| 摘要 |
PURPOSE:To make the step response non-oscillatory so as to improve the conver gence by making both generating transfer functions of yawrate to the steering input and the disturbance input time lag of first order system. CONSTITUTION:A rear wheel steering angle controller 30 reads a steering angle signal theta from a steering angle sensor 28, a car velocity signal V from a car velocity sensor 29 and a cross wind signal WF of a cross wind sensor 27 to compute a steering input deltaf(S) from the steering angle signal theta. S is a Laplace operator. Secondly, the disturbance input F(S) is computed from the cross wind signal WF. Further, the sum of disturbance input F(S) is multiplied by the time lag of first order to compute the rear wheel steering angle target value deltar(S). A valve drive control command is output to a solenoid valve 20 in order to attain the obtained rear wheel steering angle target value deltar(S). Accordingly, the response characteristic of yaw rate to the steering input when the front wheel steering angle is given by steps, becomes a time lag of first order characteristic and non-oscillatory so as to improve the quick responsiveness and convergence. |
