at 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. 38, the sine wave phase current waveform) can be confirmed closer to the, improvement of improvement and steering sound of the torque ripple at the time of steering was observed. [0077] 　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 [0078] 1 handle 2 column shaft (steering shaft, the handle shaft) 20, 100 motor 30 control unit (ECU) 31 steering assist command value calculator 35,203,204 PI controller 36,160 PWM controller 37,161 inverter 110 angle detection part 130,290 3-phase AC / dq axis conversion section 140 dq decoupling control unit 200, 200A, 200B dead time compensation unit 201 current control delay model 202 compensates code estimator 210 phase adjustment unit 220 inverter application voltage sensitive gain unit 230U, 230V, 230W angle - dead time compensation value function section 240 compensation value adjuster 250 current command value sensitive gain section 280 temperature coefficient calculating unit 300 space vector modulation section 301 2-phase / 3-phase conversion unit 302 third harmonic superposition unit 400 temperature detector WE claims 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 3-phase dead time reference compensation value based on the motor rotational angle, temperature correction to the three-phase dead time compensating the three-phase dead time reference compensation value determined value, the motor control apparatus characterized by adding said 3-phase dead time compensation value to the three-phase voltage command value after the dq-axis spatial vector modulation performing dead time compensation of the inverter. [Requested item 2] The motor control device according to claim 1 having a function to adjust based on the 3-phase dead time compensation value to the control assist command value. [Requested item 3] calculates a control assist command value of dq-axis, calculates a dq-axis current command value from the control assist command value, and converting the dq-axis current command value to the Duty command value of the three-phase, it is constituted by a bridge circuit of the FET by the PWM control of the inverter, the motor control apparatus of a vector control method for driving and controlling the three-phase brushless motor, a space vector modulator for a three-phase voltage command value by modulating the space vector of the dq-axis current command value, the motor angle computing the 3-phase dead time reference compensation value based on the rotation 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, control including the inverter a temperature detector for detecting or estimating the temperature of the parts, and the temperature coefficient calculation unit for outputting a temperature coefficient corresponding to the temperature, to the control assist command value A current command value sensitive gain calculating unit for calculating a current command value sensitive gain of varying the compensation amount of the three-phase dead time compensation value according, wherein the 3-phase dead time reference compensation value, the temperature coefficient to the voltage sensing gain multiplying the multiplied voltage coefficient, and the dead time compensation value output section for outputting the current command value the 3-phase dead time compensation value sensitive gain by multiplying the multiplication result, provided with, on the 3-phase voltage command value motor control device and performing the dead time compensation of the inverter by adding the 3-phase dead time compensation value. [Requested item 4] The temperature coefficient calculation unit, the compensation amount setting temperature, the amount of compensation required by the three-point performance guaranteed temperature upper and performance guarantee temperature lower limit was determined, with respect to the value of the compensation amount setting temperature, the performance guarantee the motor control device according to claim 3 which is adapted to calculate the temperature coefficient temperature upper limit and the ratio of the performance guarantee temperature limit is calculated respectively. [Requested item 5] The motor control device according to claim 4, each limit value to the performance guarantee temperature upper and the performance guarantee temperature lower limit is set. [Requested item 6] The motor control device according to claim 4 or 5 to generate the data table the ratio of the 3-point for the linear interpolation operation or the temperature. [Requested item 7] The dead time compensation value output section, the 3-phase and multiplying unit for multiplying the voltage coefficient dead time reference compensation value, wherein the current command value sensitive gain multiplication to the three-phase dead in three-phase output of the multiplying unit a compensation value adjuster, and outputs a time compensation value motor control device according to any one of claims 3 to 6 in is constructed. [Requested item 8] calculates a control assist command value of dq-axis, calculates a dq-axis voltage command value from the control assist command value, and converting the dq-axis voltage command value to the Duty command value of the three-phase, is constituted by a bridge circuit of the FET by the PWM control of the inverter, an electric power steering apparatus of a vector control method for driving and controlling the three-phase brushless motor, an angle calculates the 3-phase reference dead time compensation value based on the motor rotation angle - and dead time compensation value function unit , an inverter application voltage sensitive gain calculating unit for calculating a voltage sensitive gain based on the inverter application voltage, a temperature detector for detecting or estimating the temperature of the control unit including the inverter, and outputs a temperature coefficient corresponding to the temperature and temperature coefficient calculating unit, the three-phase reference dead time compensation value, multiplied by the voltage coefficient obtained by multiplying the temperature factor to the voltage sensing gain Calculated and converted to the dq axis is the dq axis dead time compensation value, and a dead time compensation value output unit for adding the dq axis dead time compensation value to the dq-axis voltage command value , characterized by comprising the motor controller. [Requested item 9] The temperature coefficient calculation unit, the compensation amount setting temperature, measured dead time compensation amount necessary at three points in performance guaranteed temperature upper and performance guarantee temperature limit, with respect to the value of the compensation amount setting temperature, the performance guaranteed temperature limit and a motor control apparatus according to claim 8, wherein the has a ratio of the performance guarantee temperature lower limit to each operation for calculating the temperature coefficient. [Requested item 10] The motor control device according to claim 9, respectively limits the performance guarantee temperature upper and the performance guarantee temperature lower limit is set. [Requested item 11] The motor control device according to claim 9 or 10, generated by the data table the ratio of the 3-point for the linear interpolation operation or the temperature. [Requested item 12] The motor control device according to any one of claims 8 to 11 current command value sensitive gain calculating unit for varying according to the dq axis dead time compensation value to the control assist command value is provided. [Requested item 13] The dead time compensation value output unit, and a multiplying unit for multiplying the voltage coefficient to the 3-phase reference dead time compensation value, 3-phase converts the 3-phase output of the multiplying unit to the dq axis dead time compensation value AC / a dq axis conversion section, a motor control device according to any one of claims 8 to 12 in is configured. [Requested item 14] calculates a control assist command value of dq-axis, calculates a dq-axis voltage command value from the control assist command value, and converting the dq-axis voltage command value to the Duty command value of the three-phase, is constituted by a bridge circuit of the FET by the PWM control of the inverter, the motor control apparatus of a vector control method for driving and controlling the three-phase brushless motor, an angle computing the dq-axis dead time reference compensation value based on the motor rotation angle - and dead time reference compensation value table unit , an inverter application voltage sensitive gain calculating unit for calculating a voltage sensitive gain based on the inverter application voltage, a temperature detector for detecting or estimating the temperature of the control unit including the inverter, and outputs a temperature coefficient corresponding to the temperature and temperature coefficient calculating unit, to the dq-axis dead time reference compensation value, multiplied by the voltage coefficient obtained by multiplying the temperature factor to the voltage sensing gain A dead time compensation value output unit for outputting the dq-axis dead time compensation value to calculate the motor control apparatus characterized by comprising a. [Requested item 15] The temperature coefficient calculation unit, the compensation amount setting temperature, measured dead time compensation amount necessary at three points in performance guaranteed temperature upper and performance guarantee temperature limit, with respect to the value of the compensation amount setting temperature, the performance guaranteed temperature limit and an electric power steering apparatus according to claim 14 which is a ratio of the performance guarantee temperature lower limit to each operation for calculating the temperature coefficient. [Requested item 16] The motor control device according to claim 15, each limit value to the performance guarantee temperature upper and the performance guarantee temperature lower limit is set. [Requested item 17] The motor control device according to claim 15 or 16 generated in the data table the ratio of the 3-point for the linear interpolation operation or the temperature. [Requested item 18] The motor control device according to any preceding claim the phase of the motor rotation angle is adapted to variable according to motor speed to claim 1 to 17. [Requested item 19] Equipped with a motor control device according to any one of claims 1 to 18, the electric power steering apparatus characterized by imparting assist torque to a steering mechanism of a vehicle.