JPH0417603U

JPH0417603U -

Info

Publication number: JPH0417603U
Application number: JP1990058796U
Authority: JP
Priority date: 1990-06-05
Filing date: 1990-06-05
Publication date: 1992-02-13

Description

[Brief explanation of the drawing]

第１図は本考案の実施例を示すブロツク図、第
２図は実施例の動作状態を説明する状態動作図、
第３図は無人車を示す正面図である。図面中、１は無人車、２は駆動輪、４は駆動モ
ータ、５はバツテリ、１０は制御部、１０ａはカ
ウント機能、１０ｂはマツプ機能、１０ｃは比較
演算機能、１０ｄはチヨツパ制御機能、Ｍ１，Ｍ
２，Ｍ３，Ｍ４はメモリ機能、１１はパルス発生
器、１２は速度設定器である。 FIG. 1 is a block diagram showing an embodiment of the present invention, and FIG. 2 is a state-operation diagram explaining the operating state of the embodiment.
FIG. 3 is a front view of the unmanned vehicle. In the drawing, 1 is an unmanned vehicle, 2 is a drive wheel, 4 is a drive motor, 5 is a battery, 10 is a control unit, 10a is a count function, 10b is a map function, 10c is a comparison calculation function, 10d is a chopper control function, M1 ,M
2, M3, and M4 are memory functions, 11 is a pulse generator, and 12 is a speed setting device.

Claims

[Claims for Utility Model Registration] A pulse generator that generates a pulse signal according to the rotational speed of a drive motor that rotationally drives a drive wheel, a voltage adjustment circuit that adjusts a power supply voltage and supplies it to the drive motor, and a pulse signal. The controller has a control unit that adjusts a voltage adjustment circuit based on the number of occurrences and the set speed to supply the drive motor with the voltage necessary to run at the set speed, and this control unit controls the input pulse signal. There is a count function that counts the number of pulse signals and removes pulse signals that have passed the count time T since input from the count value.
The count value counted by the count function is read and stored with a shift of control time τ, which is the time of , and when the count time T has passed since reading, the previous data is cleared and a new count value is read and stored. A comparison calculation function that sequentially reads out the count values stored in each memory function with a shift of control time τ and compares the read count value with the set count value corresponding to the set speed to find the deviation. A speed control device for an unmanned vehicle, comprising: a voltage control function that adjusts a voltage adjustment circuit so that the deviation becomes zero.