| 摘要 |
PURPOSE:To improve the damping of a steering force sensitive type and obtain a four wheel steering vehicle with a smooth gain characteristic by compensating the lowering of the stationary gain caused by the rear wheel in-phase steering using the transfer function. CONSTITUTION:One of the rear wheel steering force, the rear wheel transverse force or the rear wheel side slip angle is detected and made as the rear wheel side slip angle betar, and the rear wheel steering angle deltar is controlled on the basis of the equation deltar=-krbetar. In this case, the transfer function G(S) is obtained from the equation G(S)=alphaTs/1+TS. The lowering of the stationary gain by the rear wheel in-phase steering can be compensated by differentially controlling the rear wheel steering angle deltar on the basis of the equation deltar=-G(S)krbetar. |
