| 摘要 |
PURPOSE:To enable automatic high speed control even during travel on irregular grounds and under water by performing horizontal control of the vehicle using the actuator located at the highest position against the horizontal surface as a reference with respect to the attitude in the title mechanism composed of clinometers and wheel vertical moving actuators. CONSTITUTION:An operation device 19 selects one point located at the highest position out of four points P1-P4 based on those inputted from clinometers 16, such as a front to rear and a right to left tilt angle theta1 and theta2, and the existing length of strokes S1-S4 of each actuator located at four points P1-P4 on the front and rear sides, and the right and left sides of the body of a vehicle. Then, the device controls three of the other actuators 4 in such a way as to maintain the vehicle body at a level with respect to the aforesaid point as a reference height. In this case, if any stroke required exceeds the maximum length of stroke, the length of stroke of each actuator 4 is controlled to be reduced by the length is excess of stroke. This constitution enables automatic high speed horizontal control, the attitude can thereby be stabilized even on irregular grounds and under water. |
