Motor vehicles – Including one or more ski-like or runner members – With at least one surface-engaging propulsion element
Patent
1987-07-20
1989-06-06
Marmor, Charles A.
Motor vehicles
Including one or more ski-like or runner members
With at least one surface-engaging propulsion element
180 791, 280 91, 36442401, B62D 504
Patent
active
048363197
ABSTRACT:
A steering apparatus for use in a motor vehicle whereby the actual steering angle of a vehicle wheel is controlled to be equal to a target steering angle. The steering apparatus includes a steering mechanism for regulating a steering angle of the vehicle wheel in accordance with an input signal thereto, a device for determining a target steering angle of the wheel in accordance with the vehicle travelling state, a device for obtaining the difference (X1) between the determined target steering angle and the actual steering angle of the wheel, and a device for calculating a steering angular velocity (X2) on the basis of the actual steering angle. A control device calculates at least two switching functions (L1), (L2) on the basis of the obtained difference (X1) and the calculated steering angular velocity (X2) for obtaining a switching line on the basis of the calculated switching functions (L1), (L2). A control signal is generated as the input signal to the steering mechanism so that the obtained difference (X1) and the calculated steering angular velocity (X2) are respectively converged to zero under restriction of the obtained switching line. Preferably, the two switching functions (L1), (L2) are corrected on the basis of the vehicle travelling state including the speed of the motor vehicle.
REFERENCES:
patent: 4625822 (1986-12-01), Nakamura et al.
patent: 4652002 (1987-03-01), Kurokawa et al.
patent: 4666013 (1987-05-01), Shihabata et al.
patent: 4669744 (1987-06-01), Sano et al.
"Variable Structure System with Sliding Modes" by Vadim I. Utkin; IEEE Transactions on Automatic Control, vol. AC-22, Apr. 1977, pp. 212-222.
Haseda Satoshi
Konishi Yoshimune
Suzuki Motoshi
Tsuzuki Yoshihiko
Culbreth Eric
Marmor Charles A.
Nippondenso Co. Ltd.
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