| 摘要 |
<P>PROBLEM TO BE SOLVED: To improve straight travelling performance of a working vehicle in a slope. <P>SOLUTION: In the working vehicle provided with: right and left travelling driving wheels 11, 12; auxiliary wheels (caster wheels 13, 14) arranged in the front side or the rear side of the right and left travelling driving wheels 11, 12; a pair of right and left electric motors 15, 16 rotatively driving the respective right and left travelling wheels 11, 12; a rotating speed detecting means (rotating speed sensor 17, 18) detecting the rotating speed of the right and left travelling driving wheels 11, 12; a turning lever 21, 22 to be a conduct means for setting the travelling direction and the vehicle speed; a yaw rate sensor 25 for detecting yaw rate generated in the working vehicle; and a controller 50 for carrying out yaw control by changing the number of rotations of the right and left electric motors 15, 16 so as to obtain a target yaw rate calculated by the conduct means, the yaw control is carried out only when the travelling direction set by the conduct means is straight travelling within a set angle. <P>COPYRIGHT: (C)2012,JPO&INPIT |
