PURPOSE: To enable a truck to travel straight with the driving torque of its right and left wheels adjusted even when load is eccentrically applied to a trailing truck in the trailing truck equipped with the driving wheels which are independently driven, at both the sides of the truck.
CONSTITUTION: A loading ratio of driving wheels 18a and 18b at both sides is computed by a load compensating unit 9 based on positional signals 10 from a suspended dolly 16 which is mounted on a trailing truck 15 in such a way that it can be moved to the right and left directions. Corrective torque commands 8a and 8b thus obtained are added to a torque command 3 outputted from a controller 2 by adders 5a and 5b, and compensating torque commands 22a and 22b thus obtained are inputted to drivers 12a and 12b to allow driving motors 13a and 13b to be rotated at identical rotation speed at all times, so that the trailing truck can thereby travel straight even when load is applied to the truck eccentrically.
MAEKAWA AKIHIRO
CHIBA KATSUMI
IMAHASHI MASATO
