CN101112931B - Moving body and controlling method thereof - Google Patents
Moving body and controlling method thereof Download PDFInfo
- Publication number
- CN101112931B CN101112931B CN2007101386292A CN200710138629A CN101112931B CN 101112931 B CN101112931 B CN 101112931B CN 2007101386292 A CN2007101386292 A CN 2007101386292A CN 200710138629 A CN200710138629 A CN 200710138629A CN 101112931 B CN101112931 B CN 101112931B
- Authority
- CN
- China
- Prior art keywords
- lift
- mentioned
- bay
- moving body
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G17/00—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface
- B65G17/30—Details; Auxiliary devices
- B65G17/32—Individual load-carriers
- B65G17/34—Individual load-carriers having flat surfaces, e.g. platforms, grids, forks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Warehouses Or Storage Devices (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
A mobile body and its control method, setting a linear sensor (10) for reading height position on the lift table (4) of a stacking machine (2), and setting an acceleration sensor (26) in the front of a slid fork. When controlling the lifting of the lift table (4) which moves, to modify the basic instruction for restraining the rock of the slide fork through the signals of sensors (10, 26), and to implement robust control with two degrees of freedom. Thus, to restrain the librating of the front end of the arm and to carry movably during short time.
Description
Technical field
The present invention relates to the vibration damping of moving body.
Background technology
In the transportation vehicle of piler, unmanned conveyance car and track mounted jumbo etc.,, carry out the transfer of article through combinations of arm and bay-lift or elevator etc. freely of advancing and retreat such as sliding york or articulated type arms.And, in traverse crane,, carry out transfer through clamping article with the chuck of bay-lift and making its up-down.These any situation all have the requirement of the vibration of object in the time of will suppressing transfer.If can suppress vibration; The advantage that then has is: can reduce when transfer, to put on the power of article, can shorten vibration and finish wait time before, the height-precision in the time of can improving transfer; The rigidity of shifting apparatus is little to get final product, but transfer is heavier and damageable article etc.But patent documentation 1 (Japanese Patent 3526014) proposes: in the transfer of carrying out through piler, before sliding york contact article at high speed, with low speed bay-lift is risen near beginning contact beginning period, thereby the impact when reducing article and contacting with sliding york.
Patent documentation 1: Japanese Patent 3526014
Summary of the invention
Basic assignment of the present invention is to suppress vibration, and can carry out necessary motion at short notice.
The problem of appending among the present invention is, can suppress the vibration of article, and transfer article at short notice.
The problem of appending among the present invention is, the vibration the during transfer of the article that can suppress to carry out, and transfer article at short notice through piler, and reduce the dead zone of the shelf etc. of transfer object.
The problem of appending among the present invention is to be provided for the formation of the control system of above-mentioned problem.
Moving body of the present invention is provided with: position detection unit is used to detect the position of moving body; Vibration detecting unit is used to detect the vibration of moving body; And control part, be used at least with respect to the inhibition motion of objects that becomes vibration, according to the testing result of above-mentioned each unit, the driver train of moving body is carried out controlled reset.And above-mentioned control part possesses: the elementary instruction generation unit is used to generate the elementary instruction to the open loop of driver train; The contrast signal generation unit is used for this elementary instruction is transformed into the position of moving body and the contrast signal of acceleration/accel; Error calculation unit, the position of calculating the moving body of trying to achieve and acceleration/accel, and the position of the moving body of trying to achieve by above-mentioned contrast signal generation unit and the error of acceleration/accel by above-mentioned each detecting unit; Updating block is used for upgrading according to the inferred value of the error that calculates to the state of moving body; And adder unit is used on above-mentioned elementary instruction, adding the correction according to the inferred value of the state of moving body, and as the control input to driver train.
The present invention is a kind of piler, on the bay-lift that goes up and down along post through lift motor, carries arm free to advance or retreat; It is characterized in that, the height sensor of bay-lift is set, and the vibration that acceleration pick-up detects this arm front end is set at the arm front end; Be provided with control part; So that the state that this arm stretches out when bay-lift is gone up and down, according to the signal of above-mentioned height sensor and the signal of acceleration pick-up, carries out controlled reset to lift motor; Above-mentioned control part possesses: the elementary instruction generation unit is used to generate the elementary instruction to the open loop of above-mentioned lift motor; The contrast signal generation unit is used for this elementary instruction is transformed into the contrast signal of acceleration/accel of height and the arm of bay-lift; Error calculation unit, calculate the height of the bay-lift of trying to achieve by above-mentioned height sensor and the vibration acceleration of the arm of trying to achieve by above-mentioned acceleration pick-up, with the error of the acceleration/accel of the height of the bay-lift of trying to achieve and arm by above-mentioned contrast signal generation unit; Updating block is used for upgrading according to the inferred value of the error that calculates to the state of bay-lift and arm; And adder unit is used on above-mentioned elementary instruction, adding the correction according to the inferred value of the state of bay-lift and arm, and as the control input to lift motor.
And; The present invention is a kind of control method of moving body, it is characterized in that, detects the position and the vibration of moving body; At least for the inhibition motion of objects that becomes vibration; According to the testing result of above-mentioned position and vibration, the driver train of moving body is carried out controlled reset, thus the position and the vibration of control moving body; In above-mentioned control, the elementary instruction generation unit generates the elementary instruction to the open loop of driver train; The contrast signal generation unit is transformed into the position of moving body and the contrast signal of acceleration/accel with this elementary instruction; The position that error calculation unit is calculated the moving body of being tried to achieve by above-mentioned each detecting unit and vibration acceleration, and the position of the moving body of trying to achieve by above-mentioned contrast signal generation unit and the error of acceleration/accel; Updating block upgrades according to the inferred value of the error that calculates to the state of moving body; And adder unit adds the correction according to the inferred value of the state of moving body on above-mentioned elementary instruction, and as the control input to driver train.
And; The present invention is a kind of lift control method of piler; This piler is equipped with arm free to advance or retreat on the bay-lift that goes up and down along post through lift motor; It is characterized in that, detect the height of bay-lift, and the vibration that acceleration pick-up detects this arm front end is set at the arm front end through height sensor; So that the state that this arm stretches out when bay-lift is gone up and down, according to the signal of above-mentioned height sensor and the signal of acceleration pick-up, carries out controlled reset to lift motor; In above-mentioned control, the elementary instruction generation unit generates the elementary instruction to the open loop of above-mentioned lift motor; The contrast signal generation unit is transformed into this elementary instruction the contrast signal of acceleration/accel of height and the arm of bay-lift; Error calculation unit calculates the height of the bay-lift of being tried to achieve by above-mentioned height sensor and the vibration acceleration of the arm of trying to achieve by above-mentioned acceleration pick-up, with the error of the acceleration/accel of the height of the bay-lift of trying to achieve and arm by above-mentioned contrast signal generation unit; Updating block upgrades according to the inferred value of the error that calculates to the state of bay-lift and arm; And adder unit adds the correction according to the inferred value of the state of bay-lift and arm on above-mentioned elementary instruction, and as the control input to lift motor.
In the present invention, because the testing result of position through moving body and vibration is carried out controlled reset to the driver train of moving body, so can suppress to vibrate and carry out at short notice the motion of necessity.
Particularly, when the present invention is applicable to the move loading action of shifting apparatus, put on the vibration of article in the time of can suppressing transfer, and can carry out transfer at short notice.
And; During up-down control when the transfer that the present invention is applicable to the bay-lift of piler; Vibration through suppressing the arm front end, do not increase the vibration of arm front end at least; And reduce height and the height of arm front end and the deviation of object height of bay-lift, thus, can carry out transfer at short notice.And, owing to can correctly control the height of bay-lift and arm front end, so can reduce the dead zone of the transfer subject side of shelf etc.
And; When according to the position of trying to achieve by detecting unit and vibration, and the position of calculating according to the elementary instruction of open loop and the error of vibration; When upgrading the inferred value of state of moving body, can revise the inferred value of the state of moving body according to the deviation of existing condition with respect to elementary instruction.And, in the time will being modified to elementary instruction according to the correction of this inferred value, can carry out, and make the moving body motion with can following the tracks of elementary instruction corresponding to controlled reset according to the deviation of elementary instruction through adder unit.
Description of drawings
Fig. 1 is the figure of the article of bay-lift, sliding york and shelf among the pattern ground expression embodiment.
Fig. 2 be expression among the embodiment from figure to the location of instruction of the lift motor model till the sliding york.
Fig. 3 is the block scheme of the feedback controller among the embodiment.
The characteristic of embodiment when Fig. 4 representes to unload, A) expression input speed instruction, B) expression is according to deviation, the C of the elementary instruction of the height and position of bay-lift) acceleration/accel of expression article.
The characteristic of embodiment when Fig. 5 representes to freight, A) expression input speed instruction, B) expression is according to deviation, the C of the elementary instruction of the height and position of bay-lift) acceleration/accel, the D of expression sliding york front end) acceleration/accel of expression article.
The specific embodiment
It below is the most preferred embodiment that expression is used for embodiment of the present invention.
In Fig. 1～Fig. 5, with the example that is controlled to be of the bay-lift in the piler 24, expression embodiment and characteristic thereof.In each figure, bay-lift 4 is led by post 6 and goes up and down, and in post 6 upper edge short transverses linear chi 8 is set, and reads the height and position x0 of bay-lift 4 through the linear transducer 10 that is arranged at bay-lift 4.And bay-lift 4 hangs through synchronous band, metal wool and rope etc. and holds parts 12 and be suspended, and with not shown counterweight, and the lift motor 20 through Fig. 3 goes up and down.
The 22nd, sliding york also can be other a arm such as articulated type arm free to advance or retreat in horizontal surface, the 24th, and the article support sector that constitutes by the top board of sliding york 22, the 26th, be arranged at the acceleration pick-up of article support sector 24.With the running route of piler 2 shelf 28,29th are set relatively, its pillar, article 32 put in shelf supporting 30.
Here, piler 2 carries out conveyance with the weights such as box of crystal liquid substrate as article 32 between shelf 28 and not shown station.Crystal liquid substrate damages easily, and when increasing the rigidity of sliding york 22 and bay-lift 4, piler 2 can maximize, and is not preferred.And, because shelf 28 grades are arranged in the clean room, therefore need reduce the dead zone that is used to join, from the productivity aspect of Liquid Crystal Display (LCD), need to shorten the cycle of handing-over.
Loading with article 32 is an example, and the lifting action during to transfer describes.Bay-lift 4 stops on the position of the bottom surface that enough is lower than article 32, and sliding york 22 is advanced.Then rise, when sliding york 22 during, ascending velocity is switched to the 2nd speed of dead slow speed, and support 30 transfer article 32 from shelf near the bottom surface of article 32 with the 1st speed.When rising to article 32 by transfers positively during to the position of article support sector 24, accelerate to the 3rd speed of the 1st speed that approaches and rise, stop afterwards rising, sliding york 22 is resetted.In addition, because the bottom surface of undetermined article 32 and the Distance Remaining of sliding york 22 transfer load to the correct moment of shelf supporting 30 so can not predict article from sliding york 22.The stroke of loading is relevant with the deflection and the amplitude of sliding york 22, if can reduce amplitude then also can shorten stroke.In a plurality of shelf supportings 30 of being provided with up and down of shelf; When the amplitude of establishing sliding york 22 during for ± h; In the configuration of shelf supporting 30; At least need the surplus of h for fear of interference, and also need the surplus of h, the dead zone that totals needs 2h to measure for fear of interference with the shelf supporting of article top with the shelf supporting of supporting article.So that bay-lift 4 is gone up and down, then make it at first with dead slow speed, and and shelf supporting 30 between handing-over article 32, afterwards once more so that bay-lift 4 is gone up and down, this point under the situation of unloading too.
Fig. 2 representes the controlling models of the article on bay-lift, sliding york and the sliding york.Through the quality that posture is remained level be the base station of m3 and relatively its with tiltangle tilt, with the rigid body (quality m) of pin joint, come bay-lift is carried out modelling.And rigid body is connected with friction force C3 through spring k3 with base station.Represent the article of sliding york and support thereof with particle m1, and with rigid body between be connected with friction force C1 through spring k1.In addition, the quality of particle m1 is according to the loading of article and steep variation.Bay-lift is held parts and is connected with counterweight (particle m2) via hanging, and counterweight is further held parts and is connected with lift motor through hanging.The spring constant of holding parts that hangs between establishing weight and the bay-lift is that k2, friction force are C2.And the spring constant between establishing weight and the lift motor is that k4, friction force are C4.If the absolute altitude of the base station of bay-lift is x0, through being the relative coordinate of benchmark with x0, the height of establishing the sliding york front end is x1, and the height of counterweight is x2, is x3 from counterweight to the height to the location of instruction of lift motor.
The state X of the system of Fig. 2 can represent through the tiltangle and the time diffusion thereof of expression 4 variable x0～X3, their time diffusion and bay-lift highly.And, the state of the system that state X representes to be made up of bay-lift in the piler and sliding york.And, confirm variable F1～F4 conduct and the H that is used for robust control
∞The variable that filter is relevant is represented state X through amounting to 14 variablees.In addition, u is the control input to lift motor.
Fig. 3 representes the control system among the embodiment.Object height storage part 34, storage are to the figure of the elementary instruction of lift motor 20, and the figure of this elementary instruction suppresses the vibration of sliding york 22, and are the figures of the rising or falling speed that is used to freight and unload.Wherein because and shelf supportings between correct moment of handing-over article indeterminate, so in the model of Fig. 2, the quality of particle m1 be merely sliding york situation, and, all confirm elementary instruction so that the inhibition characteristic oscillation under the situation of sliding york+article.Contrast signal generation portion 36 is transformed to the contrast signal ref of 2 dimensions with elementary instruction, and the contrast signal ref of these 2 dimensions is by the height and position of bay-lift and follow the acceleration/accel of sliding york of the up-down of bay-lift to constitute.In addition, this acceleration/accel does not comprise the amount of the vibration of sliding york.
The error vector e that difference engine 38 output is made up of the difference of the signal of sensor 10,26 and contrast signal ref, this error vector e will represent with the height and position of bay-lift and the vibration of sliding york front end according to the displacement of elementary instruction.Multiplication unit 44 multiplies each other ranks B and error vector, and multiplication list 48 multiplies each other the inferred value of ranks A and state X, and these are carried out integration through adder 40 phase adductions through integral unit 46, and update mode X.Multiplication unit 44 is revised the inferred value of state X according to error vector, and multiplication unit 48 comes modified chi according to the inferred value of state X itself.For example, according to the state Xn at moment n, be represented as Xn+1=Xn+AXn+Ben at the state Xn+1 of moment n+1, subscript is represented constantly here.When establishing each time difference between constantly when being Δ, considering for example becomes till the quadratic:
Xn+1＝(1+A·Δ+A
2/2·Δ
2)Xn+(B·Δ+B
2/2·Δ
2)en
The project of table 1 2DOF robust control
The item value other guide
Physical model degree of freedom 5 x0, x1, x2, x3, θ
H
∞Filter times 4
The height and position of several 2 bay-lifts of sensor, the leading-end acceleration of sliding york
The instruction of 1 pair of lift motor of control input u
The height and position of error vector e 2 dimension bay-lifts, the leading-end acceleration of sliding york
Error with elementary instruction
Quantity of state X 14 dimension 5 * 2DOF+filter times 4
For each degree of freedom, with its value and time diffusion as
Quantity of state
The height and position of output y 2 dimension bay-lifts, the leading-end acceleration of sliding york
Existing the contribution of ranks A 14 row 14 tabulations to its time variation according to state X
Ranks B 14 row 2 row carry out the correction of the state X of error vector e
The 14 row decisions of ranks C 1 row are according to the contribution of state X to control input u
The contribution of u
The FF elementary instruction
The detailed model of table 2 2DOF robust control
dX/dt＝AX+Be
u＝FF+CX+De
The action waveforms of embodiment when Fig. 4 representes to unload.A) expression is to the instruction of the input speed of lift motor, and non-control is represented only to apply elementary instruction and the example that do not carry out controlled reset, the result when the 2DOF robust control is illustrated in the controlled reset that applies linear transducer 10 and acceleration pick-up 26.B) deviation of the purpose height and position of expression and bay-lift, C) acceleration/accel of the workpiece of expression transfer object article.In addition, carried out near sliding york this quilt first second constantly of unloading to the shelf supporting.As according to Fig. 4 C) can know that even in an embodiment only through elementary instruction, the degree that puts on the vibration of workpiece is identical, but in an embodiment after the 3rd second constantly, the height tolerance of bay-lift is roughly 0.Therefore, can make bay-lift quickly fall to the purpose height, and sliding york is retreated, can shorten the transfer time.Elementary instruction is designed to fully suppress the vibration of workpiece, even append controlled reset so that make the height of bay-lift bring destination locations rapidly together, the vibration of workpiece does not increase yet.
Characteristic when Fig. 5 representes to freight; A) the input speed instruction of expression elementary instruction FF and the speed command of 2DOF robust control; B) represent apart from the deviation of the purpose height and position of bay-lift, the C) acceleration/accel of expression sliding york front end, D) expression puts on the acceleration/accel of workpiece.Loading was carried out near the 1st second constantly, and is corresponding therewith, and the input speed instruction also changed according to elementary instruction FF near the 1st second constantly.In the acceleration/accel of workpiece, less than the 2nd second constantly the time, be merely under the situation of elementary instruction FF, have the peak value of acceleration, but this peak value disappears in an embodiment.About the height of bay-lift, be roughly 0 in the moment the 5th second later deviation in an embodiment, but deviation is not eliminated when being merely elementary instruction FF.
In an embodiment, as stated, can eliminate the deviation of the height and position of bay-lift at short notice.And, the acceleration/accel that puts on workpiece and sliding york front end of following loading and unloading is identical with the elementary instruction degree.Its result is workpiece and sliding york front end not to be applied big impact and can carry out transfer the short time, in addition because the accuracy of positioning of bay-lift is higher, so can reduce the dead zone of edges of shelves.
Bay-lift to piler is illustrated in an embodiment, but being equipped with in the shifting apparatus of articulated type arm or sliding york through hanging to hold on the bay-lift that parts go up and down along fixing guide rail, also can implement present embodiment.And,, equally also can be suitable for embodiment to sliding york or articulated type arm being equipped on elevator and carrying out the control of the elevator in the shifting apparatus of transfer.And, can be suitable for embodiment too to the ride control of transportation vehicles such as piler.And, to through hang hold parts from traverse crane main body suspention, and support through chuck the up-down control of the bay-lift of article can be suitable for embodiment too.In this case, the vibration of sliding york front end is replaced as the lateral vibration of bay-lift, becomes the up-down of the bay-lift in the traverse crane to get final product the up-down direct replacement of the bay-lift in the piler.Though adopt H
∞Control is as the example of robust control, but is not limited to this, also can be H
2Control or μ control etc.
Also can detect the sensor that has or not of load of distance and the article of article in the front end setting of sliding york, so that can more correctly infer state.And trying to achieve of the height of bay-lift is not limited to adopt linear chi, also can adopt the absolute distance sensors such as coder or laser distance appearance of revolution of the roller of the up-down guiding usefulness that reads bay-lift.
Claims (5)
1. a moving body is characterized in that, is provided with:
Position detection unit is used to detect the position of moving body;
Vibration detecting unit is used to detect the vibration of moving body; With
Control part is used at least for the inhibition motion of objects that becomes vibration, according to the testing result of above-mentioned each unit, the driver train of moving body is carried out controlled reset;
Above-mentioned control part possesses:
The elementary instruction generation unit is used to generate the elementary instruction to the open loop of driver train;
The contrast signal generation unit is used for this elementary instruction is transformed into the position of moving body and the contrast signal of acceleration/accel;
Error calculation unit, the position of calculating the moving body of trying to achieve and vibration acceleration, and the position of the moving body of trying to achieve by above-mentioned contrast signal generation unit and the error of acceleration/accel by above-mentioned each detecting unit;
Updating block is used for upgrading according to the inferred value of the error that calculates to the state of moving body; And
Adder unit is used on above-mentioned elementary instruction, adding the correction according to the inferred value of the state of moving body, and as the control input to driver train.
2. moving body as claimed in claim 1 is characterized in that,
Moving body possesses the shifting apparatus of article, detects the position and the vibration of shifting apparatus through above-mentioned each detecting unit, and through above-mentioned control part the action of shifting apparatus is fed back.
3. a piler is equipped with arm free to advance or retreat on the bay-lift that goes up and down along post through lift motor, it is characterized in that,
The height sensor of bay-lift is set, and acceleration pick-up is set detecting the vibration of this arm front end at the arm front end,
Be provided with control part, so that the state that this arm stretches out when bay-lift is gone up and down, according to the signal of above-mentioned height sensor and the signal of acceleration pick-up, carries out controlled reset to lift motor;
Above-mentioned control part possesses:
The elementary instruction generation unit is used to generate the elementary instruction to the open loop of above-mentioned lift motor;
The contrast signal generation unit is used for this elementary instruction is transformed into the contrast signal of acceleration/accel of height and the arm of bay-lift;
Error calculation unit, calculate the height of the bay-lift of trying to achieve by above-mentioned height sensor and the vibration acceleration of the arm of trying to achieve by above-mentioned acceleration pick-up, with the error of the acceleration/accel of the height of the bay-lift of trying to achieve and arm by above-mentioned contrast signal generation unit;
Updating block is used for upgrading according to the inferred value of the error that calculates to the state of bay-lift and arm; And
Adder unit is used on above-mentioned elementary instruction, adding the correction according to the inferred value of the state of bay-lift and arm, and as the control input to lift motor.
4. the control method of a moving body is characterized in that,
Detect the position and the vibration of moving body,,, the driver train of moving body is carried out controlled reset, thereby control the position and the vibration of moving body according to the testing result of above-mentioned position and vibration at least for the inhibition motion of objects that becomes vibration;
In above-mentioned control,
The elementary instruction generation unit generates the elementary instruction to the open loop of driver train;
The contrast signal generation unit is transformed into the position of moving body and the contrast signal of acceleration/accel with this elementary instruction;
The position that error calculation unit is calculated the moving body of being tried to achieve by above-mentioned each detecting unit and vibration acceleration, and the position of the moving body of trying to achieve by above-mentioned contrast signal generation unit and the error of acceleration/accel;
Updating block upgrades according to the inferred value of the error that calculates to the state of moving body; And
Adder unit adds the correction according to the inferred value of the state of moving body on above-mentioned elementary instruction, and as the control input to driver train.
5. the lift control method of a piler, this piler is equipped with arm free to advance or retreat on the bay-lift that goes up and down along post through lift motor, it is characterized in that,
Detect the height of bay-lift through height sensor, and acceleration pick-up is set to detect the vibration of this arm front end at the arm front end;
So that the state that this arm stretches out when bay-lift is gone up and down, according to the signal of above-mentioned height sensor and the signal of acceleration pick-up, carries out controlled reset to lift motor;
In above-mentioned control,
The elementary instruction generation unit generates the elementary instruction to the open loop of above-mentioned lift motor;
The contrast signal generation unit is transformed into this elementary instruction the contrast signal of acceleration/accel of height and the arm of bay-lift;
Error calculation unit calculates the height of the bay-lift of being tried to achieve by above-mentioned height sensor and the vibration acceleration of the arm of trying to achieve by above-mentioned acceleration pick-up, with the error of the acceleration/accel of the height of the bay-lift of trying to achieve and arm by above-mentioned contrast signal generation unit;
Updating block upgrades according to the inferred value of the error that calculates to the state of bay-lift and arm; And
Adder unit adds the correction according to the inferred value of the state of bay-lift and arm on above-mentioned elementary instruction, and as the control input to lift motor.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2006200260A JP4208906B2 (en) | 2006-07-24 | 2006-07-24 | Moving body |
| JP200260/2006 | 2006-07-24 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101112931A CN101112931A (en) | 2008-01-30 |
| CN101112931B true CN101112931B (en) | 2012-05-30 |
Family
ID=39021500
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2007101386292A Active CN101112931B (en) | 2006-07-24 | 2007-07-24 | Moving body and controlling method thereof |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP4208906B2 (en) |
| KR (1) | KR101391222B1 (en) |
| CN (1) | CN101112931B (en) |
| TW (1) | TWI397492B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102008045369B4 (en) | 2008-09-02 | 2013-11-21 | Grenzebach Maschinenbau Gmbh | Apparatus and method for picking up glass plates |
| JP4807600B2 (en) * | 2009-08-18 | 2011-11-02 | 村田機械株式会社 | Mobile system |
| JP2013224198A (en) * | 2012-04-23 | 2013-10-31 | Amada Co Ltd | Lift device |
| JP6807088B2 (en) * | 2018-11-05 | 2021-01-06 | シャンハイ クイックトロン インテリジェント テクノロジー カンパニー リミテッドＳｈａｎｇｈａｉ Ｑｕｉｃｋｔｒｏｎ Ｉｎｔｅｌｌｉｇｅｎｔ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．， Ｌｔｄ | Goods transfer robot and its control method |
| CN109239071B (en) * | 2018-11-20 | 2021-12-21 | 帝麦克斯(苏州)医疗科技有限公司 | Pathological section scanner control method and pathological section scanner |
| JP2020105006A (en) * | 2018-12-28 | 2020-07-09 | 株式会社前川製作所 | Carrying-in device, carrying-in method, and positioning mechanism |
| KR102504683B1 (en) * | 2020-12-03 | 2023-02-27 | 세메스 주식회사 | Carriage apparatus and tower lifting system including the same |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2334727Y (en) * | 1998-05-22 | 1999-08-25 | 张俊生 | Stacking machine for tunnel with track |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001192104A (en) * | 2000-01-06 | 2001-07-17 | Kito Corp | Running control method of moving body |
| JP2002134583A (en) * | 2000-10-24 | 2002-05-10 | Tokyo Electron Ltd | Substrate conveying apparatus |
| JP4021228B2 (en) * | 2002-03-26 | 2007-12-12 | 株式会社ダイフク・ロジスティック・テクノロジー | Speed / position control method for stacker crane |
-
2006
- 2006-07-24 JP JP2006200260A patent/JP4208906B2/en active Active
-
2007
- 2007-07-03 KR KR1020070066519A patent/KR101391222B1/en active IP Right Grant
- 2007-07-05 TW TW096124491A patent/TWI397492B/en active
- 2007-07-24 CN CN2007101386292A patent/CN101112931B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2334727Y (en) * | 1998-05-22 | 1999-08-25 | 张俊生 | Stacking machine for tunnel with track |
Also Published As
| Publication number | Publication date |
|---|---|
| KR101391222B1 (en) | 2014-05-07 |
| JP2008024461A (en) | 2008-02-07 |
| JP4208906B2 (en) | 2009-01-14 |
| TW200808630A (en) | 2008-02-16 |
| TWI397492B (en) | 2013-06-01 |
| KR20080009632A (en) | 2008-01-29 |
| CN101112931A (en) | 2008-01-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101112931B (en) | Moving body and controlling method thereof | |
| CN101112932B (en) | Lifting device and controlling method thereof | |
| KR100990363B1 (en) | Transfer apparatus | |
| JP2012193022A (en) | Method of swing stopping control, and system of swing stopping control of crane | |
| TW201036888A (en) | Overhead transportation system and method of transferring article | |
| JP6673745B2 (en) | Crane steady rest control method and system | |
| CN107399674B (en) | The control method and control device of trolley crane | |
| CN109843751A (en) | Overhead waggon and transportation system | |
| CN101813131A (en) | Two-dimensional plane air-floatation zero-gravity cradle | |
| JP4883272B2 (en) | Crane steady rest control method | |
| CN105523091A (en) | Automatic balancing control device and method for truck carriage based on anticipatory control | |
| CN103086109B (en) | Article storage facility | |
| CN111465572B (en) | Hoisting machine | |
| JP2002241079A (en) | Stacking control method and device for crane | |
| JP2009026144A (en) | Positioning control apparatus and control method thereof | |
| CN102388444A (en) | Conveying system having endless drive medium and conveying method | |
| CN111070230B (en) | Intelligent three-dimensional fixture library for robot workstation | |
| CN102470983A (en) | Conveyor system and storage equipment | |
| CN102460673A (en) | Conveying system having endless drive medium and method for delivering/receiving article therein | |
| WO2020230421A1 (en) | Conveyance apparatus | |
| JP6539960B2 (en) | Carrier system and control method of carrier system | |
| JP2022112100A (en) | Stacker crane control system | |
| JP5967741B1 (en) | Conveying device and vibration suppression control method thereof | |
| JPH11335069A (en) | Suspension type elevating device | |
| JPH11286388A (en) | Suspension type elevator device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| REG | Reference to a national code |
Ref country code: HK Ref legal event code: DE Ref document number: 1111969 Country of ref document: HK |
|
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |