| 摘要 |
PROBLEM TO BE SOLVED: To find a reference car body slip angle with necessary and sufficient accuracy by fixing the reference car body slip angle to the wheel steering angle of a car body slip angle reference model by, at least, a specified order transmission function. SOLUTION: A reference car body slip angleβR to a wheel steering angleδof a car body slip angle reference model is found by at least a quadratic transmission function. Practically, in a given car speed V, the car body slip angle reference model 21 with the wheel steeringδset to an input is composed of the quadratic transmission function. In this case, a coefficient of each term of the transmission function is identified based on the behavior of the car body under a theoretical formula or a controlled condition. According to the car body slip reference model 21, the reference car body slip angleβR can approximate to the practical car body slip angle at the necessarily sufficient accuracy in a standard condition. This method can control the slip angle in a wide-range traveling conditions at necessary time by an appropriate control quantity.
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