| 摘要 |
The motorised vehicle has two axles (3,4) mounted so they can pivot relative to the chassis (5) of the vehicle. Each axle has a motor unit (1A,1B,2A,2B) that can be turned relative to the axle, but are held parallel to each other. The motor units are independently controlled. The motor units are controlled by a feedback controller (8) responding to detectors (13A,23B) that measure the angle of the motor units relative to the axle. A comparator (8) compares the measured angle with the angle set by the steering control to form an error signal. The error signal is used to control the other motor units (12A,22B) to reduce the error. The angle between the two axles is also controlled. |
