| 摘要 |
PURPOSE: To facilitate steering by making a steering transmission function unrelated to operating speed by lateral acceleration feed-back for front wheel steering. CONSTITUTION: Yaw motion is decoupled from lateral motion of a front axle by total feedback of a yaw rate signal for front wheel steering. Additionally, a time constant T previously decided of a steering transmission function is provided from a gain coefficient kp =(mIh)/(cv/T). Hereby, I is a wheelbase (unit m), cv is forward tilting travelling rigidity (N/rad), Ih is a distance (m) from the rear axle to a center of gravity, and (m) is mass (kg). Lateral acceleration av and operational speed V of the front axle are measured by command quantity wv of decoupling control, and wv =kp (avsoll -av )+[(I/V)av ] is computed by a microprocessor. Hereby, avsoll is formed as a command variable from a steering angle SL measured by a prefilter. |
