| 摘要 |
PURPOSE:To miniaturize a motor and a battery by providing such a constitution as to steer rear wheels through physical interlock with front wheel steering, and as to conduct power steering by a difference between the steering angle by this steering and a target steering angle. CONSTITUTION:A controller 15 first calculates a target rear wheel steering angle delta from the turning angle of a steering wheel 3 and vehicle speed. Then, a deviation deltaM between a rear main steering angle deltaM to the front wheel steering angle by the turning angle of the wheel 3 through rear wheel main steering systems 13, 14, 12, 11 and a target rear wheel steering angle delta is determined. This shows a target rear wheel auxiliary steering quantity, and a controller 15 calculates the rotating quantity (target motor rotating quantity) thetaS of a motor 10 to obtain this deviation DELTAM. The controller 15 determines a motor rotating quantity instruction I to zero the deviation between this rotating quantity thetaS and a measured motor rotating quantity thetaM detected by a rotary encoder 19 according to this deviation, and supplies the instruction I to a driving circuit 16. The driving circuit 16 supplies such a driving current as to provide the motor rotating quantity corresponding to the instruction I to the motor 10 by the electric power from a battery 20. |
