| 摘要 |
PURPOSE:To make it possible to enhance the turnability and the control accuracy during turning by controlling an unmanned vehicle so that the running speed of one of front and rear wheels is adjusted in accordance with a turn angle of the other one of the wheels which is on turning. CONSTITUTION:There are provided front and rear steering angle detection sections 13F, 13R including steering angle detectors 10F, 10R for detecting tilt angles (steering angle) of the steering shafts of front and rear wheels 3F, 3R with respect to a vehicle body, and gain control sections 15R, 15F which are provided in rear and front wheel speed control devices 14R, 14F and which receive outputs V(thetaF), V(thetaR) from the steering angle detecting sections 13F, 13R together with a speed instruction Vs. Further, the speed instruction is decreased in accordance with the output V(thetaF), V(thetaR). Outputs from these gain control sections 15R, 15F, as rotational speed instructions, are delivered to speed control sections 16R, 16F, and accordingly, the rotational speeds of drive motors 5RM, 5FM are subjected to feed-back control. |
