| 摘要 |
PURPOSE:To improve steering ability ranging from low and middle speed territory to high speed territory by deciding steering angle of a rear wheel against that of a front wheel from product of sum of a specified proportional component and a differential component, multiplied by a specified primary delay component. CONSTITUTION:Respective measured values of steering angle sensors 34,36 of a front wheel and a rear wheel are converted to digital values in the analogue/digital convertor 42 provided in a controller 30, and input to a controller main body 40. A measured value from a vehicle speed sensor 32 is directory input to the input circuit of the controller main body 40. The controller main body 40 computes following to recorded content in a memory circuit 48 and the input values from respective sensors, and drives a motor 31 with a motor driver 44 according to the computed result. In this case, the steering angle of the rear wheel against the steering angle of the front wheel is decided from the product of the sum of a proportional component in proportion to the steering angle of the front wheel and a differential component in proportion to the steering angular speed of the front wheel, multiplied by a primary delay component corresponding to a primary delay value against the steering angle of the front wheel. |
