| 摘要 |
PROBLEM TO BE SOLVED: To provide a motor-driven wheelchair capable of securing stable behavior and controllability even at high load, as when climbing up a hill, by preventing decrease in controllability and instability of behavior due to differences in performance among motors. SOLUTION: A correction value MOD (1 and 2) is gradually increased under high load at which the duty ratio of inverters B (1 and 2) driving the motors M (1 and 2) has reached a Dmax (e.g. 100%), whereby the upper limit value Vc (1 and 2) of rotating speed determined by Vc (1 and 2)=Vmax -MOD (1 and 2) is reduced to prevent overloading of the motors M (1 and 2) even if the desired value of the rotating speed is set at Vc (1 and 2). Because the motors M (1 and 2) is always driven at an ability below its limit, it is made possible to prevent a decrease in controllability of the motor-driven wheelchair 1 and instability of its behavior due to variations in rotating speed caused by differences among individual motors which will become noticeable if the motors M (1 and 2) are driven at their highest abilities. |
