| 摘要 |
PROBLEM TO BE SOLVED: To avoid the loss in a drive force and to move a structure smoothly. SOLUTION: This is the movement controller for a running apparatus having a plurality of rotating wheels. This controller has a target speed setter 18, which sets the moving speed that is the target of the running apparatus, an inverter 16 in a speed control mode, which performs the speed control of a wheel based on the moving speed set by the target speed setter 18, and inverters 17b, 17c and 17d in the torque control mode. Thus, torque, which is equal to the generated torque of the inverter 16 in the speed control mode, is generated based on the monitored torque signal of the inverter 16 in the speed control mode. The torque control is performed for the wheel which is other than a wheel, whose speed is controlled by the inverter 16 in the speed control mode. |
