| 摘要 |
<p>PURPOSE:To enable highly accurate control through minimization of differences in travelling time for a predetermined section, by obtaining a travel speed based on the number of travel pulse signals to be produced when a carrier travels through a predetermined distance and on a travel time. CONSTITUTION:A controller corrects the travel speed of a travel motor based on the number of travel pulse signals to be inputted, while travel pulses and current of the travel motor are A/D converted and fed to CPU. In such arrangement, travel time of a carrier for traveling through a unit section at a predetermined speed and number of travel pulse signals are previously registered in a speed control program stored in CPU. Then a travel signal speed and the like are obtained based on the number of travel pulses inputted during actual travel while a target speed is obtained temporarily and a slip rate of drive wheel is estimated. Thereafter, the number of correction travel pulse signal is determined corresponding to the slip rate in order to correct the temporarily obtained target speed, thus controlling drive of the travel motor through such means are determining the conduction rate of a chopper.</p> |
