車輪摩擦力を利用する車の定常走行運動解析

摘要

Kinetic analysis of a four-wheeled vehicle is described. Since the vehicle has no steeringwheel, forward direction is controlled by changing wheel-driving torque, independently. All wheels are allowedto slide sideways to progress in all directions, including self turn. Driving torque and friction force ofeach wheel on road are decomposed into two orthogonal components. Three forces are combined to find atangential direction and curvature of locomotional trajectory in a steady state. Armature current giving a torqueproportional to its amount is utilized in the analysis. Results of analytical and experimental motions arecompared to show the mathematical formulations are valid.