| 摘要 |
PURPOSE:To make it possible to stop right and left wheels smoothly and simultaneously, by repeating the down-count of the values of speed instruction data in predetermined rates proportional to the value of the speed instruction data corresponding to the speeds of the left and right wheels. CONSTITUTION:When an AVG runs in a curve path (right), the outer wheel 11a has a speed higher than that of the inner wheel 11b, and speeds Va, Vb are latched on preset counters 5a, 5b. In this condition, if any abnormality occurs in a CPU 1, counter pulse generating circuits 7a, 7b are energized to feed count pulses CPa, CPb to the preset counters 5a, 5b which therefore, starts to the downcount of the speed instruction data Va, Vb latched at that time in association with the count pulses CPz. CPb from the counter pulse generating circuits 7a, 7b.
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