| 摘要 |
PROBLEM TO BE SOLVED: To prevent hunting by feedback controlling the output torque of an electric motor until a deviation between the target yaw rate and the actual yaw rate becomes a prescribed value or less, and open-loop controlling the same according to the driving torque of a front wheel and the lateral acceleration when it becomes less than a prescribed value. SOLUTION: According to a car speed obtained from a steering angle and the rotating speed of rear wheels 4L, 4R, a target yaw rate is calculated, and when a deviation from the detected actual yaw rate is a prescribed value or less, the deviation is multiplied by a prescribed feedback coefficient to calculate the output torque of electric motors 6L, 6R. When an outer ring side motor is rotated in the normal direction and an inner ring side motor is reversed, it approaches the target yaw rate. When it becomes a prescribed value or less, the driving force of a front wheel is calculated, and the output torque of electric motors 6L, 6R corresponding to the lateral acceleration is map-retrieved, the outer ring side motor is rotated in the normal direction with the detected torque, and the inner ring side motor is driven to be reversed. The output torque of the electric motors 6L, 6R is open-loop controlled. |
