| 摘要 |
<p>PURPOSE:To reduce impact force in case of the changeover of a transmission gear ratio by combining a speed reducer when a wheel and a DC motor are conformed with each other and turned at a predetermined ratio. CONSTITUTION:Analog switches 25, 29 are selected on operation at high speed, and the DC motor 1 is controlled at constant velocity while using an output from a speed command device 30 as a speed command value. When the number of revolution of the wheel is made smaller than the changeover speed of the transmission gear ratio, analog switches 26, 28 are selected, and the DC motor 1 is turned while using the number of revolution of the wheel as a speed command. When the number of revolution of the DC motor 1 is kept within a predetermined range to the speed command of the wheel, a motor 64 is driven, and a variable-speed mechanism is changed over to a reduction gear ratio for low speed. When a changeover is completed, the analog switch 29 is selected, and the DC motor 1 is controlled at constant velocity by the speed command device 30 while the conduction of the motor 64 is stopped.</p> |
