Technical field [0001]The present invention is a motor controller, a motor control method and an electric power steering apparatus. The present application, 2017 October Japanese Patent Application No. 2017-207030, filed in 26 days, Japanese Patent Application No., filed in Japan on October 24, 2018 2018-200293, Japan on October 24, 2018 Japanese Patent application No. 2018-200294, filed in the country, Japanese Patent application No., filed in Japan on October 24, 2018 2018-200295, based on the Japanese Patent application No. 2018-200296, filed in Japan on October 24, 2018 claims priority, which is incorporated herein by reference. BACKGROUND [0002] 　Steering assist force in the steering mechanism of the vehicle in the electric power steering apparatus (EPS) that applies (assist force), it is used many efficient brass Residencial motor. Motor control device for controlling a brushless motor by PWM (Pulse Width Modulation) control, which controls the inverter to drive the brushless motor. In recent years, high reliability, such as automotive products to the brushless motor to be mounted on the product required, the dead time compensation of the inverter are required. [0003] 　In a motor control apparatus for PWM control of brushless motor, brushless motor at a frequency corresponding to the period (e.g. 250 [mu] s) for performing the PWM operation (eg 4 KHz) is vibrated, a problem that is generating sound due to the motor of the frequency there is. The most simple method for suppressing the sound caused by the motor, the frequency is outside the audible band of vibration of the motor (20 KHz or more) and a like period (50 [mu] s or less) in it and a method of PWM operation, in this case since the arithmetic processing amount increases, high throughput expensive microcomputer is required, component cost of the ECU increases, power consumption increases due to the high operating frequency, there is a problem. [0004] 　The electric power steering apparatus described in Patent Document 1, when generating a PWM signal, to calculate the interpolated Duty command value using a control signal of the PWM control calculated by the calculation immediately before (Duty command value) or the like, PWM operation varying the control signal of the PWM control at twice the period of the periodic performing. While an increase in the amount of arithmetic processing of the microcomputer is minor, it is possible to suppress the sound caused by vibration and motor of the brushless motor. CITATION Patent Document [0005] Patent Document 1: Japanese Patent No. 4946075 Summary of the Invention Problems that the Invention is to Solve [0006] 　However, the electric power steering apparatus described in Patent Document 1 calculates the interpolated Duty command value by using the Duty command value. Since the response property and the current detection accuracy of current control Duty command value varies transiently, interpolated Duty command value in some cases as a value including a large noise. The inclusion of large noise interpolation Duty command value, there is a particular problem where abnormal noise during high-speed steering. [0007] 　Further, Patent Document 1 discloses also a method of calculating the interpolation Duty command value by using the rotation angle of the rotor. Angular velocity calculated by differentiating the rotation angle of the rotor in the calculation of the interpolation Duty command value is used. However, only performs a differential arithmetic operation with respect to the rotational angle of the rotor is removed of the noise component is not sufficient, the interpolation Duty command value in some cases as a value including a large noise. [0008] 　When performing the inverter dead time compensation in the motor control device, it has been desired to calculate the interpolated Duty command value without the influence of noise of the dead time compensation value comprising a transient response. [0009] 　Light of the above circumstances, the present invention calculates a noise less interpolation Duty command value, the motor control device capable of appropriately suppressing the sound caused by vibration and motor of the brushless motor, a motor control method and the motor controller and an object thereof is to provide an electric power steering apparatus equipped with. Means for Solving the Problems [0010] 　In order to solve the above problems, the present invention proposes the following means. 　The motor control apparatus according to the first aspect of the present invention is the motor control device that performs PWM control of the inverter for driving a three-phase brushless motor based on the current command value, obtained for each control cycle from the 3-phase brushless motor motor and the electrical angle and the motor rotation speed, and the current command value, a voltage command value calculating unit for calculating a voltage command value and according to the division spacing obtained by dividing the control cycle, the interpolation electrical angle from the motor electrical angle and the electrical angle interpolation unit that estimates, the voltage command value and the calculated the Duty command value of the three-phase motor electric angle, said voltage command value and the converting section for calculating interpolated Duty command value of the three-phase from the interpolation electrical angle If, and an output setting section for switching and outputting an interpolation Duty command value of the three-phase and Duty command value of the three-phase to suit the divided intervals. [0011] 　According to a second aspect of the present invention, in the motor control apparatus according to the first embodiment, the electrical angle interpolation unit, the interpolation electricity using either a quadratic function interpolation operation and the linear function interpolation operation corner may be estimated. [0012] 　According to a third aspect of the present invention, in the motor control apparatus according to the second embodiment, the electrical angle interpolation unit, wherein when the motor speed is lower than a predetermined first rotational speed, a quadratic function interpolation operation estimating the interpolated electrical angle with reference to, when the motor speed is above the first rotational speed, may switch a quadratic function interpolation operation to the primary function interpolation. [0013] 　According to a fourth aspect of the present invention, in the motor control apparatus according to a third aspect, the electrical angle interpolation unit, the case where the motor speed is higher than a higher predetermined second rotational speed than the first rotational speed on, the motor electrical angle may be output as the interpolation electrical angle. [0014] 　According to a fifth aspect of the present invention, in the motor control apparatus according the first to fourth one embodiment, the control period is 100μs or more, may be not more than 250 [mu] s. [0015] 　According to a sixth aspect of the present invention, in the motor control device from the first according to the fifth one aspect, the three-phase brushless motor is controlled by the vector drive system, the conversion unit, the space vector modulation it may be carried out. [0016] 　The motor control method according to a seventh aspect of the present invention, the inverter on the basis of the current command value is a motor control method of the three-phase brushless motor which is PWM controlled, and obtained for each control cycle from the 3-phase brushless motor motor and the electrical angle and the motor rotation speed, and the current command value, a voltage command value calculating step of calculating the voltage command value and according to the division spacing obtained by dividing the control cycle, the interpolation electrical angle from the motor electrical angle and the electrical angle interpolation step of estimating, converting step of calculating the voltage command value and the motor electric angle to calculate the Duty command value of the three-phase, the voltage command value and the interpolation Duty command value of the three-phase from said interpolation electrical angle If, and an output setting step of switching and outputting an interpolation Duty command value of the three-phase and Duty command value of the three-phase to suit the divided intervals. [0017] 　According to an eighth aspect of the present invention, in the motor control method according to a seventh aspect, the electrical angle interpolation process, a quadratic function interpolation operation and to switch the primary function interpolation calculation to estimate the interpolation electrical angle it may be. [0018] 　According to a ninth aspect of the present invention, in the motor control method according to the eighth aspect, the electrical angle interpolation process, wherein when the motor speed is lower than a predetermined first rotational speed, a quadratic function interpolation operation estimating the interpolated electrical angle with reference to, when the motor speed is above the first rotational speed, may switch a quadratic function interpolation operation to the primary function interpolation. [0019] 　According to a tenth aspect of the present invention, in the motor control method according to a ninth aspect, the electrical angle interpolation step, the the motor rotation speed is higher than the higher predetermined second rotational speed than the first rotational speed on, the motor electrical angle may be output as the interpolation electrical angle. [0020] 　Electric power steering apparatus according to an eleventh aspect of the present invention converts the dq axis current command value calculated on the basis of at least steering torque to the three-phase Duty command value, based on the 3-phase Duty command value, the inverter together with drives and controls the three-phase brushless motor by PWM control, a function to compensate for the dead time of the inverter, an electric power steering apparatus of a vector control method for imparting assist torque to a steering mechanism of a vehicle, the dq axis current command value, the dq-axis Duty command value calculated based on the motor angle and motor speed, and converts the 3-phase superimposed third harmonic according to the motor angle, normal Duty command three-phase a first space vector modulation section for outputting a value, the interpolation Duty operation motor angular interpolation calculation to the basis of the motor angular And the electrical angle interpolation unit for force, the dq axis Duty command value is converted into 3-phase superimposed third harmonic according to the interpolation Duty calculation motor angle, and outputs the interpolated Duty command value of the three-phase comprising a second space vector modulation section, and a final Duty arithmetic unit for outputting a final normalized Duty value and the final interpolated Duty value based on the normalized Duty command value and said interpolated Duty command value. [0021] 　According to a twelfth aspect of the present invention, in the electric power steering apparatus according to an eleventh aspect, the electrical angle interpolation unit, the motor angle outputs a switching flag to determine whether belongs to a predetermined range a motor angle switching determination unit, an arithmetic processing unit for interpolation operation the motor angle, and interpolation operation the motor angle obtained by carrying out the offset processing by a predetermined angle, offset back to the predetermined angle by performing the interpolation calculation process and offsetting operation processing unit to carry out, enter the second interpolation motor angle from the first interpolating motor angle and the offset with the arithmetic processing unit from the processing unit, is switched by the switching flag a switching unit which outputs the interpolation Duty calculation motor angle, may have. [0022] 　According to a thirteenth aspect of the present invention, in the electric power steering apparatus according to an eleventh or twelfth aspect, the interpolation operation may be a quadratic function interpolation operation or the linear function interpolation. [0023] 　According to a fourteenth embodiment of the present invention, in the electric power steering apparatus according to an eleventh from thirteen one aspect, the arithmetic processing unit comprises a first rollover processing unit, with the offset calculation processing unit is provided with a second rollover processing unit after the offset processing may comprise a third roll over process section after the offset back process. [0024] 　According to a fifteenth embodiment of the present invention, in the electric power steering apparatus according to a twelfth from fourteen one embodiment, the predetermined range, 90 ° or more, the range der of 270 ° or less [0025] 　According to a sixteenth embodiment of the present invention, in the electric power steering apparatus according to the twelfth from fifteenth any aspect, the predetermined angle may be 180 °. The invention's effect [0026] 　The motor control apparatus of the present invention, according to the electric power steering apparatus equipped with the motor control method and the motor controller, calculates the noise is less interpolation Duty command value, preferably the sound caused by vibration and motor of the brushless motor suppressing, it is possible to reduce the sound caused by the motor of the audible band. BRIEF DESCRIPTION OF THE DRAWINGS [0027] FIG. 1 is a schematic diagram showing the configuration of an electric power steering apparatus equipped with the motor controller according to the first embodiment. FIG. 2 is a functional block diagram of a motor control apparatus configured by the control unit of the electric power steering system. 3 is a block diagram of a PWM controller and inverter of the motor control device. 4 is a functional block diagram of a motor controller of the motor control device. 5 is a configuration diagram of an electrical angle interpolation unit of the motor control unit. [6] the electrical angle interpolation unit is a graph showing an interpolation electrical angle calculated by SOH calculation. 7 is a functional block diagram of the SOH calculation unit of the electric angle interpolation unit. [8] shows a control flowchart of the electric angle interpolation unit. 9 is a graph showing the waveform of the electric angle interpolation unit. FIG. 10 is a functional block diagram of the space vector modulation of the motor controller. 11 is a functional block diagram of a final Duty operation unit of the motor control unit. 12 is a functional block diagram of a Duty output setting unit of the motor control unit. Shows the output timing of FIG. 13 final normalized Duty command value and the final interpolation Duty command value. 14 is a graph showing the simulation results of estimated interpolation electrical angle. 15 is a schematic diagram showing the configuration of an electric power steering apparatus equipped with the motor controller according to the second embodiment. FIG. 16 is a functional configuration diagram of a motor control device by the control unit of the electric power steering system. 17 is a block diagram of a PWM controller and inverter of the motor control device. FIG. 18 is a functional block diagram of a motor controller of the motor control device. 19 is a configuration diagram of an electrical angle interpolation unit of the motor control unit. [20] the electrical angle interpolation unit is a graph showing an interpolation electrical angle 1 calculated by SOH calculation. [21] the electrical angle interpolation unit is a graph showing an interpolation electrical angle 2 calculated by SOH calculation. [22] the electrical angle interpolation unit is a graph showing an interpolation electrical angle 3 calculated by SOH calculation. [23] the electrical angle interpolation unit is a graph showing an interpolation electrical angle 4 calculated by SOH calculation. FIG. 24 is a functional block diagram of the SOH calculation unit of the electric angle interpolation unit. [Figure 25] shows a control flowchart of the electric angle interpolation unit. FIG. 26 is a graph showing the waveform of the electric angle interpolation unit. FIG. 27 is a functional block diagram of the space vector modulation of the motor controller. [FIG. 28] is a functional block diagram of a final Duty operation unit of the motor control unit. FIG. 29 is a functional block diagram of a Duty output setting unit of the motor control unit. [FIG. 30] is a graph showing the simulation results of estimated interpolation electrical angle 1. [FIG. 31] is a graph showing the simulation results of estimated interpolation electrical angle 2. [FIG. 32] is a graph showing the simulation results of estimated interpolation electrical angle 3. [FIG 33 is a graph showing the simulation results of estimated interpolation electrical angle 4. FIG. 34 is a graph showing a simulation result of Duty command value calculated using an interpolation electrical angle 1 estimated. Is a graph showing the simulation results of FIG. 35] Duty command value calculated using the estimated interpolation electrical angle 2. [FIG. 36] is a graph showing a simulation result of Duty command value calculated using an interpolation electrical angle 3 estimated. Is a graph showing the simulation results of FIG. 37] Duty command value calculated using an interpolation electrical angle 4 estimated. [FIG. 38] is a schematic diagram showing the configuration of an electric power steering apparatus equipped with the motor controller according to a third embodiment. [39] is a functional configuration diagram of a motor control device by the control unit of the electric power steering system. [FIG. 40] is a configuration diagram of a PWM controller and inverter of the motor control device. [FIG. 41] is a functional block diagram of a motor controller of the motor control device. [FIG. 42] is a configuration diagram of an electrical angle interpolation unit of the motor control unit. [43] the electrical angle interpolation unit is a graph showing an interpolation electrical angle calculated by FOH operation. [FIG. 44] is a functional block diagram of FOH calculation portion of the electric angle interpolation unit. [Figure 45] shows a control flowchart of the electric angle interpolation unit. [FIG. 46] is a graph showing the waveform of the electric angle interpolation unit. [FIG. 47] is a functional block diagram of the space vector modulation of the motor controller. [FIG. 48] is a functional block diagram of a final Duty operation unit of the motor control unit. [FIG. 49] is a functional block diagram of a Duty output setting unit of the motor control unit. Is a graph showing FIG. 50 simulation to estimate the interpolation electrical angle results. [FIG. 51] is a graph showing the simulation results of estimated interpolation electrical angle. Is a graph showing the simulation results of FIG. 52] Duty command value calculated using the estimated interpolation electrical angle. Is a graph showing the simulation results of FIG. 53] Duty command value calculated using the estimated interpolation electrical angle. FIG 54 is a schematic diagram showing the configuration of an electric power steering apparatus equipped with the motor controller according to a fourth embodiment. It is a functional block diagram of FIG. 55] The motor control apparatus configured by the control unit of the electric power steering system. [FIG. 56] is a configuration diagram of a PWM controller and inverter of the motor control device. [FIG. 57] is a functional block diagram of a motor controller of the motor control device. [FIG. 58] is a configuration diagram of an electrical angle interpolation unit of the motor control unit. [Figure 59] the electrical angle interpolation unit is a graph showing an interpolation electrical angle 1 calculated by FOH operation. [Figure 60] the electrical angle interpolation unit is a graph showing an interpolation electrical angle 2 calculated by FOH operation. [Figure 61] the electrical angle interpolation unit is a graph showing an interpolation electrical angle 3 calculated by FOH operation. [Figure 62] the electrical angle interpolation unit is a graph showing an interpolation electrical angle 4 calculated by FOH operation. [FIG. 63] is a functional block diagram of FOH calculation portion of the electric angle interpolation unit. [Figure 64] shows a control flowchart of the electric angle interpolation unit. [FIG. 65] is a graph showing the waveform of the electric angle interpolation unit. [FIG. 66] is a functional block diagram of the space vector modulation of the motor controller. [FIG. 67] is a functional block diagram of a final Duty operation unit of the motor control unit. [FIG. 68] is a functional block diagram of a Duty output setting unit of the motor control unit. [FIG. 69] is a graph showing the simulation results of estimated interpolation electrical angle 1. [FIG. 70] is a graph showing the simulation results of estimated interpolation electrical angle 2. [FIG. 71] is a graph showing the simulation results of estimated interpolation electrical angle 3. It is a graph showing the Figure 72 the simulation to estimate the interpolation electrical angle 4 results. [FIG. 73] is a graph showing a simulation result of Duty command value calculated using an interpolation electrical angle 1 estimated. Is a graph showing the simulation results of FIG. 74] estimated Duty command value calculated using interpolation electrical angle 2. It is a graph showing the Figure 75 the simulation results of the Duty command value calculated using an interpolation electrical angle 3 estimated. Is a graph showing the simulation results of FIG. 76] estimated Duty command value calculated using an interpolation electrical angle 4. FIG 77 is a schematic diagram showing the configuration of an electric power steering apparatus equipped with the motor controller according to a fifth embodiment. [FIG. 78] is a functional configuration diagram of a motor control device by the control unit of the electric power steering system. [FIG. 79] is a configuration diagram of a PWM controller and inverter of the motor control device. [FIG. 80] is a functional block diagram of a motor controller of the motor control device. [FIG. 81] is a configuration diagram of an electrical angle interpolation unit of the motor control unit. [FIG. 82] is a graph showing an interpolation electrical angle 1 the electric angle interpolation portion is calculated. [FIG. 83] is a graph showing an interpolation electrical angle 2 the electrical angle interpolation portion is calculated. [FIG. 84] is a graph showing an interpolation electrical angle 3 the electrical angle interpolation portion is calculated. Is a graph showing the Figure 85] interpolating electrical angle 4 the electrical angle interpolation portion is calculated. [FIG. 86] is a functional block diagram of the SOH calculation unit of the electric angle interpolation unit. [FIG. 87] is a functional block diagram of FOH calculation portion of the electric angle interpolation unit. [FIG. 88] is a functional block diagram of the interpolation operation switching determination unit of the electric angle interpolation unit. FIG 89 is a graph of the flag generation interpolation operation determination unit and the interpolation judging unit of the interpolation operation switching determination unit. FIG 90 is a graph of the flag generation interpolation operation determination unit and the interpolation judging unit of the interpolation operation switching determination unit. [Figure 91] shows a control flowchart of the electric angle interpolation unit. [FIG. 92] is a graph showing the waveform of the electric angle interpolation unit. [FIG. 93] is a functional block diagram of the space vector modulation of the motor controller. [FIG. 94] is a functional block diagram of a final Duty operation unit of the motor control unit. [FIG. 95] is a functional block diagram of a Duty output setting unit of the motor control unit. It is a functional block diagram of FIG. 96] Typical motor controller. [FIG. 97] is a functional configuration diagram in the case of driving and controlling the three-phase brushless motor vector control system. [FIG. 98] is a functional block diagram of a PWM controller and an inverter. [FIG. 99] is a functional block diagram of an interpolation of a conventional SOH Duty command value by calculating. It is a functional block diagram of FIG. 100] Last Duty operation unit. Is a graph showing the relationship between the coordinate axes and motor angle used in FIG. 101] coordinate transformation. Is a diagram showing an operation example of FIG. 102] space vector modulation section. FIG 103 is a timing chart showing an operation example of the space vector modulation section. DESCRIPTION OF THE INVENTION [0028] (First Embodiment) 　The first embodiment of the present invention will be described with reference to FIGS. 1 to 14. 　Figure 1 is a schematic diagram showing the configuration of an electric power steering apparatus 300 for mounting the motor control device 400 according to this embodiment. The electric power steering apparatus 300 is a column assist type electric power steering apparatus and the electric motor and the speed reduction mechanism is arranged on the column section (steering shaft). [0029] [Electric power steering apparatus 300 ' 　electric power steering device 300 includes a handle 1 of column shaft (steering shaft, the steering wheel shaft) 2, the reduction gear 3, universal joints 4a, 4b, pinion rack mechanism 5, through tie rods 6a, the 6b, further hub unit 7a, and is connected steered wheels 8L, the 8R through 7b. In addition, the column shaft 2, a steering angle sensor 14 for detecting a steering angle θe of the steering wheel 1, 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 100 is coupled to the column shaft 2 via the reduction gear 3. The control unit (ECU) 30 for controlling the electric power steering apparatus 300, together with the electric power from the battery 13 is supplied, the ignition key signal is inputted through the ignition key 11. [0030] 　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 controls the motor 100 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 obtained from the rotation sensor such as a resolver connected to the motor 100 steering angle (motor angle) .theta.e. [0031] 　Control unit 30 is mainly provided with a CPU (Central Processing Unit) programmable computer capable of executing comprising (MPU (Micro Processor Unit) or MCU (Micro Controller Unit) and the like). [0032] 　Control unit 30 includes and inverter 161 for driving the motor 100, and the motor current detection circuit 162 for detecting the current of the motor 100, a circuit such as the angle detection unit 110A for detecting a motor angle θe of the motor 100. Note that these circuits may be mounted on the motor 100 side. [0033] 　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. [0034] 　Motor 100, in recent years, a three-phase brushless motor is mainly used as an actuator of an electric power steering apparatus 300. Motor 100 is controlled by the vector control method using a spatial vector drive. Vector control using space vector drive, a q-axis for controlling the torque is a coordinate axis of the rotor of the motor 100, independently set the d-axis for controlling the strength of the magnetic field, dq axes 90 ° in relation since it is in, to control the current (d-axis current command value Iref_d, q-axis current command value Iref_q) corresponding to each axis in the vector. [0035] [Motor control device 400] 　FIG. 2 is a functional block diagram of a motor control device 400 constituted by the control unit 30. Function of the motor control device 400 is realized by combining a program executed in CPU, and an electronic circuit such as an inverter as appropriate. The functions described as the electronic circuits in the following description may be implemented as a program executed in CPU or the like. [0036] 　The motor control unit 400 performs drive control of the motor 100. The motor control unit 400 includes a current command value calculation unit 31, a motor controller 39, a PWM control unit 160, an inverter 161, a motor current detection circuit 162, a motor angle detector 110A, an angular velocity calculation unit 110B, It comprises a three-phase AC / dq axis conversion section 130, a. [0037] 　Current command value calculating section 31, dq-axis current command value Iref_m (m = d, q) of the steering torque Th and the vehicle speed Vs and the like 2 have been calculated using the assist map or the like based on the axis (dq-axis coordinate system) and, and outputs to the motor control unit 39. [0038] 　The motor control unit 39, dq-axis current command value Iref_m input (m = d, q), motor angle θe and the motor rotation speed N or the like, the voltage control command value subjected to dead-time compensation Vref_mb (m = d, q) is calculated. The motor control unit 39 outputs the voltage control command value Vref_mb (m = d, q) from such three-phase Duty command value Du_o by a spatial vector modulation, Dv_o, calculates the Dw_o, the PWM control section 160 . [0039] 　Figure 3 is a block diagram of a PWM controller 160 and inverter 161. 　Inverter 161, as shown in FIG. 3 is composed of a three-phase bridge of FET, and drives the motor 100 by being turned ON / OFF by PWM-Duty value D1 ~ D6. Between the inverter 161 and the motor 100, the motor switch 101 for interrupting the supply of current to the assist control stop or the like is inserted. The upper arm is constituted by FET Q1, Q2, Q3 as a switching element, the lower arm is composed of FET Q4, Q5, Q6. Also, FET Q1 and Q4 are U-phase, FET Q2 and Q5 are V-phase, FET Q3 and Q6 are driven element of W-phase. [0040] 　PWM control unit 160, as shown in FIG. 3, three-phase Duty command value Du_o input, Dv_o, based on Dw_o, comprising a bridge configuration of the upper and lower arms, as shown in FIG. 3 inverter (inverter application voltage VR) 161 drives and controls the motor 100 via a. PWM control unit 160, as shown in FIG. 3 includes a PWM unit 160A-2, and a gate driver 160B. [0041] 　PWM unit 160A-2, as shown in FIG. 3, three-phase Duty command value Du_o, Dv_o, respectively calculates the three phases PWM-Duty value D1 ~ D6 in accordance with a predetermined equation Dw_o. The PWM unit 160A-2, the modulated signal (carrier) CF of the oscillator 160C for example triangular wave is input, the PWM unit 160A-2 calculates the PWM-Duty value D1 ~ D6 in synchronization with the modulation signal CF . [0042] 　The gate driver 160B, as shown in FIG. 3, to drive the gate of the output of the PWM-Duty value D1 ~ D6 is driven elements FET Q1 ~ Q6. [0043] 　Since the electric power steering apparatus 300 is an in-vehicle product, wide operating temperature range, the inverter 161 drives the motor 100 in terms of fail-safe compared to general industrial typified by home appliances, increases the dead time ( it is necessary to industrial equipment