A construction machine is provided with a vehicle body, steered wheels, a first actuator, a second actuator, a steering angle sensor, a roll angle sensor, and a controller. The steering wheel is supported by the vehicle body. The first actuator changes the steering angle of the steering wheel. The second actuator changes the roll angle of the steering wheel. The steering angle sensor outputs a first angle signal representative of a steering angle. The roll angle sensor outputs a second angle signal representative of the roll angle. The controller obtains a first angle signal and a second angle signal. The controller acquires a steering angle based on the first angle signal. The controller acquires a roll angle based on the second angle signal. The controller acquires a target roll angle corresponding to the steering angle. The controller controls the second actuator such that the roll angle becomes a target roll angle.
本发明提供一种工程机械,其具备车身、转向轮、第一致动器、第二致动器、转向角传感器、侧倾角传感器、以及控制器。转向轮被支承于车身。第一致动器变更转向轮的转向角。第二致动器变更转向轮的侧倾角。转向角传感器输出表示转向角的第一角度信号。侧倾角传感器输出表示侧倾角的第二角度信号。控制器获取第一角度信号及第二角度信号。控制器基于第一角度信号获取转向角。控制器基于第二角度信号获取侧倾角。控制器获取与转向角对应的目标侧倾角。控制器以使侧倾角成为目标侧倾角的方式控制第二致动器。
Construction machine and method for controlling construction machine
工程机械、及用于控制工程机械的方法
2023-12-29
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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