| 摘要 |
PURPOSE:To make it possible to reach a floor at a good precision by providing linear expression corresponding to current distance connecting a speed command at a time just before an action and that corresponding to an ideal speed at each action point of a level detector, and forming a floor reaching speed pattern by adding a compensating value to a determined speed value. CONSTITUTION:This controller is provided with a level detector 16 for detecting a relative distance between the floor of a basket 5 and a floor 15 of a riding place, both being apart from it. Level detecting signals 16a, 16b, 16c are outputted from this detector 16. A floor reaching pattern computing device 17 computes a floor reaching pattern based on the signals 16a-16c, a signal 14a from a speed detecter 14, and a signal 11a from a speed command generator 11. A selecter 18 selects a floor reaching pattern 17a and a signal 11a and outputs them to a speed control computing device 12. Switching action of this selecter 18 is performed by a signal outputted from the level detecter 16. The speed control computing part 12 computes based on the signal 11a or floor reaching pattern 17a outputted from the selecter 18 and the signal 14a from the speed detector 14 and outputs a signal 12a to a power converter 13. |
