| 摘要 |
PURPOSE:To prevent a starting phenomenon of a vehicle rear part by controlling a steering angle of a rear wheel in a reverse direction to a front wheel so as to steer at an equal angle also at an equal angular speed, and moving the rear wheel along a locus of the front wheel, when the rear wheel is moved to a steering position of the front wheel. CONSTITUTION:In a four-wheel steering special vehicle of speed sprayer or the like for scattering a chemical fluid in a fruit farm, when a front wheel 12 (12a, 12b) is steered by a power cylinder 36f by operating a handle, a steering angle and angular speed of the front wheel are detected by a sensor, and its data is fetched to an MPU and stored in a RAM. From an output of a rotary encoder for detecting a rotational speed of a propeller shaft or the like, an advancing distance of the vehicle is obtained to judge whether a rear wheel 14 (14a, 14b) is moved or not to a steering position of the front wheel 12. In the case of judging YES, the data stored in the RAM is taken out, and a rear wheel power cylinder 36r is controlled to be driven so that the rear wheel 14 is steered at a steering angle and equal angular speed in a reverse direction to the front wheel 12. |
