| 摘要 |
PURPOSE:To improve the steering responsiveness by deciding the speeds of right and left wheels independently of each other and at each instant after supplying the deviation and a speed command of an unmanned truck given from a guide bus. CONSTITUTION:An unmanned truck contains right and left drive wheels receiving the revolution controls independently of each other and is steered automatically along a guide bus. The truck is set at a desired speed by a speed setting circuit 6 and receives the speed control by the detection signal of a speed detector. The output signals of both the circuit 6 and a guide deviation arithmetic circuit 5 and supplied to a truck speed arithmetic circuit 7. Then circuit 7 delivers the right and left wheel speeds for independent control of revolutions of both wheels. The circuit 7 contains a rectifier circuit 71, a polarity converter 72, a multipllying circuit 73, a positive/negative discriminating circuit 74 and a switching circuit 75. Thus the speed of the inner wheel is calculated and delivered as the value obtained by multiplying the set speed value by the deviation despite the same degree of guide deviation. This increases the guide correcting capacity in a high-speed driving mode and therefore ensures the smooth and powerful steering of the unmanned truck. |
