| 摘要 |
PURPOSE:To facilitate the constant speed control by delivering a torque command to each of right and left drive wheels of an unmanned truck after the comparison carried out between the truck speed arithmetic output and the rotational frequencies of wheels. CONSTITUTION:An unmanned truck has the right left drive wheels receiving the revolution controls independently of each other and is steered automatically along a guide bus. The deviation signal calculated by a guide deviation arithmetic circuit 5 is supplied to a truck speed arithmetic circuit 7 together with a desired speed signal of a speed setting circuit 6. Then the circuit 7 delivers the speed commands for the right and left wheels independently of each other. These speed commands are delivered through a torque arithmetic circuit 8 in the form of the torque a torque amount needed for driving. The circuit 8 contains a rotational frequency counter 811 which counts the rotational frequencies of both wheels, a revolving amount counter 812, a latch 813 and a multiplexer 816 which switches the output signals via a D/A converter 815, etc. Thus the rotational frequency signal and the truck speed command signal are supplied to the right and left torque arithmetic circuit 817 and performs the fixed speed control in the form of a proper torque command signal. |
