| 摘要 |
PROBLEM TO BE SOLVED: To secure a straight advancing of a vehicle by computing a compensatory driving force which is supplied to the first motor from the product of the compensatory coefficient and the addition of the first and the second driving forces, and by computing the compensatory driving force which is supplied to the second motor from the product of another compensatory coefficient and the addition of second and the first driving forces. SOLUTION: By detecting an operational force which is given to a handle by a care taker, an operational signal is supplied to a controller 24 from operational force detectors 26R and 26L. A pulse width control signal is fed to drive parts 22L and 22R driving motors 12R and 12L. The controller 24 computes a compensatory driving force as a total value for supply to the motor 12R based on the operational force detected by the operational force detectors 26R and 26L by multiplying respective compensatory coefficient and the compensatory driving force for supply to the motor 12L is computed as a total value by multiplying the operational force detected by the operational force detectors 26R and 26L by a compensatory coefficient. |
