Steering control apparatus for self-propelled truck, self-propelled truck, steering and control method

摘要

PROBLEM TO BE SOLVED: To reduce abrasion of tires by making delay angles of steering shafts of all the tires of a self-propelling carriage almost the same and preventing application of a burden on the tires.;SOLUTION: A steer deviation angle is determined by constantly detecting steer angles of all the tires 100 by a tire angle detector 31 and comparing a steer command angle signal Vs and a steer FDBK signal with each other for each of the tires by a comparator 15. Thereafter, the maximum deviation angle is determined from all the steer deviation angles of the individual tires by a maximum deviation angle arithmetic circuit 18. Correction is added to the steer deviation angles of the individual tires 100 in accordance with information of the maximum deviation angle and the steer angle of each of the tires is controlled based on these corrected steer deviation angles in a steer deviation angle correction circuit 19. Consequently, the steering delay angles are made almost the same by positively flowing oil to a shaft particularly bad in following (shaft large in steering delay angle).;COPYRIGHT: (C)2009,JPO&INPIT