Steering control apparatus and steering assist torque control method thereof

If the driver is steering with the steering wheel, by the steering torque to follow the target steering torque, while realizing a smooth steering, when let go of the steering wheel, a handle at an appropriate rate is neutral It can be adjusted to return to the point, to provide a steering control device capable of both good steering feeling at the time of steering time and let go. A first steering assist torque proportional to the integral value of the deviation between the target steering torque and the steering torque, proportional to the motor rotational angular velocity, the steering wheel 1 acts in a direction to suppress the return speed of the steering wheel 1 when returning to the neutral point the motor steering assist torque is the sum of the second steering assist torque to control the motor 6.