| 摘要 |
<p>PROBLEM TO BE SOLVED: To obtain the restoring force at the slewing motion, and to judge the slewing angle and the returning quantity, by comprising a means for operating the first and second motor driving signals, and determining the third motor driving signal by comparing the first and second driving signals, for driving a motor. SOLUTION: A steering torque signal added to a steering handle 2 is read, and a chopper ratio D1 of a motor 12 is operated. The chopper ratio D1 is set in such manner that it is agreed with a direction of the steering torque, and is almost proportional to the magnitude of the same. Then the rotation angular speed at the present time, of the fork lift is read, and the chopper ratio D2 of the motor 12 which is determined by this angular speed, is operated. The chopper ratio D2 is set in such manner that the direction is opposite to that of the steering ring, and the chopper ratio D2 is almost proportional to the rotation angular speed. Then the chopper ratios D1 and D2 are added to determine the chopper ratio D3 by which the motor 12 is finally driven. Whereby the restoring force can be obtained, and the judgement on the steering can be performed.</p> |
