| 摘要 |
PROBLEM TO BE SOLVED: To achieve more efficient adhesion recovering control by providing a method of performing continuous adhesion recovering control without switching control manner.SOLUTION: An instruction torque selecting part 21 selects a notch torque instruction value Tif the deviation between the notch torque instruction value Tand an average value Tof load torque instruction values for wheels in cart frame is lower than a threshold, whereas the instruction torque selecting part 21 selects a torque value based on a motor input torque instruction Tif the deviation between the notch torque instruction value Tand the average value Tof the load torque estimation values for the wheels in the cart frame is the threshold or larger. A rotational angular velocity instruction value converting part 22 calculates a rotational angular velocity instruction value ωto be a base from a torque instruction T. A gain adjustment instruction converting part 26 reduce gain in a rotational angular velocity controller 23 if the deviation between the notch torque instruction value Tand the average value of load torque estimation values Tfor the wheels in the cart frame is threshold or larger. |
