| 摘要 |
A riding-type ground working vehicle includes left and right wheels, a command value calculating section (68), a yaw rate detecting section (60) that detects a yaw rate of the vehicle, a target yaw rate calculating section (70), a correction coefficient acquiring section (72), and a control section (74). The left and right wheels are independently driven to travel by two respective traction motors (22,24). The command value calculating section (68) calculates target rotational speed command values for the two traction motors (22,24) based on an acceleration instruction and a turn instruction input by a driver. The target yaw rate calculating section (70) calculates a target yaw rate based on the acceleration instruction and the turn instruction. The correction coefficient acquiring section (72) acquires two correction coefficients respectively relating to the two traction motors (22,24) based on a deviation between the target yaw rate and a yaw rate detection value. The control section (74) corrects the two target rotational speed command values by the two correction coefficients, and controls drive of the two traction motors (22,24) based on the corrected two target rotational speed command values. |
