| 摘要 |
PURPOSE:To increase the speed of an unmanned carrier by using the previous sampling data to correct the detected dislocated amount of the carrier by an amount equal to a delay and controlling the conduction factor of a chopper and the revolving direction of a servomotor based on said dislocated amount and its direction. CONSTITUTION:The speed of a drive motor to the distance traveled, the steering angle, the posture of an unmanned carrier, etc., are stored previously in a storage part 2 as the teaching data. At the time of play-back, the carrier is driven based on said teaching data. Here the dislocated amount of the carrier is detected by a dislocated amount detecting means 3 based on the difference between the steering angle detected by a steering angle detecting means 1 and the teaching angle data obtained at that time point. Thus the drive of the carrier is controlled together with correction carried out by a servocontrol means 4. At the time of correction, a delay is produced to the correction since a machine system exists as a controlled system. Thus the previous data stored in a storage part 6 for a period needed for correction is used. At the same time, a reverse revolving command is given to a servomotor when the dislocated amount of the carrier is gradually reduced.
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