| 摘要 |
PURPOSE:To simplify the system constitution by obtaining a difference signal between a position shift signal and a first order lag of the primary signal, applying weighting to the difference signal and the position shift signal and adding them respectively so as to allow the sum signal to control a running track correcting means of a mobile body. CONSTITUTION:A control block is arranged in a controller provided to a crane leg of a container terminal and the position shift amount with an induction line buried under ground along a scheduled running path is detected by a position shift detector 19. The position shift signal 21 is inputted to an amplifier 28, a subtractor 23 and a first order lag circuit 22, and a first order output 25 of a signal 21 is generated from the circuit 22. The difference signal between the output 25 and the signal 21 is calculated by the substractor 23 so as to apply the difference signal 24 to an amplifier 29, the first order lag circuit 25 and a subtractor 26. The subtractor 26 obtains a difference signal 27 between the difference signal 24 and the first order output 36 from the circuit 25 and applies the result to an amplifier 30. Then the signals 21, 24, 27 are subjected to amplification and weighting by the amplifiers 28-30, the results are added by an adder 31 and fed to a CPU23, allowing to attain correction of the running track. |
