| 摘要 |
PURPOSE:To secure a constant responsive characteristic at all times without resting on the characteristic change of a motor by making an electric motor and each rear wheel into intermittence, and determining a weighing constant for the value of proportional operation, integral operation and differential operation for performing positional control over the motor by means of a step responsive waveform of the motor. CONSTITUTION:In a device which directly steers each of rear wheels by an electric motor according to a vehicle driving state being detected out of a steering angle sensor, a car speed sensor and so on, it is provided with a first interface circuit, finding the current position of the motor from output of a position detector detecting a position of the motor, and a second interface circuit, operating a desired steering angle of the rear wheel from each sensor input value and giving a current command value to a motor driver from the operated value. In addition, the motor and the rear wheel are made into intermittence, a motor desired position is changed stepwise, and a responsive waveform of the motor at that time is calculated, while a positional deviation value of the motor is operated, and a weighing constant for the value of proportional operation, integral operation and differential operation is determined, then the operated result is added, outputting the current command value via the second interface circuit. |
