| 摘要 |
PROBLEM TO BE SOLVED: To provide a cart in which each wheel is driven independently in which reduction in acceleration/deceleration efficiency is suppressed in minimum level and generation of yawing torque is suppressed.SOLUTION: A rotational angular velocity detector 40 detects rotational angular velocity ω1 to ω4 of each of wheels and a racing/slipping detection part 50 determines whether each of the wheels is in a racing/slipping state or not. In addition, a load torque estimating observers OBS1 to OBS4 calculate load torque estimation values T1, T2. Furthermore, if it is determined that at least one wheel among the a pair of right and left wheels is in racing/slipping state, an adhesion-recover controlling part 60 defines the minimum value among absolute values of load torque estimation values T1, T2 for the right and left wheels as a holding torque minimum value and outputs values calculated by multiplying the holding torque minimum value by a correction constant as torque instructions T1, T2 for both wheels. |
