| 摘要 |
PURPOSE:To permit a flat car to be always kept in a constant direction and traveled, by detecting the revolution angle speed around the vertical shaft of the flat car and controlling the drive of a traveling motor on the basis of the above- described detection signal and generating a speed difference on each driving wheel. CONSTITUTION:When a speed difference between the driving wheel on the right front side and the driving wheel on the left rear side of a flat car is generated by slip, etc., and the flat car is provided with revolution with respect to the direction of the initial traveling, the variation of the revolution angle speed (w) of the flat car is detected by a retegyro 18. The detection signal is input into a calculation circuit 20 through an A/D converter 19, and the calculation circuit 20 determines the correction amount for one Vc2 of the transfer-speed instruction signals which the calculation circuit 20 determines according to the instruction signals thetaj and Vj supplied from a joy stick 16. The correction amount is added or subtracted from the above-described transfer-speed instruction signal, and the both driving wheels are revolved at the respective speeds different each other, and the direction of advance of the flat car is allowed to coincide with the direction of the initial traveling. |
