| 摘要 |
<p>PURPOSE:To suppress the slipping or skidding of wheels by a method wherein an accelerating or decelerating rate is changed when the difference between the travelling speed of a moving body detected from the time variation of the traveling position of the moving body and the traveling speed of the moving body detected from the revolution of a motor exceeds a fixed value and this state continues for a fixed of time. CONSTITUTION:A speed difference detecting device 5 detects both the difference of the traveling speed which is obtained by time-differentiating the output of a position detecting device 1 and the output of a revolution speed detecting device. A slipping and skidding detection device 10 outputs a slipping or skidding detection pulse when the speed difference detecting signal exceeds a fixed size and this state is continued for a fixed period of time. An accelerated speed reducing pulse generator 14 and a reduced speed reduction pulse generator 15 output a pulse with which the acceleration or deceleration rates will be reduced by the output of the detector 10 and the accelerated speed detecting device 12 or the reduced speed detecting device 13. When the accelerated speed or reduced speed number of revolutions becomes the prescribed number, the acceleration or the deceleration rate is increased.</p> |
