Method of controlling steering of rear wheel in four wheel steering vehicle

Abstract

Abstract PURPOSE:To make a phase lag in the yaw rate completely zero over all angle range of operation of a steering wheel, by controlling the steering angle betar of rear wheels, corresponding to the sum of a value which is obtained by multiplying the steering angle betaf of front wheels by (K) and a value which is obtained by multiplying the steering speed beta'f of the front wheel by (a). CONSTITUTION:A sensor 7 for detecting the steering angle betaf and speed beta'f of front wheels is attached to a shaft 2, and issues a signal to a rear wheel steering angle computer 9 which also receives a vehicle speed (u) signal from a vehicle speed sensor 8. A computer 9 computes the steering angle betar of rear wheels in accordance with betaf, beta'f and u, and delivers the thus obtained result to a differential amplifier 10 which delivers a voltage corresponding to an actual rear wheel steering angle betar0 and a voltage difference (betar-betar0) corresponding to the beta'r to an amplifier 12. The amplified values are delivered, as control signals, to control an electrohydraulic servo-valve 13 for controlling the feed and discharge of hydraulic pressure into and from a hydraulic cylinder 13, thereby the steering angle of rear tires 17 is controlled by means of rear wheel nuckles 16.

Inventors

• 👤 Seiji Kawakami
• 👤 清治 河上

Bibliographic Details