| 摘要 |
PROBLEM TO BE SOLVED: To allow a car to run smoothly and rapidly according to a coefficient of friction by outputting a speed command value based on an actual speed of the car and a standard acceleration which is preliminarily set and supplying driving power to a motor based on the rotary speed of the driving wheels of the car and the speed command value. SOLUTION: An unmarmed carrier car 10 has one driving wheel 1 and two trailing wheels 2. An actual speed signal Sv from an actual speed sensor 3a installed on the trailing wheel 2 is input into a controlling circuit 4 and D/A- converted 5 and then the obtained control voltage Vc is input into a comparator 6. A rotary speed sensor 3b installed on the motor 9 of the driving wheel 1 outputs a rotary speed Sd of the motor 9 to the comparator 6. The comparator 6 compares the signals Vc and Sd and then outputs the driving voltage Vd, which is amlified by a power amplifier 7 and then input into a driving circuit 8. The driving circuit 8, being constituted of a comparator, current controlling circuit, power transistor, etc., supplies power to the motor 9 to drive it. By this method, the acceleration and the deceleration become small as a coefficient of friction between a floor face and the driving wheel becomes small and thereby the idle running or locking of the driving wheel can be prevented. |
