A MULTI-SHAFT STEERING APPARATUS FOR CONTROLLING INDIVIDUAL WHEEL

摘要

PURPOSE: An independent wheel control type multi-shaft steering device is provided to improve survivability, mobility, and energy efficiency of a combat vehicle. CONSTITUTION: An independent wheel control type multi-shaft steering device comprises composite steering devices(200a-200f), a driving control device(300), a driving operation device(400), and a detecting device(500). The composite steering device is mounted on each wheel of a vehicle. The driving operation device independently distributes a steering command inputted by the driving operation device to the composite steering device for the control. The driving operation device receives the steering command by a driver and transmits the steering command to the driving control device. The detecting device detects the state of the vehicle and the wheel. [Reference numerals] (200) Composite steering device; (210) Turning angle steering device; (220) Skid steering device; (230) Steering controller; (300) Driving control device; (310) Stability controller; (320) Upper controller; (330) Lower controller; (340) Slip controller; (350) Steering determining device; (400) Driver operation device; (410) Accelerating pedal; (420) Braking pedal; (430) Steering handle; (440) Sensor signal processor; (500) Sensor/state estimator; (510) Sensor; (520) State estimator; (600) Power supply device; (610) Low-power supply; (620) High-power supply