| 摘要 |
<p>A wheel loader includes; a vehicle body in which a front frame and a rear frame are connected together at a connection section in a steerable manner; at least a pair of front wheels fitted to wheel axle of the front frame and at least a pair of rear wheels fitted to wheel axle of the rear frame, with the connection section between the pair of front wheels and the pair of rear wheels; a pair of front wheel electric motors that drive the pair of front wheels and a pair of rear wheel electric motors that drive the pair of rear wheels; a direction alteration control unit that flexes the vehicle body so that the front frame and the rear frame rotate in mutually opposite directions about the connection section as a center while steering actuation is being performed, by driving the pair of front wheel electric motors and the pair of rear wheel electric motors so that a magnitude relationship between speeds of the front wheel electric motor on the inner wheel side and of the rear wheel electric motor on the inner wheel side and a magnitude relationship between speeds of the front wheel electric motor on the outer wheel side and of the rear wheel electric motor on the outer wheel side are opposite, and moreover a speed difference corresponds to a steering angle; and a turning control unit that, when the steering actuation is determined to have been terminated, drives the pair of front wheel electric motors and the pair of rear wheel electric motors so that an inner-outer wheels speed difference corresponding to the steering angle is applied to the speed difference of the front wheel electric motor on the outer wheel side and the front wheel electric motor on the inner wheel side, and so that the inner-outer wheels speed difference corresponding to the steering angle is applied to the speed difference of the rear wheel electric motor on the outer wheel side and the rear wheel electric motor on the inner wheel side.</p> |
