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Four wheel steering system with closed-loop feedback and open-loop feedforward

  • US 4,842,089 A
  • Filed: 06/27/1988
  • Issued: 06/27/1989
  • Est. Priority Date: 06/27/1988
  • Status: Expired due to Term
First Claim
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1. A rear wheel steering system for a four-wheeled motor vehicle in which the front wheels of the vehicle are steered at an angle directly related to a steering input generated by the operator of the vehicle, the system comprising in combination:

  • open-loop control means for developing an open-loop steering command in relation to a representation of the steering angle of the front wheels;

    closed-loop control means for (1) generating yaw and lateral velocity commands in relation to a representation of the steering angle of the front wheels and the open-loop steering command developed by said open-loop steering control means, (2) determining the actual yaw and lateral velocities of the vehicle, and (3) developing a closed-loop steering command in relation to the deviation of the actual yaw and lateral velocities from the commanded yaw and lateral velocities;

    combining means for forming an overall steering command according to a combination of the open-loop and closed-loop steering commands and; and

    actuator means for steering the rear wheels of the vehicle in accordance with the overall steering command formed by said combining means.

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