| 摘要 |
PURPOSE:To enable simple and accurate travel control to be implemented by calculating the body speed of a carrying vehicle via the comparison of sums of the speed of the specified wheels and the selection of either sum, and issuing a torque instruction to a drive means according to a deviation between the body speed and the speed instruction value of the selected sum. CONSTITUTION:Four wheels 2fR to 2rL are fitted with means 4fR to 4rL for detecting the speed of wheels, and a means 11 is provided for comparing the sums of the speed of the preliminarily specified wheels with each other, and computing the body speed of a carrying vehicle via the selection of the sum of either sum. In addition, an instruction means 21 issues a torque instruction to drive means 3fR to 3rL, according to a deviation between the body speed of the carrying vehicle and the speed instruction value of the selected sum. In this case, for example, there is a case where the speed of wheels giving a slip may be excessive, compared with the speed of other wheels. The means 11 for calculating the wheel speed, therefore, compares the speed of each wheel and selects, for example, a lower wheel speed, thereby computing an actual body speed and effectuating accurate travel control on the basis of a correct body travel speed. |
