TRAVEL CONTROL PARAMETER SETTING DEVICE FOR VEHICLE, CONTROL PARAMETER SETTING METHOD, AND STORAGE MEDIUM STORING SETTING PROGRAM

摘要

PROBLEM TO BE SOLVED: To make easily settable control parameters for feedback control of a driving motor in a short time. SOLUTION: When an unmanned truck 1 is controlled to travel along a specific travel path, a motor 15B for travel driving is brought under feedback control so as to rotate at a specific speed. On the basis of the operation state of the motor obtained by making the truck 1 by test, its operation characteristics are estimated in the form of a model expression showing its transfer function and on the basis of the estimated model expression, control gates KP and KI for the feedback control are determined. The determined KP and KI are used to makes the truck travel on a personal computer 2 by simulation, thereby finely correcting the KP and KI. The feedback control is carried out by using the finally determined KP and KI.