Abstract: A coaxial co-located vehicle power drive and steering system includes a motor coupled to a transmission having a drive shaft with a first portion and a second portion mechanically interlocked by a spline having corresponding meshing features extending parallel to the drive shaft longitudinal axis. A drive shaft housing enclosing at least a length of the drive shaft, the drive shaft housing including a first portion and a second portion mechanically interlocked by a spline having corresponding meshing features extending parallel to the drive shaft longitudinal axis. A distal end of the drive shaft terminating within a differential gearbox in mechanical communication with an axle. A steering system coupled to the drive shaft housing second portion, the steering system including one or more rotatable gears which cause an angular rotation of the housing in relation to the drive shaft.

Abstract: A robotic vehicle with modular track assemblies that are separable from the chassis with the drive unit being self-contained in each track assembly with the motor controller, and the coolant system being enclosed in an ornamental cover all of which is positioned above the track and with a cooler of the coolant system being positioned rearward of the motor and the motor controller and a gear box connected outside the ornamental cover on the inside of the left track assembly to couple the motor to a final drive that drives the track with the motor being positioned above the final drive.

Abstract: A transmission for a vehicle, particularly a skid-steered vehicle, that employs motive power from a prime mover delivered through an input shaft to drive left and right drive shafts at a nominal speed and input power from an electric motor to vary the speed of the left and right drive shafts according to steering commands from a steering control structure. The speed of the left and right drive shafts is directly related to a speed of the input shaft and the nominal speed of the left or right drive shaft is varied upwardly or downwardly by a ratio of the speed of the steering shaft via a speed varying structure. The speed of the left and right drive shafts is simultaneously varied in opposite directions (i.e. upwardly and downwardly) relative to the nominal speed by an equal number of rotations.

Abstract: A gas turbine engine includes an engine core, a fan and a gearbox interconnecting the engine core and the fan. The engine core is configured to drive rotation of at least one shaft. The power gearbox is configured to transfer torque from the at least one shaft to an output shaft at a reduced rate. The output shaft is coupled to the fan to drive the fan at the reduced rate and provide trust for the gas turbine engine.

Abstract: A gas turbine engine includes an engine core, a fan and a gearbox interconnecting the engine core and the fan. The engine core is configured to drive rotation of at least one shaft. The power gearbox is configured to transfer torque from the at least one shaft to an output shaft at a reduced rotational speed. The output shaft is coupled to the fan to drive the fan at the reduced speed and provide trust for the gas turbine engine.

Abstract: A method of diagnosing a hydrostatic transmission system includes defining an initial charge pressure of a charge pump at a defined operating position of a primary pump. The primary pump is controlled to operate at the defined operating position. A current charge pressure from the charge pump is sensed when the primary pump is operating at the defined operating position. A pressure difference between the initial charge pressure of the charge pump and the current charge pressure of the charge pump is calculated and correlated to a system state of health of the hydrostatic transmission system.

Abstract: In a transmission structure according to this invention, speed change ratios of input side first and second transmission mechanisms are set so that the rotational speed of a planetary second element is the same when an HST output is set to a second HST speed in either a first transmission state or a second transmission state, and the rotational speed of a planetary first element is the same when the HST output is set to the second HST speed in either the second transmission state or the first transmission state. The speed change ratios of an output side first and second transmission mechanisms are set so that the rotational speed developed in a speed change output shaft when the HST output is set to the second HST speed is the same in either the first or second transmission states.

Abstract: A method for steering a machine while commanded to be in neutral, including: sensing that a transmission is in a neutral setting; applying one or more service brakes into a braking mode; ramping off a steering pump on a hydraulic steering system; sensing a steering command; releasing the one or more service brakes from the braking mode in response to sensing the steering command; and ramping on the steering pump on the hydraulic steering system.

Abstract: Systems and methods for improving operation of a hybrid vehicle driveline are presented. In one example, pressures applied to two different clutches are coordinated such that a pressure boost phase of a driveline disconnect clutch does not occur at a same time as a pressure boost phase of a transmission shifting clutch.

Abstract: A drive unit for an electric vehicle, having an electric machine and a three-speed shift transmission with first, second and third shift elements, and two planetary sets which are coupled with each other. The first planetary set has a first sun gear shaft, first ring gear shaft and a first carrier shaft. The second planetary set has a second sun gear shaft, a second ring gear shaft and second carrier shaft. The first carrier shaft is fixed to the second ring gear shaft. The first sun gear shaft can be driven by an electric machine. The first ring gear shaft is fixed and output takes place via the second carrier shaft. The first shift elements are actuated to engage a first gear, the second shift elements are actuated to engage the second gear and the third shift elements are actuated to engage the third gear.

Abstract: Some embodiments are directed to a drive configuration for a skid-steered vehicle that has a pair of traction motors for rotationally driving opposite outputs of the drive configuration. The traction motors are operatively connected to the outputs via respective gearing arrangements for selectively varying gear reduction between each of the traction motors and the corresponding output. The drive configuration also has a steer differential in a torque connection with the first and second outputs of the drive configuration. The drive configuration additional has a steer motor operatively connected to the steer differential for selectively varying the rotational speed of the first and second outputs in use. Also, the traction and steer motors define a volume in which the gearing arrangements and steering differential are at least partially located.

Abstract: An electric vehicle includes: a seat on which an occupant is seated; a pair of right and left batteries that are arranged in a distributed manner to a right and a left below the seat; and a pair of right and left battery support parts which are provided on a vehicle body and each of which detachably holds each of the right and left batteries.

Abstract: A steering assembly for a hydraulic steering system is disclosed. The steering assembly includes a steering input device and an auxiliary drive assembly. The auxiliary drive assembly includes a lock valve body with one or more fluid passages that facilitates regulation of a fluid flow in response to an input from the steering input device. The lock valve body has a surface and a guide bore. Further, an electric pump is included that has an electric motor with a drive train unit. The electric pump is adapted to be mounted to the surface and the drive train unit is adapted to be positioned through the guide bore and operably coupled to the one or more fluid passages to regulate the fluid flow in the one or more fluid passages.

Abstract: An example, described herein, involves monitoring an operating input of a vehicle; determining a turning maneuver is to be performed by the vehicle with a decreased turn radius based on the operating input; determining that a transmission of the vehicle is to be downshifted to a low gear to enable the vehicle to perform the turning maneuver; and downshifting the transmission to the low gear.

Abstract: In a vehicle axle for a motor vehicle, two electric drives are arranged in a frame construction for driving the wheels of an axle. The frame construction is provided with at least one transverse carrier, which is at its ends connected to longitudinal carriers. The two electric drives are arranged approximately axially parallel next to each other with their axes of rotation arranged transversely to the direction of travel. The at least one transverse carrier extends between the two electric drives.

Abstract: A steer-by-wire steering system having an I-beam and a steering gear housing coupled therewith. An input shaft assembly may be at least partially disposed within the steering gear housing. A steering knuckle having a kingpin boss and an output shaft having a first end at least partially disposed within the kingpin boss. A second end of the output shaft at least partially disposed within the steering gear housing.

Abstract: Systemized controls, apparatus, and mechanisms for unloading or loading portable buildings or equipment with respect to a flatbed trailer or an open, flat hauling platform are provided by a load management system. Loads such as prefabricated sheds are loaded safely without damage onto a trailer for hauling to from locations which may have hostile terrain in the vicinity of pick-up or final placement. The load management system provides a series of powered continuous tracks and lifting devices used to extend the load management system to the ground and lift the trailer until its wheels lose contact with the ground. The load management system uses powered continuous tracks to move the trailer over potentially hostile terrain to an unloading location. Conversely, the load management system can be used for loading a shed for secondary moving or repossession. During transit the load management system remains locked into a retracted safe configuration.

Abstract: The invention relates to a sensor device (100) having an incremental sensor unit (40, 40?, 40?) for a shaft rotatable about a rotational axis, in particular for a steering shaft of a motor vehicle, wherein the incremental sensor unit (40, 40?, 40?) is designed to acquire at least one defined rotational angle position of the shaft. The incremental sensor unit (40, 40?, 40?) comprises a transmitting element (41, 41?) and a housing-fixed receiving element (42), wherein a signal (MInk_planar) emitted by the transmitting element (41, 41?) and transmitted along a signal path is receivable by the receiving element (42) and it is recognizable on the basis of the signal (MInk_planar) received by the receiving element (42) whether the shaft is located in the defined rotational angle position (?def) or not. If the shaft reaches the defined rotational angle position (?def), a signal pulse can be generated.

Abstract: The disclosure relates to a method for operating a steering system of a motor vehicle having a power steering system. A support torque is introduced into a steering transmission. A driving situation is determined. The support torque is reduced depending on the driving situation.

Abstract: Disclosed herein is an apparatus for driving rear-wheels of an environment-friendly vehicle. The apparatus for driving rear-wheels may include: a rear-wheel driver including a first motor and a second motor configured to respectively drive first and second rear wheels; a rear-wheel reducer configured to decelerate drive forces of the first and second motors and transmit the respective decelerated drive forces to the first and second rear wheels; a brake configured to releasably fix the rear-wheel reducer to a vehicle body; and a controller configured to control the rear-wheel driver, the rear-wheel reducer, and the brake. The rear-wheel reducer may include: a first planetary gear set disposed between an output end of the first motor and the first rear wheel; a second planetary gear set disposed between an output end of the second motor and the second rear wheel; and a ring gear coupled to the first and second planetary gear sets.

Abstract: A method for controlling operation of a hydraulic idle stop and go (ISG) system using an electro hydraulic power steering (EHPS) system includes measuring a pressure in an accumulator, a steering angle, and a steering angular velocity; determining whether the measured pressure in the accumulator is less than an absolute value of a first reference pressure; determining whether the measured steering angle is less than an absolute value of a reference angle when the measured pressure in the accumulator is less than the absolute value of the first reference pressure; determining whether the measured steering angular velocity is less than an absolute value of a reference angular velocity when the measured steering angle is less than the absolute value of the reference angle; and opening a solenoid valve when the measured steering angular velocity is less than the absolute value of the reference angular velocity.

Abstract: An infinitely variable transmission system for differentially steered vehicles comprises two planetary gearboxes, each coupled to drive, as output, a driving component, such as track or wheel, on either side of a vehicle. The planetary gearboxes are drivingly coupled to a power source, such as an engine or motor, via fixed gear ratio driver and via belt drive system of two or more variable ratio belt drive pulleys. Each of the two outputs of the transmission can independently and simultaneously be controlled to revolve in forward, neutral (stop), and reverse directions in a manner of continuously and infinitesimally variable speed and torque.

Abstract: A final drive assembly for a vehicle drive axle having first and second axle-shafts that are configured to rotate about a common first axis. The final drive assembly includes a first gear-set configured to be operatively connected to the first axle-shaft. The final drive assembly also includes a second gear-set configured to be operatively connected to the second axle-shaft. The final drive assembly additionally includes an electric motor configured to provide an electric motor torque input to each of the first and second gear-sets and arranged on a second axis that is parallel to the first axis.

Abstract: Some embodiments are directed to a controlled differential adapted to couple two shafts and steer input, such as those provided in a drive configuration for a skid steered vehicle, the controlled differential including a pair of planet carriers arranged to turn with respective shafts; a pair of ring gears interconnected by a cross-shaft such that the ring gears rotate in common; planet gears and a pair of sun gears, the sun gears being coupled to at least one steer motor to enable rotation of the sun gears in mutually opposite senses upon input from the steer motor.

Abstract: A work vehicle includes a control unit having a motor switch control unit and a motor command determining unit. The motor switch control unit controls a motor switching mechanism so that a third motor connects to a first motor when a first rotation speed is less than a second rotation speed. The first rotation speed is the rotation speed of the first motor corresponding to that of a rotating shaft of the third motor. The second rotation speed is the rotation speed of the second motor corresponding to that of a rotating shaft of the third motor. When the third motor is connected to the first motor, the motor command determining unit determines a command torque for the first motor and the third motor so that the command torque for the third motor is no more than the command torque for the first motor.

Abstract: A working machine comprising: a ground engaging structure with a first and second axle, each mounting two wheels; a body supported on the ground engaging structure, a working arm mounted to the body; and a drive arrangement for moving the ground engaging structure to propel the working machine, the drive arrangement including a prime mover and transmission. The transmission comprises a hydraulic pump driven by the prime mover, a first high speed hydraulic motor to drive the first axle to permit the working machine to be driven at relatively high speeds in a first two-wheel drive operating mode, and a second low speed motor to be supplied with hydraulic fluid from the hydraulic pump to drive the second axle at relatively low speeds and configured to be driven in conjunction with the first motor in a second four-wheel drive operating mode.

Abstract: Provided are a motor control device (1) for controlling a motor (2) having a plurality of phases, for quickly and accurately detecting a phase in which an open-state fault has occurred when the open-state fault occurs in a target phase. When a power-supply voltage (Vb) is equal to or higher than a predetermined voltage (Vthr), a motor rotation speed (?) is equal to or lower than a predetermined speed (?thr), a target x-phase voltage command (Vx*) is not in the vicinity of zero, a current (Ix) of the target x-phase is equal to or lower than a predetermined current (Iu_thr), and a state in which a control error is equal to or larger than a predetermined error is detected over a predetermined time period or longer, occurrence of an open-state fault in the target phase is determined.

Abstract: Uncommanded steering detection in a machine can be performed by comparing commanded and actual steering positions of an electro-hydraulic steering cylinder along with a velocity of movement of the cylinder to understand a steering error and whether the actual steering position is moving toward the commanded steering position. A steering error, when above a predetermined threshold, may be cumulatively summed and, if the cumulative sum exceeds a predetermined limit, an alarm may be triggered and the machine may be forced to a safe state (slowed or stopped). The steering error for the actual steering position may be increased if the velocity of movement is not toward the commanded steering position so that the alarm will be triggered sooner. In either case, the response of the machine to steering uncommanded motion will be swifter when the uncommanded motion is more severe (greater error and/or steering in the wrong direction).

Abstract: A robotic device includes a drive pod defined between multiple wheels coupled to an axle of the drive pod. The robotic device further includes a single mounting shaft coupled to the drive pod and configured to couple the drive pod with a body of the robotic device. The robotic device also includes multiple first motors defined within the drive pod and configured to control multiple first drive gears coupled to a drive shaft gear of the drive pod. The robotic device still further includes a second motor defined within the drive pod and configured to control a second drive gear coupled to a carousel gear of the drive pod.

Abstract: A tracked vehicle (5) with a drive engine (1) for providing mechanical drive power, with a gearshift transmission (2) coupled to the drive engine (1) and with at least one steering gear system (6) coupled to the final drives (12, 12A) of each track (10, 10A). At least one pump (3) supplies hydraulic power to at least one hydraulic motor (4, 4A) of the steering gear system (6). The drive engine (1), the gearshift transmission (2) and the pump (3) are arranged as a drive unit (16) separately from the steering gear system (6).

Abstract: A gear assembly with two inputs and two outputs which can be used on zero turn riding mowers or similar vehicles. The first input is a propelling input and the second input is a steering input. The assembly contains a planet carrier, a first planetary gear assembly, and a second planetary gear assembly. The propelling input is engaged with the planet carrier. The first and second planetary gear assemblies contain a ring gear. The steering input is engaged with the ring gears. The steering input is either a helical bevel gear, straight bevel gear, or a gear train. In another version, the gear assembly can have two planet carriers connected externally to the planetary gear assemblies. In this instance, a central gear is used in between the first planetary gear assembly and the second planetary gear assembly to connect the sun gears.

Abstract: Aspects of the disclosure include apparatuses and program products for recovering speed in a driveline assembly. An apparatus in one embodiment may include: a sensor measuring a shaft speed of a rotatable shaft within a driveline assembly, wherein the driveline assembly includes: a load coupled to the rotatable shaft, a primary power source coupled to the load through the rotatable shaft to deliver a first power output to the load, and a secondary power source coupled to the load through the rotatable shaft to deliver a second power output to the load, wherein the second power output is less than the first power output; and a controller in communication with the secondary power source and the sensor, wherein the controller increases the second power output in response to the shaft speed being less than a minimum speed threshold.

Abstract: The present invention relates to an electric drive system comprising an electric motor (10) arranged to rotate a drive shaft (16); a drive planetary gear configuration (70) being in driving engagement with said drive shaft (16) and an output shaft (50) rotatable relative to said drive shaft (16); and means for providing change in rotational speed of said output shaft (50), wherein said rotational speed changing means (80, 82) are disposed on opposite sides of the motor (10) respectively. The present invention also relates to a motor driven unit, for example a motor vehicle.

Abstract: The Brushless Multiphase Self-Commutation Controller or BMSCC is an adjustable speed drive for reliable, contact-less and stable self-commutation control of electric apparatus, including electric motors and generators. BMSCC transforms multiphase electrical excitation from one frequency to variable frequency that is automatically synchronized to the movement of the electric apparatus without traditional estimation methods of commutation and frequency synthesis using derivatives of electronic, electro-mechanical, and field-oriented-control. Instead, BMSCC comprises an analog electromagnetic computer with synchronous modulation techniques to first establish magnetic energy and then dynamically share packets of magnetic energy between phase windings of a multiphase, position dependent flux, high frequency transformer by direct AC-to-AC conversion without an intermediate DC conversion stage.

Abstract: A tracked ATV includes a frame, a track coupled to the frame, and a power source supported by the frame and drivingly coupled to the track. The tracked ATV further includes a steering and drive assembly, which has a first hydraulic pump coupled to the tracks for large radius turns. The steering and drive assembly also has a second hydraulic pump coupled to the tracks for small radius turns.

Abstract: The invention relates to an electric steering and drive system for a vehicle having a wheel-based steering system, having drive elements for traction tracks or for wheels and having two drive shafts, the first end of which is connected to the drive element of the respective one vehicle side and the second end of which is connected to a differential gear mechanism arrangement, and at least one traction motor is connected to at least one of the two drive shafts, and having an electric steering drive which is drive-connected to the differential gear mechanism arrangement, it being possible for the traction motors and steering drives to be supplied with electric current from at least two energy sources which are independent of one another.

Abstract: A drive and steering apparatus for an industrial truck with a drive wheel, which is rotatably suspended in a drive wheel suspension, which is swivel-mounted around a mainly vertical axis, a steering device, which has a handlebar and a bearing component, which is swivel-mounted coaxially or axially parallel to the drive wheel suspension, and a steering wheel control device, which has at least one sensor, which is permanently arranged with respect to the drive wheel suspension or the bearing component and captures a differential angle between the drive wheel suspension and the bearing component, and a steering drive, with which the drive wheel suspension is pivotable as required by the measured differential angle, characterized by a sensor arm, which is connected in a torque-proof manner with a sensor shaft of the at least one sensor, and a counter piece, which is permanently arranged with respect to the bearing component or respectively of the drive wheel suspension and works together with the sensor arm such

Abstract: A vehicle steering feel improving apparatus is provided for a vehicle, wherein the vehicle is capable of running with a road wheel driven by a driving force from a power source. The vehicle steering feel improving apparatus includes a steering operation detecting means that detects a condition that steering operation is being performed to steer a steerable wheel of the vehicle. A driving force fluctuating means repeatedly fluctuates the driving force to the road wheel, while the steering operation detecting means is detecting the condition that steering operation is being performed.

Abstract: The Brushless Multiphase Self-Commutation Controller or BMSCC is an adjustable speed drive for reliable, contact-less and stable self-commutation control of electric apparatus, including electric motors and generators. BMSCC transforms multiphase electrical excitation from one frequency to variable frequency that is automatically synchronized to the movement of the electric apparatus without traditional estimation methods of commutation and frequency synthesis using derivatives of electronic, electro-mechanical, and field-oriented-control. Instead, BMSCC comprises an analog electromagnetic computer with synchronous modulation techniques to first establish magnetic energy and then dynamically share packets of magnetic energy between phase windings of a multiphase, position dependent flux, high frequency transformer by direct AC-to-AC conversion without an intermediate DC conversion stage.

Abstract: An electronic control unit determines that a vehicle is traveling in a straight line if a state in which the steering torque is less than a predetermined steering torque and an amount of change in the steering angle is less than a predetermined steering angle continues for a predetermined period of time when the vehicle speed is greater than a predetermined vehicle speed. Also, if the steering angle of the steering wheel is not 0, while the vehicle is traveling in a straight line, the electronic control unit calculates the steering amount of rear wheels that matches the steering amount of front wheels, using the steering angle of the steering wheel. Then the electronic control unit steers the rear wheels by driving an electric motor until a controlled neutral steering position of the rear wheels that corresponds to the steering amount matches an absolute neutral steering position.

Abstract: A drive configuration for a skid steered vehicle comprises a pair of electric motors for propulsion of the vehicle, one each coupled to drive a respective track on a respective side of the vehicle, and one or more electric steer motors coupled through a differential gear mechanism to impose a speed difference between the tracks. An associated control system controls the current to each motor so that substantial contributions to the differential torque to turn the vehicle are made both by the steer motors and by the propulsion motors, in variable proportions preferably as a function of the vehicle speed.

Abstract: A motor for an electric power steering device with an integrated controller (1) includes a motor (2) and a controller (15) which controls driving of the motor (2) and has a metal case, the motor and the controller being formed integrally with each other. The motor (1) is attached to a speed reduction mechanism (23). The motor (2), the controller (15), and the speed reduction mechanism (23) are arranged in this order, in an axial direction, and in substantially coaxial relation with each other. The heat emitted from a driving substrate and the motor can be efficiently transmitted to the speed reduction mechanism.

Abstract: When the steered wheels are driven, there is a problem of the torque steering that the steering is disturbed by the difference in the driving forces between a pair of left and right steered wheels. Before such a problem, there is a problem that, since the vehicle is apt to run straight ahead more strongly as the driving force increases even when a uniform driving torque is given to a pair of steered wheels, a larger force is required to steer the vehicle leftward or rightward by overcoming such a tendency of running straight ahead. In view of the above, the steering assist force is increased according to an increase of the driving torque of the steered wheels in a manner of harmonizing the steering assist force to the magnitude of the steering resistance due to the driving torque of the steered wheels, so as to improve the steering feeling.

Abstract: A steering controller for an electric power steering device 110 includes a base signal computing part 51 for computing a base signal DT in accordance with at least the steering torque; a damper compensation signal computing part 52 for computing a damper compensation signal in accordance with an angular velocity of an electric motor 4 or a speed of steering wheel turn; and an inertia compensation signal computing part 53 for compensating inertia and viscosity in the steering unit. The electric motor is driven by a target signal IM1 obtained by compensating the base signal with a damper compensation signal and an inertia compensation signal, to provide a steering auxiliary force. The target signal of the auxiliary torque is compensated so that a difference between a reference self-aligning torque of front wheel in a front wheel steering vehicle and a self-aligning torque of front wheel in an all-wheel steering vehicle is provided to a driver as a responsive feeling from the steering torque.

Abstract: A riding work vehicle includes right and left wheels, at least one caster wheel, and a working machine. The lawnmower vehicle further includes traveling motor, steering motor, a traveling system clutch, and a steering system clutch. The traveling system clutch is configured to disable transmission of the rotational force from an axle of the caster wheel to the traveling motor in a state where the traveling motor is deactivated. The steering system clutch is configured to disable transmission of the rotational force from a steering shaft for the caster wheel to the steering motor in a state where the steering motor is deactivated.

Abstract: The control apparatus for an electric power steering system is designed to satisfy the first spec that a first relation characteristic between speed of the electric motor to generate steering assist force and the steering wheel torque is the same as a basic relation characteristic in which the electric motor is driven in accordance with a basic assist amount calculated on the basis of the measured steering torque not corrected by an assist compensation amount calculated depending on the operating state of the electric power steering system, and to satisfy the second spec that a second relation characteristic between speed of the electric motor and a road surface reaction force is such that speed of the electric motor is suppressed compared to a case where the electric motor is driven in accordance with the basic relation characteristic.

Abstract: A steering angle detection device includes: a shaft angle detector that detects a rotation angle of a shaft that transmits a rotation operation of a steering member to a steering mechanism; a motor angle detector that detects a rotation angle of a motor that applies a steering assist force to the steering mechanism; a steering angle calculation unit that calculates a steering angle on the basis of a combination of the rotation angle detected by the motor angle detector and the rotation angle detected by the shaft angle detector, and a temperature detector that detects an ambient temperature of the steering mechanism, wherein the steering angle calculation unit corrects the rotation angle detected by the motor angle detector or the shaft angle detector on the basis of the ambient temperature detected by the temperature detector and uses the corrected rotation angle to calculate the steering angle.

Abstract: A vehicular steering apparatus can accurately detect occurrence of a disturbance even where steering torque is limited, and can achieve a low cost and simple construction. The apparatus includes a road surface reaction torque detector that detects an actual road surface reaction torque received by tires of a vehicle from a road surface, a vehicle speed detector that detects a vehicle speed, a steering wheel angle detector that detects a steering angle of a steering wheel, a target road surface reaction torque calculation section that calculates a target road surface reaction torque based on the vehicle speed and the steering wheel angle, and a disturbance occurrence detection section that detects occurrence of a disturbance to the vehicle and outputs a disturbance state signal. The disturbance occurrence detection section includes a sign comparison section that compares signs of the actual and target road surface reaction torques.

Abstract: A device and a method for reducing unwanted or undesireable excitations at a steering wheel include a sensor system with which unwanted excitation at a steering wheel and/or steering gear can be sensed. A closed-loop control unit is configured to generate an additional steering torque on the basis of the sensed unwanted excitation. A servomotor applies the additional steering torque to the steering gear.

Abstract: A drive configuration for a skid steered vehicle incorporates a controlled differential for use in exercising steering control of the vehicle, comprising a compound planetary gear set (8) coupling two shafts (7a, 7b). Respective sun gears (10a) and (10b) turn with the shafts and mesh with compound planet gears (12) in a common planet carrier (13), the ratios of the number of gear teeth between each sun gear and the respective gears (14a) or (14b) of the compound planets being unequal so that when the planet carrier is stationary the two shafts are coupled through the differential to turn together in the same sense but with a speed difference, and controlled rotation of the planet carrier varies the speed difference between the shafts in accordance with the sense and speed of rotation of the planet carrier.