DRIVE STEERING DEVICE OF UNMANNED CARRIER

摘要

To provide the drive steering device of an unmanned carrier in which three or more drive units are controlled in cooperation so that a large driving force is obtained with a small amount of electric power.SOLUTION: The drive steering device comprises: a main control unit 62 for generating speed command signals (v, v) and steering angle command signals (Δθ, Δθ) for a front and a rear wheel drive unit 4F, 4R; and a sub-control unit 68 for generating a speed command signal (v) and a steering angle command signal (Δθ) for a sub-drive unit 7. The sub-control unit 68 generates the speed command signal (v) and the steering angle command signal (Δθ) so that the speed component of the sub-drive unit 7 along a front wheel attachment shaft passing through a sub-drive wheel steering shaft and a front wheel steering shaft and the speed component of the front wheel drive unit 4F become equal, and the speed component of the sub-drive unit 7 along a rear wheel attachment shaft passing through the sub-drive wheel steering shaft and a rear wheel steering shaft and the speed component of the rear wheel drive unit 4R become equal.SELECTED DRAWING: Figure 2