| 摘要 |
PURPOSE:To execute smooth speed control by receiving a first control signal being proportional to a steering angle, and a second control signal for executing time differentiation to the steering angle by a control means and executing fuzzy inference, and controlling a running speed of an unmanned carrying car in accordance with a result of this inference. CONSTITUTION:A potentiometer 7 outputs a steering angle signal Ds correspond ing to steering of a steering wheel, and a differentiating circuit 8 executes time differentiation of the steering angle signal Ds, and outputs it as a differen tial signal DELTA<2>Ds. A fuzzy controller 10 receives the differential signal DELTA<2>Ds and a proportional signal DELTADs and executes fuzzy control, and outputs its result as a speed control command signal Dc. A control circuit 5 receives the signal Dc and a speed feedback signal Vf, and outputs a speed command signal Sc for controlling the speed of revolution of a running motor 2b. In such a way, an unmanned carrying car 2 can execute the smooth speed control as if a man drives it. |
