| 摘要 |
PURPOSE:To control effectively driving of an unattended wagon by detecting an extent of deviation of the position from a guide path and correcting a preliminarily set speed command quantity with the detected extent and controlling inverters of AC motors, which drive left and right wheels, on a basis of the correction quantity. CONSTITUTION:When the unattended wagon starts deviating from the guide path, the center of a position detector D1 is deviated from the guide path also. A positive or negative detection voltage is outputted for the deviation of the center of the detector D1 to the right or the left. When this voltage is inputted to an adjuster 3, the adjuster 3 outputs a voltage following up the extent of deviation of the unattended wagon, and this outputted voltage is amplified by an amplifier 5 and is sent to correctors 41 and 42 connected to left and right AC motor control inverters INV1 and INV2. Correctors 41 and 42 generate a correcting speed command voltage corresponding to the extent of deviation from the center in accordance with the output of the adjuster, and speed commands of both motors M1 and M2 are given to inverters INV1 and INV2 to perform chopping. |
