Steering actuator controller for lean vehicle and lean vehicle

摘要

The steering actuator for controlling the attitude of the vehicle body frame is controlled by a different method.An actuator control apparatus according to the present invention comprisesWithout the use of torque sensor to detect torque generated around the rotary shaft of the steering wheelBy using a roll angular velocity sensorBased on the roll angular velocity obtained from the roll angular velocity sensorBased on the torque detected by the torque sensor that detects the torque generated around the rotary shaft of the steering wheel by the rider operationThe steering actuator is controlled.