| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide positive convergence and, at the same time, eliminate discomfort on the part of a driver by detecting a changing rate of yaw rate of a vehicle and giving damping to the yaw rate according to this changing rate, thereby braking the vehicle yaw rate. SOLUTION: A motor angular velocity estimator 301 estimates a motor angular velocityωfrom a current control value E and a motor current value I and inputs the estimated value to a convergence controller 340. The convergence controller 340, comprising a steering angle arithmetic unit 341 and a yaw rate differential estimator 342, uses the steering angle arithmetic unit 341 to find a steering angular velocity based on the motor angular velocityω. While the yaw rate differential estimator 342 uses the steering angular velocity to find a changing rate of vehicle yaw rate. A torque signal CN proportional to the yaw rate changing rate obtained is fed back so that a steering angle signal in synchronism with the yaw rate changing rate can be generated. This results in damping being applied to the yaw rate.</p> |
