| 摘要 |
PROBLEM TO BE SOLVED: To provide a control device capable of performing accurate anti-slip control considering the wear of a tire. SOLUTION: Revolution speeds Nl, Nr of both front wheels are detected with both front wheel encoders 22, 23, the target circumferential speed of a driving wheel is computed with a derivation part 26 based on the revolution speeds Nl, Nr of the both front wheels, nominal diameters of the front wheels, and a steering angleθwith a potentiometer 25, a slip speed computing value s* of the driving wheel is computed based on the revolution speed Nd measured with an encoder 24 for the driving wheel, a circumferential speed detecting value found from the nominal diameter of the driving wheel and a wheel diameter variation coefficient, and the difference between the circumferential speed detecting value and a target circumferential speed Vdt, and the wheel diameter variation coefficient is adjusted, terminal voltage based on the slip speed computing value s* is supplied to a traveling motor 20 with a control part 27, and slip of the driving wheel is prevented.
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