STEERING CONTROL DEVICE AND STEERING DEVICE

To learn virtual rack end positions while preventing a large impact and hit sound (abnormal noise) due to end-abutting from occurring. A turning control device includes a command value calculation unit (40) configured to calculate a current command value for an actuator providing a turning mechanism with steering assist force, a terminal position learning unit (46) configured to learn a terminal position of the turning mechanism, based on a steered position of the turning mechanism detected by a position detection unit, a command value correction unit (41, 49) configured to, when a steered position detected by the position detecting unit is in a vicinity of a learned terminal position, correct the current command value calculated by the command value calculation unit (40), and a correction amount limiting unit (51, 52) configured to limit a correction amount of the current command value by the command value correction unit (41, 49), based on a comparison result between the learned terminal position and a predetermined position and a comparison result between stroke length of the turning mechanism calculated from the learned terminal positions and a predetermined length.