| 摘要 |
PURPOSE:To stabilize the control in a high frequency area even in the case where the gain of a practical area is high by preliminarily allowing a deviation in the high frequency area and minimizing the feedback gain in the high frequency area. CONSTITUTION:In the first vehicle model Gf, a yawing rate estimated value yf by a steering wheel steering angle theta is determined, and in the second vehicle model Gr, a yawing rate estimated value yr by a rear wheel steering angle deltar is determined. The whole yawing rate estimated value yfr of vehicle is the sum of an estimated value yf by front wheel steering and an estimated value yr by rear wheel steering. Using the output Z of a weighting filter W having a small gain in a frequency area requiring no minimization of a deviation (e) to a target value ym of vehicle motion yfr as an evaluation output, a compensator K as minimizing this is set to design a controller. Thus, it is prevented that an unnecessarily increase in gain in this frequency area makes the control unstable. |
