| 摘要 |
PURPOSE:To control the speed of a truck automatically to a proper level even on a curved path by controlling the average rotary speed of wheel to be inversely proportional to the absolute value of the difference of rotary speed between respective wheels so that the truck can travel on a predetermined travel path. CONSTITUTION:Target speed difference between right and left wheels of a truck, i.e. an output DELTAN from a position regulator 9, is subjected to full-wave rectification through an absolute value circuit 11, then the lower limit value thereof is limited to (a) through a lower limiter 12 the output signal Nd therefrom is employed as the denominator in a divider 13. The lower limiter 12 is provided for the purpose of anti-saturation of the divider 13. Average value (Na+Nb)/2 of the rotary speeds Na, Nb of respective wheels is controlled to be inversely proportional to the absolute value ¦Na-Nb¦ of the difference of rotary speed between respective wheels so that the truck can travel on a predetermined travel path. By such arrangement, the truck or an object mounted on the truck is not subjected to a large centrifugal force even when the truck travels on a curved travel path. |
