| 摘要 |
<p>PURPOSE:To provide a car steering angle controller that makes a car behavior change at time of motor step-out smoothable. CONSTITUTION:A motor step number sensor detects the step number of a step motor, a front-wheel steering angle sensor each steering angle of front wheels and a car speed sensor and a yaw-rate sensor both a car speed and a yaw rate, respectively. A microcomputer sets a target step number Ns of the step motor, and if a difference between the target step number Ns and the actual step number Nm is entered in a first comparisone range, it is regarded as normality. When a difference between NS and Nm comes off the first comparison range, and it is entered into a second comparison range, it is set to the step number for approaching the step number gradually to a desired rear-wheel steering angle along with time as small step-out. In succession, if a difference between Ns and Nm comes off the second comparing range, the step number is forcibly kept to the so-far step number as large step-out.</p> |
