| 摘要 |
PROBLEM TO BE SOLVED: To obtain a self-propelled truck which can smoothly correct the displacement of the running course when diagonally running. SOLUTION: A truck is provided with a programmable controller 12 controlling each part of the device, induction motors 131 -1312 for steering provide corresponding to their respective twelve driving wheels, and vector inverters 141 -14<12> under vector control provided corresponding to the induction motors 136<1> -13<12> respectively. Then, when switching to an individual angle steering control by a switch 24, after the programmable control 12 makes a steering angle of a predetermined driving wheel fixed out of the driving wheels and determines the position of a point which is in the vertical direction and is apart in a predetermined distance to the predetermined driving wheel, each individual steering angle is determined where plural driving wheels except the predetermined driven wheel turns to the direction of the tangent of each circle whose radius it the distance from the point to the plural driving wheels, and vector control signals S<1-> S<12> are produced corresponding to the individual steering angles. |
