| 摘要 |
PROBLEM TO BE SOLVED: To prevent pushing or pulling among each motive power devices generated in the case of constant-speed operation. SOLUTION: In an apparatus, the rotary speed of a wheel 9 at a specified position is measured by a speed sensor 10, and a car speed signal and a speed command signal obtained from the rotary speed are transmitted to motor controllers 12 for each motive power device of the whole formation through straightly pulled wires 13a, 13b. A tensile-force command value Te* per unit mass, where the deviation of the signals reaches zero, is output in a feedback compensator 11, and the tensile-force command value per the unit mass is converted into a motor current command value from a car mass W and a wheel diameter Wd in a motor-current command computing element 19.
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