| 摘要 |
PROBLEM TO BE SOLVED: To suppress reduction in acceleration/deceleration efficiency of a cart in which each wheel is driven independently while a part of wheels of the cart races/slips.SOLUTION: A controlling device for a cart in which each wheel is driven independently controls driving of each of wheels 4a, 4b independently each other. It is determined whether each of the wheels 4a, 4b race/slip or not. When only either of a pair of right/left wheels races/slips, torque for the wheel in racing/slipping state is reduced to the level in which the wheel recovers adhesion again and simultaneously the reduced torque is added to torque for the wheel in adhesive state. In addition, when both of the pair right/left wheels 4a, 4b race/slip, torque for both of the wheels 4a, 4b are reduced to the level in which the wheels 4a, 4b recover adhesion again. |
