| 摘要 |
PROBLEM TO BE SOLVED: To provide a drive device of a running motor of a forklift.SOLUTION: A first operation part 230, based on a speed directing value Vref and a steering angleδr of a steering wheel corresponding to operation of a driver, calculate a synthesized speed directing value Vxref directing a synthesized speed Vx of the left running motor M1L and the right running motor M1R, and a speed difference directing value Vyref for directing a speed difference Vy between those. A second operation part 232 calculates a synthesized speed detecting value Vxfb representing a present synthesized speed Vx of the left running motor M1L and the right running motor M1R and a speed difference detecting value Vyfb representing those present speed difference Vy. A torque directing value generating part 202 generates a torque directing value Txcom (Tycom) corresponding to the error of the synthesized speed directing value Vxref (Vyref) and the synthesized speed detecting value Vxfb (Vyfb) and generates torque directing values Tlcom, Trcom for directing each torque of the left running motor M1L and the right running motor M1R, respectively. |
