| 摘要 |
PURPOSE:To secure a flat gain characteristic as a whole by performing rear- wheel control with a differential transfer function including a proportional item, in such one which detects rear-wheel steering force or the like and proportions a rear-wheel steering angle to a rear-wheel side skid angle for control. CONSTITUTION:A rear-wheel steering force sensitive type four-wheel steering vehicle detects either of rear-wheel steering force or rear-wheel lateral force or a rear-wheel side skid angle, and controls a rear-wheel steering angle deltar in proportion to a rear-wheel slide skid angle betar as supposing that the rear- wheel steering force or the rear-wheel lateral force is proportioned to the rear- wheel side skid angle. In this case, this rear-wheel control is made so as to be done in accordance with an equation of deltar=-G(S)krbetar (where, kr is a steering factor) by a differential transfer function G (S) including a proportional item. In addition, this transfer function G (S) is found out of an equation of G(S)=1+alphaTs/(1+Ts), and T is a time constant, alpha is a proportional gain, whereby this proportional gain alpha is set to 0<alpha<(1-kr)/kr. |
