| 摘要 |
<p>PURPOSE:To improve the controlling efficiency and to enhance the reliability by controlling to feed back a plurality of motor controllers placed on an operatorless vehicle by a microcomputer in a real time. CONSTITUTION:A control instruction unit 6 is composed of a microcomputer 6a, a chopper control interface 6b, and a servo control interface 6c, a drive motor drive unit 7 has only a drive motor drive circuit 7a, and a steering servo control unit 8 has only a steering servo main circuit 8a. A feedback signal from a main circuit is input through the interfaces 6b, 6c directly to the microcomputer 6a, and the microcomputer 6a controls a plurality of entirely different feedback loops such as the motor control unit 7 and the drive unit 8 in a real time.</p> |
