| 摘要 |
PROBLEM TO BE SOLVED: To provide a controller that can provide high precision attitude control, antislip control and automatic suspension control. SOLUTION: Encoders 22 and 23 for both front wheels detect rotating speeds Nl and Nr of both front wheels respectively. A derivation part 26 arithmetically derives a left-right wheel diameter ratio Klr from the rotating speeds Nl and Nr of both front wheels, a steering angleθof a driving wheel by a potentiometer 24, and arrangement dimensions of both front wheels and driving wheel. With the use of the left-right wheel diameter ratio Klr, a control part 27 controls a motor driver 21 and a travel motor 20 to offer, for example, antislip control considering tire wear of each of the front wheels 6l and 6r. COPYRIGHT: (C)2003,JPO
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