| 摘要 |
PROBLEM TO BE SOLVED: To improve resolution at the time of low speed and to improve travel stability and track controllability at the time of low speed travel and at the time of low speed transportation by providing pulse number variable means for increasing the number of the pulses of an encoder at the time of low speed compared to that at the time of high speed. SOLUTION: Driving motors 6 and 7 are fed back so that values become command values by means of a deviation between a travel speed command value and real travel speed. Variable frequency division parts 37 and 38 are the pulse number variable means increasing the number 2000 of the pulses of the encoder 18 at the time of low speed compared to that at the time of high speed, and they are used in the state of 500 pulses with a frequency division ratio at the time of low speed as 1/1 and that at the time of high speed as 1/4, for example. Since resolution improves by the relative increase of the number of pulses at the time of low speed, travel stability and track controllability at the time of low speed travel and at the time of low speed transportation can be improved, and stop precision at the time of stop can be improved. At the time of high speed, the number of pulses is relatively reduced, operation quantity can be reduced and processing time can be shortened. |
