| 摘要 |
PURPOSE:To run a trackless car stably with high precision by varying a distance interval for computing a run position according to the steering angle of the trackless car. CONSTITUTION:The steering-angle angular speed of the trackless car is detected 2, and stored in a buffer 5 after digital conversion 3, correction 4, etc. This is integrated 6 to calculate the attitude angle DELTAtheta, which is inputted to a forecasted position computer 7. The run distance DELTAl is also calculated by a run pulse generator 10 and a counter 11 and inputted to the computer 7. Further, the steering angle of the trackless car is detected 12 and compared by a comparator with a specific value, and two distance values DELTAl1 and DELTAl2 are set in the counter 11. The computer 7 calculates forecasted run position deviations DELTAx and DELTAy from the attitude angle DELTAtheta and run distance DELTAl and they are compared by a steering controller 8 with run position data stored 9 previously to obtain a corrected steering extent delta, controlling the steering of the trackless car. |
