A steering system for a vehicle according to an example in the present disclosure includes a steering mechanism that is mechanically disconnected from a steering wheel to cause a driving wheel to be turned by a turning motor, and a control device that provides a motor command value to the turning motor. The control device has a two-degree-of-freedom control system including a feed-forward model for converting a target turning angle into a feed-forward value of the motor command value, and a feedback model for converting a difference between the target turning angle and an actual turning angle into a feedback value of the motor command value. A transfer function describing the feed-forward model contains a variable coefficient. The control device changes the variable coefficient of the transfer function based on information about road surface reaction.
Steering System for Vehicles
2020-09-10
Patent
Electronic Resource
English
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |