| 摘要 |
PROBLEM TO BE SOLVED: To control a body turn surely without entailing any nonconformity such as the wear of a tire and a drop in operation efficiency and so on at an accelerating change in starting and braking or the like in time of skewing and crosswise moving forward. SOLUTION: A load wheel 4 or a front side steering wheel is driven by a motor 17 only at the time of starting in a state of being steered in the crosswise forward direction (steering angle 90 deg.) as well as it is braked by a braking device 29 only at the time of in the said state, respectively. A microprocessing unit 32 computes the driving force of a load wheel 4, where a car body is not turned, on the basis of center-round moment made by travel resistance of another load wheel 5 or a caster wheel and driving force of a drive wheel 5, and the motor 17 is voltage-controlled so as to make the fricing force securable. The travel resistance and a center position are operated by a detected value out of two load cells 21 and 22 detecting each wheel load of these load wheels 4 and 5. In addition, two braking devices 29 and 30 are synchronously operated, and thereby each braking force is set to the specified ratio making the car body unrotated. |
