FINE SLOW SPEED CONTROL METHOD

摘要

A constant slow speed control method of a tractor is provided to implement cable installation, rail inspection and cleaning for maintaining the tractor by driving the tractor in a constant slow speed when a constant slow speed command is inputted from a mascon. In a fine slow speed control method of a tractor, the tractor includes a propulsion inverter driving the tractor in a tracking mode or a constant slow speed driving mode by driving an electric motor according to a control current supplied from a controller(4). An upper limit is checked by comparing a command speed with the present speed of the tractor if a constant slow speed command is inputted from a mascon. The tractor travels in a constant slow speed by inputting the value as a specific axis reference current of the controller through a loop. If the present speed is above the command speed, the propulsive inverter performs recovery braking operation in order to drive the tractor in a constant slow speed.