| 摘要 |
PURPOSE:To eliminate the fluctuation of the running speed of an umanned carrier car and to improve its steerage follow-up property, by simultaneously controlling two driving wheels. CONSTITUTION:When a difference in revolving speeds of a right and left driving wheels corresponding to a steering angle indicated from a guide device is given, the revolving speed of one driving sheel is decreased and, at the same time, the revolving speed of the other driving wheel is increased. That is to say, when a speed command and steering command are respectively represented as (v) and (s), the revolving speed command NR to the right driving wheel 2 and the revolving speed command NL to the left driving wheel 3 are given by the following formulae: NR=v+s/2 and NL=v-s/2. Therefore, the revolving speeds of the right and left driving wheels can be set by adding the 1/2 of the steering command (s) to the speed command (v) to one driving wheel and subtracting the 1/2 of the command (s) from the command (v) to the other driving wheel. Accordingly, the necessary changing quantity of the revolving speed of a driving wheel to the changing quantity of the same steering command can be reduced to 1/2 as compared with conventional ones and the problem regarding the follow-up property caused by the inertia of the driving device and car body can be improved. |
