| 摘要 |
A pulley-steered vehicle (1) is equipped with a device for the forward driving of the vehicle and a control unit (2) designed to control the vehicles progress relative to the steer pulley. The control unit is partly formed from the positioning unit (7) which consists of two position sensors situated at a distance from each other and at a certain distance from a steering pulley for the vehicle. The sensors emit separate signals in the form of an alternating voltage. A signal handling unit (8) goes into the control unit which provides a steering fault signal, such as discrepancies between the two sensor signals. There is, furthermore, a steering unit (9) which, via the steering fault signal, ensures that the vehicle follows the steer pulley. Each one of the sensors displays a pointed/smooth angle between its symmetrical axle, with regard to sensitivity to the magnetic field vector and an extended standing axle at right angles to the vehicle's normal plane of movement. The angle is selected to ensure that the steering fault signal maintains unchanged polarity in the event of the vehicle's departure from a neutral position directly over the steer pulley (3) towards one or the other side of the steer pulley. In the signal handling unit (8), furthermore, there is a device (28) which recognizes the relatively fixed position between the sensor signals. At its exit point (29), this emits a signal which indicates the extent to which the vehicle is deviating from the pre-determined value. |
