PURPOSE: To reduce the vibration and jolting of a vehicle in the case of running on an irregular road at high speed by providing a feedback control system to make the posture of a vehicle body coincide with its set value and a feedback control system to prevent the separation of a wheel from the road surface, and switchingly applying them.
CONSTITUTION: In a vehicle whose plural wheels 1 are bufferedly suspended by a hydraulic operating section 6 through an oscillatable rolling wheel arm 2, a control device 28 to control the hydraulic operating section 6 through a changing over valve 211 is provided with the two feedback control systems F1, F2 for controlling the jolting of the vehicle body when the irregularity of the ground surface influences the vehicle body. When the wheel 1 comes into contact with a crawler, the control system is changed over to the feedback control system F1 to supply high pressure working oil to the hydraulic operating section and to discharge it from there for making the posture of the vehicle body coincide with its set value, and on the other hand, when the wheel 1 separates from the crawler to reduce the output of a load cell 27 attached to the wheel arm 2, the control system is changed over to the feedback control system F2 to lead the high pressure working oil to the hydraulic operating section for preventing the separation of the wheel from the surface.
KUSUSE TADASHI
HASHIMOTO KATSUMI
