Steering of all-wheel steered road vehicle

摘要

The yaw movement is decoupled from the lateral movement of the front axle, by an integrating feedback of a measured yawing speed signal. The dynamic of the yawing movement can be modelled by a linear system of the second order.A specified yaw damping (DG) is reached by means of a damping parameter (kD) in the equation: kD = 2DG sq.rt. m.lv / ch (in s) across the steering of the rear wheels at an angle (delta h rad), whereby the yaw speed (r rad/sec), travel speed (v metres/sec) and steering wheel angle (deltaL rad) are measured and deltah = (l/v kD)(Wh r), is computed by means of a microprocessor, and Wh is formed as the control variable from the measured steering wheel angle (deltaL) by a prefilter (Fh) assigned to the rear wheel steering.