| 摘要 |
<p>PROBLEM TO BE SOLVED: To reduce the deviation of an unmanned carrier from a traveling route at the time of high speed traveling and to advance recovery/convergence to the traveling route. SOLUTION: The rotational speeds of right and left driving wheels 9, 8 are detected by respective speed sensors 24, 23 and inputted to a braking force control circuit 25 to calculate a real steering angle at the time of deviating the carrier from a course. When the real steering angle is larger than a set steering angle, the regenerative resistance of a motor on the inner wheel side at the time of steering is switched to a lager value to reduce braking force, and when the real steering angle is smaller than the set steering angle, the regenerative resistance of the motor is reduced to increase the regenerative control force. In either case, a rotational difference between the inside wheels at the time of steering is reduced and a steering speed is suppressed, so that the carrier is not sharply deviated from the course even at the time of high speed traveling.</p> |
