| 摘要 |
PURPOSE:To make it possible to cope with steering angle control according to a given equation based on the angle of the steering wheel and the optimum steering angle with a micro computer by using a deformation equation using the difference value of the difference value output angle of the angle of the steering wheel as the given equation. CONSTITUTION:Along with the operation of steering wheel 3 front wheels are steered by obtaining steering compensation force by means of a front wheel steering angle control actuator 5, and rear wheels are steered by means of a rear wheel steering angle control actuator 6. Each of the actuators 5 and 6 is controlled by a controller 11 based on the output of a steering angle sensor 12, car speed sensor 13 and control steering angle sensors 14 and 15. In this case, the output angle delta0 at the time of controlling steering angle is operated based on the given equation by using the latest angle theta0 of the steering wheels, the difference value between this angle theta0 and the angle theta1 of the steering wheel in the last operation the difference value between this angle theta1 and the angle theta2 of the steering wheel in the operation before the last operation, the output angle delta1 in the last operation and the difference value between the angle delta1 and the output value delta2 in the operation before the last operation. |
