Patent ID: 11873623
Assignee: KOMATSU LTD.
Field: Civil engineering (Other fields)
Classification: CPC E  B | IPC B  E

Claim 3:
4. A method of controlling a work machine having a right front wheel, a left front wheel, a front frame provided with the right front wheel and the left front wheel, a rear wheel, and a rear frame provided with the rear wheel and coupled to the front frame, the method comprising:
measuring a moving speed of the work machine;
measuring a turning angular velocity acting on the work machine during movement of the work machine;
detecting an articulation angle between the front frame and the rear frame;
independently controlling a rotation speed of each of the right front wheel and the left front wheel based on the measured moving speed and the measured turning angular velocity;
calculating a turning radius of the rear wheel based on the measured moving speed of the work machine and the measured turning angular velocity;
determining a target front wheel rotation speed of the right front wheel and a target front wheel rotation speed of the left front wheel based on the calculated turning radius of the rear wheel and the detected articulation angle;
controlling the first drive source so as to achieve the target front wheel rotational speed of the right front wheel; and
controlling the second drive source so as to achieve the target front wheel rotational speed of the left front wheel.