WHEEL CONTROL DEVICE AND CONTROL DEVICE

摘要

A wheel control device and a control device capable of generating a braking force on wheels. In a vehicle (18) having the wheels (16) and (16), the wheel control device (10) controlling the wheels (16) and (16) comprises actuators (50) operated so that the slip angles of the wheels (16) and (16) can vary and a controller (70) controlling the actuator (50) so that the lateral forces of the wheels (16) and (16) can be generated on the ground-contact surfaces of the wheels (16) and (16) by increasing the absolute values of the slip angles of the wheels (16) and (16) to increase the braking force on the wheels (16) and (16).