| 摘要 |
PURPOSE:To keep rear wheels from being supplied with useless steering angles at the time of steering without driving while preventing the degradation of a steering control characteristic during travel by cutting the integral arithmetic control quantity according to the load of a rear wheel steering actuator, and resetting the integral arithmetic control quantity gradually at the time of the load being lowered. CONSTITUTION:In the control method of a rear wheel steering system 8, the driving force control of an electric motor 10 serving as a rear wheel steering actuator is performed by outputting the value obtained by adding the feed forward control quantity from a target function generator, the state feedback control quantity from a control object, and the integral arithmetic control quantity obtained from the integral value of deviation between the target steering angle value and the actual steering angle and also from the integration denial quantity of the state quantity from the control object. The integral arithmetic control quantity is cut according to the load of the electric motor 10, and the integral arithmetic control quantity is reset gradually at the time of the load being lowered. As a result, useless follow-up action is suppressed during the overloaded state, for instance, in the case of steering without driving, and a smooth follow-up characteristic can be obtained at the time of the load being lowered. |
