| 摘要 |
PROBLEM TO BE SOLVED: To suppress delay in detection of racing/slipping and to suppress detection error for racing/slipping in a cart in which each wheel is driven independently, and cooperative control for each wheel and adhesion recovering control are used together.SOLUTION: A cooperative controlling part 5 for each wheel calculates cooperative control torques T, Tbased on rotational angular velocity detected values for each wheel ω, ωand a change rate restricting part 7 performs change rate restriction of the cooperative control torques T, T. In addition, if both of a pair of right and left wheels do not race/slip, an adhesion-recover controlling part 6 outputs a value calculated by adding restriction cooperative control torques T', T' to notch torque instruction Tas motor driving torques T, T. If at least one of wheel among the pair of right and left wheels races/slips, adhesion recovering control torque in which the torque is reduced is output as the motor driving torques T, T. |
