RIDING-TYPE GROUND WORKING VEHICLE
First Claim
1. A riding-type ground working vehicle comprising:
- left and right wheels which are main drive wheels independently driven to travel by two respective traction motors,steering control wheels provided separately in a longitudinal direction with respect to the left and right wheels, anda working machine that is driven to perform ground work,the riding-type ground working vehicle further comprising;
command value calculating section that calculates two target rotational speed command values of the two respective traction motors based on an acceleration instruction and a turn instruction input by a driver;
yaw rate detecting section that detects a yaw rate of the vehicle;
target yaw rate calculating section that calculates a target yaw rate based on the acceleration instruction and the turn instruction;
correction coefficient acquiring section that acquires two correction coefficients relating to the two respective traction motors based on a deviation between the target yaw rate and a yaw rate detection value; and
control section that corrects the two target rotational speed command values by the two correction coefficients, and controls driving of the two traction motors based on the two corrected target rotational speed command values.
1 Assignment
0 Petitions
Accused Products
Abstract
A riding-type ground working vehicle includes left and right wheels, a command value calculating section, a yaw rate detecting section that detects a yaw rate of the vehicle, a target yaw rate calculating section, a correction coefficient acquiring section, and a control section. The left and right wheels are independently driven to travel by two respective traction motors. The command value calculating section calculates target rotational speed command values for the two traction motors based on an acceleration instruction and a turn instruction input by a driver. The target yaw rate calculating section calculates a target yaw rate based on the acceleration instruction and the turn instruction. The correction coefficient acquiring section acquires two correction coefficients respectively relating to the two traction motors based on a deviation between the target yaw rate and a yaw rate detection value. The control section corrects the two target rotational speed command values by the two correction coefficients, and controls drive of the two traction motors based on the corrected two target rotational speed command values.
34 Citations
10 Claims
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1. A riding-type ground working vehicle comprising:
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left and right wheels which are main drive wheels independently driven to travel by two respective traction motors, steering control wheels provided separately in a longitudinal direction with respect to the left and right wheels, and a working machine that is driven to perform ground work, the riding-type ground working vehicle further comprising; command value calculating section that calculates two target rotational speed command values of the two respective traction motors based on an acceleration instruction and a turn instruction input by a driver; yaw rate detecting section that detects a yaw rate of the vehicle; target yaw rate calculating section that calculates a target yaw rate based on the acceleration instruction and the turn instruction; correction coefficient acquiring section that acquires two correction coefficients relating to the two respective traction motors based on a deviation between the target yaw rate and a yaw rate detection value; and control section that corrects the two target rotational speed command values by the two correction coefficients, and controls driving of the two traction motors based on the two corrected target rotational speed command values. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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Specification