| 摘要 |
PURPOSE:To properly control steering reaction in relation with restoring torque by changing an assisting amount of steering torque according to wheel orientation changing torque. CONSTITUTION:Restoring torque Tt1 and Ttr generated at left and right steering wheels 16 are detected as moment around the axis of each king pin 84 caused by a cornering force, and the sum of these restoring torque Tt1 and Ttr is made as restoring torque Tt. As the equation of Tt=N.Th+LA.[Pr P1] is established among steering torqtue Th, right turning pressure Pr, left turning pressure P1 and restoring torque Tt (L is the length of a knuckle arm 80 and A is a pressure receiving area of a power piston 20), the restoring torque Tt is calculated using this equation. And as an assisting amount is controlled so that steering reaction is linearly changed to the restoring torque Tt, steering feeling with sure response can be obtained even when a vehicle is changing the lane and the steering wheel is close to the turning limit. |
