| 摘要 |
PURPOSE:To suppress the generation of slip with high accuracy and to improve the accelerating and responding properties of an apparatus by operating the acceleration of the number of revolutions at the time of acceleration and the curvature of its change, etc., through using the detected value of the number of revolutions of a drive motor and that of a motor current as inputs. CONSTITUTION:A driving force from a drive motor 4 for a fork lift truck is transmitted to a drive wheel 2 via speed reducer 5. The acceleration dn/dt of a detected motor revolution (n) and the curvature of its change d<2>n/dt<2> are operated, the estimated acceleration dN/dt of the estimated number of revolutions N of the motor 4 is obtained from a generated torque obtained beforehand from a motor current value at that time, and the accelerations dn/dt and dN/dt are compared with each other to judge whether there is any slip. Also, the transition of a transient point is confirmed from the curvature of change d<2>n/dt<2> and the correction of slip is also judged therefrom. Accordingly, the detection of slip and that of slip correction with high accuracy are made possible so that the accelerating properties of an apparatus can be raised to the non-slip limit corresponding to the coefficients of friction of road surface and drive wheel. |
