| 摘要 |
<P>PROBLEM TO BE SOLVED: To efficiently charge regenerative power, in a travelling apparatus and a control method thereof. <P>SOLUTION: An angle θ<SB>0</SB>of a table (not shown in the figure) is detected by a gyrosensor 201 and an acceleration sensor 202 and supplied to a central control unit 301. Position instruction signals Pref1 (t) and Pref2 (t) that are formed are supplied to motor control units 302 and 303 for controlling the driving of left/right motors 106 and 107. At rotary encoders 116 and 117, rotation positions θm1 and θm2 of the motors 106 and 107 are detected, and detection signals are fed back to the motor control units 302 and 303, and controlled such that they correspond to the position instruction signals Pref1 (t) and Pref2 (t) formed at the central control unit 301. The rotation positions θm1 and θm2 are compared to the position instruction signals Pref1 (t) and Pref2 (t) for detecting a regenerative state, and the detected information is transmitted to a regenerative charge circuit 114 by serial communication for controlling the charging/discharging of a secondary battery 115. <P>COPYRIGHT: (C)2005,JPO&NCIPI |
