| 摘要 |
PURPOSE:To accurately position and stop a truck at a target position even if the weight of load on the truck varies or even if a frictional force between the truck and rails, etc., changes. CONSTITUTION:A disturbance estimated value Gh is obtained from a target position X0 and a truck position X by a disturbance observer 24, positively fed back to an adding point 23, added to the thrust F of the truck at the point 23, and external forces due to a Coulomb frictional force Dc and a viscous frictional force Dm are cancelled to one another. |
