| 摘要 |
<p>PURPOSE:To prevent the tumbling of a vehicle and the dropping of a cargo due to a quick turn by controlling a motor based on the value subtracted with the added signal of both detected signals of the vehicle speed and turning angular speed from the detected signal of steering torque. CONSTITUTION:The steering angle theta of a drive wheel 3 is detected by a potentiometer 8 during the operation of a fork-lift R, an arithmetic circuit 13 divides the change of quantity of the steering angle signal per fractional time with the fractional time to obtain the turning angular speed of the drive wheel 3. The steering torque applied to a steering handle S is detected by a steering torque detecting device 9 via a chain 16, and the detected signal is outputted to a control device 10. A power steering motor 11 is controlled based on the steering torque signal. Added signals of the turning angular speed signal and vehicle speed signals are negatively fed back to the control device 10, the assist torque is reduced to apply weight to the handle S when the turning angular speed is large while the vehicle speed is large.</p> |
