METHOD OF SPEED, position in space and the direction of movement of vehicles, implements SCHEME Steer and supply the electric drive INDEPENDENT WHEELS

摘要

1. A method for speed control, position in space and the direction of movement of multibasic vehicle provided with independent electric wheels, implements circuit board comprising rotation and that control provides simultaneous change of angular speeds of the wheels, characterized in that each wheel is attached to the angular velocity according to the formula: wherein ω- angular velocity i-th wheel, t - time, Δ - speed control signal, Ψ - rotation control signal, ω = ω (Δ, t) - angular scab any rotation of the wheels, as a function of Δ t and the rectilinear uniform motion of a vehicle, R = R (Ψ, t) defined as a function of the turning radius and Ψ t, Y- projection distance from the center of gravity of the vehicle to the center of i-th wheel on the axis directed away from the center of rotation perpendicular to the wheel plane and passing through the center of mass transport sredstva.2. A method according to claim 1, comprising that the dependence ω = ω (Δ, t) is defined as in formula impulsov.3 sequence. A method according to claim 1 or 2, comprising that the dependence of R = R (Ψ, t) in the formula is defined as a sequence of pulses.