| 摘要 |
PURPOSE:To attain the drive control of an unmanned carrier by calculating the sum of the output of the 1st detector and the output of an amplifier circuit to deliver the obtained sum as a steering angle signal through an addition circuit and controlling the angle of a steering wheel by said steering angle signal for drive of the carrier. CONSTITUTION:A detector 2a is set at the front part of an unmanned carrier 1 to detect the position displacement yF of the front part of the carrier 1 from a prescribed drive path 18 and deliver a position displacement signal SF. While a detector 2b is provided at the rear part of the carrier 1 to detect the position displacement yS of the carrier 1 from the path 18 and deliver a position displacement signal SS. The outputs SF and SS of detectors 2a and 2b are supplied to a subtraction circuit 20 for calculation of difference SF-SS and then multiplied by a coefficient A through an amplifier circuit 21 for calculation of A(SF-SS). Then the output SF of the detector 2a is added with the output A(SF-SS) of the circuit 21 through an addition circuit 22. Thus a steering angle signal (VC)7 is obtained as shown in an equation. |
