| 摘要 |
PURPOSE:To ensure steering by computing the speed of each wheel based on a turned angle of a steering wheel, and by controlling the quantity of oil supplied from hydraulic motors so that each wheel can be driven at the computed speed. CONSTITUTION:Hydraulic motors 1-4 are connected to the axles of a left rear wheel 21, a left front wheel 22, a right rear wheel 23 and a right frong wheel 24 respectively. The supply of oil to each hydraulic motor is conducted from one pump 5 through flow regulating valves 6, oil directional selector valves 7 and brake valves 8. Control terminals of the valves 6, 7 and 8 are connected to control output terminals of a contoller 10, which is controlled by a microcomputer 11. When a steering wheel 12 is turned by an angle theta from a basic position, the microcomputer 11 takes in the data corresponding to the turn anble theta of the steering wheel through a rotary encoder 13 and an A/D converter 14. Based on the turned angle theta, the microcomputer 11 forms signal for driving flow control valves 61-64 and delivers same to the controller 10. |
