| 摘要 |
PURPOSE:To keep of any drift of behavior by constituting a rear-wheel actual steering and control system in adding feedforward compensation, negating a controlled variable by an actuator in anticipation of its variation, to feedback control. CONSTITUTION:At the time of steering, a rear-wheel steering angle desired value -deltaR is set on the basis of a front-wheel steering angle theta out of a steering angle detecting means 1 and a car speed V out of a car speed detecting means 2 at a steering angle calculating part 3. At an actuator control part 5, feedforward compensation made use of feed back signals deltaR of information on a steering angle command value and an operating state of an actuator 4, the rear-wheel steering angle desired value -deltaR and its differential value and a binary differential value is added whereby actuator driving output is determined. With this constitution, attributable to a dynamic characteristic of the actuator 4 and that, after a rear-wheel actual steering angle deltaR and vehicle behavior are actually changed, such a response time lag that cannot be compensated by feedback control for correcting this characteristic is compensated by adding this feedforward compensation, therefore an actuator response is accelerable. |
