| 摘要 |
A traveling apparatus and a method for controlling thereof are provided to perform efficient charging with regenerative electrical power. An angle theta<SUB>0 </SUB>of a table (not illustrated) is detected by a gyroscopic sensor 201 and an acceleration sensor 202 to be supplied to a central control unit 301 . Then, positional command signals Pref 1 (t) and Pref 2 (t) formed are supplied to motor control units 302 and 303 which perform control of driving left and right motors 106 and 107 respectively. Further, rotational positions thetam 1 and thetam 2 of the motors 106 and 107 are respectively detected in rotary encoders 116 and 117 , those detected signals are fed back to the motor control units 302 and 303 , and control is performed so as to comply with the positional command signals Pref 1 (t) and Pref 2 (t) formed in the central control unit 301 . At the same time, a regenerative state is detected by comparing the rotational positions thetam 1 and thetam 2 with the positional command signals Pref 1 (t) and Pref 2 (t), and information thereon is transmitted to a regenerative charging circuit 114 by serial communication to perform a control of discharging and charging a secondary battery (battery) 115. |
