STEERING ANGLE CONTROL DEVICE FOR VEHICLE

摘要

PURPOSE:To eliminate a delay of control response in an actuator, by obtaining the target value of a wheel steering angle containing a compensation component of a dynamic delay in the wheel steering actuator. CONSTITUTION:A standard model arithmetic means 103 obtains a wheel steering angle delta* and a wheel steering angular speed delta*' for the subject wheel of control assuming that a steering angle target value deltao is realized by using a wheel steering actuator equipped with an ideal dynamic characteristic. Further a steering angle target value correcting means 104 corrects the target value of the wheel steering angle in accordance with a mathematical model of an actual wheel steering actuator 107 by using an arithmetic value delta*' of the wheel steering angle and an arithmetic value delta* of the wheel steering angular speed.