| 摘要 |
A motorized vehicle having a distributed motor system, i.e. having a plurality of electric drive motors ( 12 ) each coupled to a respective traction wheel ( 10 a), all under the control of a controller ( 13 ). All or only some of the wheels may be traction wheels ( 10 a), and each traction wheel ( 10 a) may also have a steering motor ( 21 a), and each may even also have a wheel positioning motor ( 27 ) for repositioning the wheel relative to the chassis ( 10 c), e.g. during a turn. Each electric drive motor ( 12 ), steering motor ( 21 a) and wheel positioning motor ( 27 ) may be integrated into a wheel manipulator element ( 31 ), with all wheel manipulator elements ( 31 ) operative according to signals received from the controller ( 13 ) and using power provided via the controller ( 13 ). Each wheel manipulator element ( 31 ) typically provides the controller ( 13 ) with signals indicating the motion of the respective wheel ( 10 a).
|
