| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a steering control device correctly distinguishing an oscillation state due to control from periodic yawing, without using complicated processing such as the analysis of frequency characteristics. <P>SOLUTION: An azimuth sensor 12 detects a stem azimuthθ<SB>H</SB>, and a roll angle sensor 15 detects a roll angle. An adder 13 differentiates the stem azimuthθ<SB>H</SB>from a target azimuthθ<SB>r</SB>outputted from an azimuth setting portion 11 to obtain a declinationθ=θ<SB>r</SB>-θ<SB>H</SB>. A control state monitoring portion 14 monitors time fluctuation of the declinationθand the roll angle. When the declinationθhas periodicity and the roll angle has periodicity, the control state monitoring portion 14 determines that the oscillation state does not occur (periodic yawing is generated due to the influence of disturbance), and raises a control parameter of a control portion 16. <P>COPYRIGHT: (C)2011,JPO&INPIT</p> |
