MOTOR CONTROLLING DEVICE FOR EACH WHEEL IN CART IN WHICH EACH WHEEL IS DRIVEN INDEPENDENTLY

摘要

PROBLEM TO BE SOLVED: To simplify calculation in a motor controlling device for each wheel in cart in which each wheel is driven independently by reducing the number of rotational angular velocity controllers for wheels.SOLUTION: A rotational angular velocity instruction correcting part 12 corrects a rotational angular velocity instruction valueωto a left wheel side rotational angular velocity instruction valueωand a right wheel side rotational angular velocity instruction valueωaccording to curve radius information R for track. Average processing parts 14a, 14b calculate a left wheel rotational angular velocity average value showing an average value of rotational angular velocity detected valuesω,ωfor left wheels in a cart and a right wheel rotational angular velocity average value showing an average value of rotational angular velocity detected valuesωF,ωfor right wheels in the cart. In addition, rotational angular velocity controllers 13e, 13f calculate left wheel side torque instruction values T, Tand right wheel side torque instruction values T, Tbased on the left wheel side rotational angular velocity instruction valueω, the left wheel rotational angular velocity average value, the right wheel side rotational angular velocity instruction valueωand the right wheel rotational angular velocity average value, respectively.