| 摘要 |
PROBLEM TO BE SOLVED: To give a smooth motion to steering in a steering mechanism.SOLUTION: An automatic steering device includes: a microcomputer for EPS for performing steering angle control of a steering mechanism on the basis of low order command state amount input for every prescribed period; and a state amount interpolation section for calculating target state amount for interpolating state amount between a previous value and a present value by the microcomputer for EPS in a period shorter than the prescribed period after inputting the present value of the low order command state amount. The state amount interpolation section selects a straight line pattern as an interpolation pattern when an absolute value of a difference between actual motor rotational speed ωr during the input of the present value and a rate of change Δθr* of the present value to the previous value is less than a prescribed threshold α and selects a curved pattern as the interpolation pattern when the absolute value is the prescribed value α or more, when the present value is input.SELECTED DRAWING: Figure 3 |
