| 摘要 |
PROBLEM TO BE SOLVED: To reduce uncomfortable steering by suppressing overshoot generated in an actuator with a variable transmissibility mechanism due to motor inertia at the time of abrupt turning operation. SOLUTION: When judging that control deviation between a target operating angleθmm and an operating angleθm is decreasing (time t O2) in a condition that tracking lag has been caused, this control device sets the value of the operating angleθm at that time as the target operating angleθmm. Before a steering wheel is actually turned, the control deviation is cancelled forcedly, and thereby motor inertial force is suppressed at the time of actual turning. |
