| 摘要 |
FIELD: transport engineering. ^ SUBSTANCE: invention can be used in self-propelled machines, wheeled and wheeled-crawler tractors and carriers. Turning of multisupport vehicle is provided owing to turning of steerable wheels with simultaneous changing of traction forces on nonsteerable driving wheels or track modules. Matching device forms difference of traction forces on leading and lagging nonsteerable driving wheels or track modules which, with due account of movement of steering linkage members, speed of movement of center of masses of machine and actual value of coefficient of adhesion of nonsteerable driving wheels or track modules with support surface, forms control action onto mechanism lifting or lowering nonsteerable driving wheel or track module, inner relative to center of turning. ^ EFFECT: increased maneuverability of multisupport vehicle. ^ 2 dwg |
