| 摘要 |
PURPOSE:To run a trackless car stably with high precision by varying a sampling time when a run position is computed according to the run speed command value of the trackless car. CONSTITUTION:The steering-angle angular speed of the trackless car is detected 2, and stored in a buffer 5 after correction 4, etc. This is integrated 6 to calculate an 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. The run speed in a straight run, etc., is commanded 12 and a sampling time with a specific interval is commanded to the counter from an oscillator 14 according to the run speed. The computer 7 calculates forecasted run position deviations DELTAx and DELTAy from the attitude angle DELTAtheta and run distance DELTAl to control the steering of the trackless car by a steering controller 8 which compares the deviations with run position data stored 9 previously to obtain a corrected steering extent delta. |
