| 摘要 |
<p>PROBLEM TO BE SOLVED: To correct the stop position of an LSM vehicle with high accuracy. SOLUTION: A speed controller 13 adds a value being obtained by proportionating, integrating, or differentiating a positional deviationΔX to make a feedback compensating value (S103), since there is necessity to modify the stop position in the case that an inching command is inputted (YES at S101), and adds up a compensating value, which is obtained by forward-compensating gradient resistance, departure resistance, and run drag, to this so as to make a temporary current command (S104). Then, if all three feeder lines are sound out of the three feeder lines of power supply systems of a linear system, it makes the temporary current command a current command value I* (S106) as it is, and outputs this current command value I* to the outside (S111). Disturbance compensation is performed since the feed forward of disturbance (gradient resistance, departure resistance, run drag) having influence on the correction of the stop position is applied, and even if the correction of the stop position is performed for a very small distance, this device can materialize highly accurate correction of the stop position independent of run conditions.</p> |
