JP2015030622A5 - - Google Patents

Claims (6)

Has a traveling carriage for transporting luggage, a conveying device for controlling in response to the position command value position of the traveling carriage position command value accepted by,
A motor for running the traveling carriage;
A motor encoder that monitors the motor to detect a current position of the traveling carriage and generates a first position detection value indicating the current position of the traveling carriage;
Ranging provided separately from the motor encoder, detects a current position of the traveling carriage with higher accuracy than the motor encoder, and generates a second position detection value indicating the current position of the traveling carriage. Total
An absolute position correction unit that adjusts the value of the first position detection value so that the first position detection value matches the second position detection value;
A filter for filtering the position command value;
A position controller that generates a speed command value whose value is adjusted so that an error between the position command value passed through the filter and the first position detection value adjusted by the absolute position correction unit becomes zero;
A speed controller that generates a torque command value whose value is adjusted so that an error between the speed command value and a speed detection value indicating the current speed of the traveling carriage obtained by using the motor encoder is zero. When,
A drive unit for driving the motor based on the torque command value;
A conveying device comprising: The transport device is a stacker crane having a mast installed on the traveling carriage, and a lifting platform attached to the mast so as to be movable up and down.
Input the torque command value, P ₁ the transfer function to output a position of the traveling _vehicle, receiving the torque command value, the transfer function and outputting a position before KiNoboru Fudai P _2, the reference model M 2, the transfer function G ₁ (s) of the filter is P ₂ ⁻¹ · P ₁ · M.   The position command value that has passed through the filter is differentiated to generate a speed feedforward value, and further includes a first feedforward unit that superimposes the speed feedforward value on the speed command value. The conveying apparatus as described in. The transport apparatus according to claim 2 , further comprising a second feedforward unit that generates a torque feedforward value corresponding to the position command value and superimposes the torque feedforward value on the torque command value. When the input torque command value, to the transfer function to output a position before KiNoboru Fudai P _2, the reference model is M, the second feedforward module, the position transmitted to the detection value function G ₂ ( The transport apparatus according to claim 4, wherein the torque feedforward value is generated by multiplying s) = P2 ⁻¹ · M. The transport apparatus according to claim 2, wherein at least one of the transfer functions P ₁ and P ₂ is adaptively changed according to a state of the transport apparatus.