| CPC B60L 15/002 (2013.01) [B60L 15/2036 (2013.01); B60L 2240/421 (2013.01); B60L 2240/423 (2013.01); B60L 2240/642 (2013.01); H01L 21/67724 (2013.01)] | 20 Claims |
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1. An apparatus for controlling driving of a transport vehicle in a goods transport system, the apparatus comprising:
a processing unit configured to provide information on a movement path of the transport vehicle;
a motion controller configured to generate a drive signal including a front-wheel torque signal and a rear-wheel torque signal for driving a front wheel and a rear wheel, respectively, of the transport vehicle in order for the transport vehicle to travel along the movement path;
a front-wheel torque controller configured to control rotation torque of the front wheel on the basis of the front-wheel torque signal; and
a rear-wheel torque controller configured to control rotation torque of the rear wheel on the basis of the rear-wheel torque signal,
wherein the motion controller comprises:
a position controller configured to generate a positional signal determining a position of the transport vehicle on the movement path;
a speed controller configured to generate a speed signal determining a speed of the transport vehicle on the basis of the positional signal; and
a torque distributor configured to:
generate the front-wheel torque signal and the rear-wheel torque signal by distributing front-wheel torque and rear-wheel torque on the basis of inclination of the movement path and the speed signal;
provide the front-wheel torque signal to the front-wheel torque controller; and
provide the rear-wheel torque signal to the rear-wheel torque controller.
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