| 摘要 |
PURPOSE:To enable constitution of a stable and robust control system as a means to vary the characteristics of the reduction pass filter of a turbulence compensating part according to a difference between the output of an object to be controlled and the output of a model. CONSTITUTION:During steering, a first subtractor (e) subtracts a steering angle prediction value from a steering angle prediction part (d) from a steering angle actual value from a steering angle sensor (c) and outputs an error signal responding to disturbance or the change in characteristics of an actuator. A compensator (f) inputs the error signal, and based on transmission characteristics obtained by multiplying transmission characteristics, having reduction pass characteristics, by the reverse transmission characteristics of a steering angle predicting part (d), a correction value of a steering angle command value is outputted. The correction value is subtracted from the steering angle command value by a second subtractor (g), a corrected command value is outputted to an actuator (b), and this operation causes a steering angle varying mechanism (a) to provide a steering angle for an auxiliary steering wheel. In which case, since reduction pass characteristics provided for the compensator (f) is varied by a reduction pass characteristic varying part (h) according to an error signal by means of which the output of an object to be controlled and the output of a model is represented, a stable and robust control system can be constituted. |
