STEERING ANGLE CONTROLLER FOR MOBILE OBJECT

摘要

PROBLEM TO BE SOLVED: To provide a steering angle controller capable of realizing smooth steering angle operation at the time of high speed traveling and quick steering angle operation for a short traveling distance at the time of low speed traveling. SOLUTION: The steering angle controller is provided with a control system including a 1st control part 11 for outputting a posture angle command value based on a positional deviation calculated from a set point for the position of a mobile object and a position measurement value and automatically changing 1st control gain in accordance with a traveling speed measurement value, a 2nd control part 12 for outputting a steering angle command value based on a posture angle deviation of the mobile object which is calculated from the posture angle command value and a posture angle measurement value and wheel arrangement information and automatically changing 2nd control gain in accordance with the traveling speed measurement value and a 3rd control part 13 for outputting a steering angle speed command value based on the steering angle deviation of the mobile object.