| 摘要 |
PURPOSE:To absorb a variation in a minute auxiliary steering angle in time of travel when an amount of auxiliary steering angle feedback desired value is tiny and vibratively varied to some extent, by setting the range of a specified hysteresis steering angle to a dead zone to the auxiliary steering angle quantity reference value to be given by feedback control, and using the value determined on the basis of the input value as the output value. CONSTITUTION:An auxiliary steering angle feedback desired value calculating means (f) has a reference value setting part setting the auxiliary steering angle quantity reference value to be given by feedback control. In addition, it is also provided with a minute variation absorber f1 which sets the range of a specified hysteresis steering angle to a dead zone to this reference value and regarding the value determined on the basis of the input value as the output value. Accordingly, in a minute variation absorbing process, when a difference between the input value and the reference value is within the range of the specified hysteresis steering angle, the reference value is turned to the output value, and also when a difference between the input value and the reference value is out of the range of the specified hysteresis steering angle, such a value as checking a variation as much as a portion for the hysteresis steering angle from the input value is regarded as the output value. |
