4輪独立操舵・4輪駆動電気搬送車の制御

概要

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An indoor 4-wheel individual steering and driving vehicle with full electronics was built for evaluating the system ability and the performance in practical use. Mechanical parts such as the connecting rod and the differential gear are not provided for this vehicle.From trial operation, the characteristics are fully performed as in design, but some problems that originated from the design concept are disclosed.Rotating radius (R) of the vehicle was taken for steering command parameter, but it was found that it is not an appropriate parameter for driving operation. The reasons are as follows; 1) R has much different sense of driving conformability for the driver, because it doesn’t refer to the running direction, but to the rotating radius of crosswise direction. 2) Sensitivity of each wheel steering angle against R differs over double figures in full range of R. 3) R changed from plus to minus and also the other way in most practical situations around go-straight operation.For these reasons, the steering command parameter was changed from R to α, where α is the angle between vehicle lengthwise direction and the moving direction. The steering control algorithm using α parameter has been proven to solve the above mentioned problems 1), 2), and 3).
社団法人電気学会の論文
2004-06-01