Boots – shoes – and leggings
Patent
1995-06-07
1997-05-20
Chin, Gary
Boots, shoes, and leggings
180446, B62D 504
Patent
active
056318332
ABSTRACT:
A motor for a motor-assisted power steering device is controlled with a control value which is obtained by detecting an error between an actual steering torque which has undergone phase lead compensation and a target steering torque, and by summing a proportional value, an integration value and a differentiation value of the error, or with a control value which is obtained by detecting an error between actual steering torque and a target torque; obtaining a proportional value, an integration value and a differentiation value of the error; clipping the lower limit value of the integration value with a first clipping circuit, and clipping the upper and lower limit values of motor-controlling quantity obtained by summing the proportional value, the integration value and the differentiation value by using a second clipping circuit.
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Naito Yasuo
Nishino Kazuhisa
Takagi Masanori
Wada Shunichi
Chin Gary
Mitsubishi Denki & Kabushiki Kaisha
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