JP3174475B2 - Control device for lifting and lowering transport device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a lifting and lowering transport device which controls a servomotor to raise and lower a transported object mounted on a base via a chain to a predetermined transport position. In particular, the present invention is suitable for positioning control when a heavy transported object such as an automobile such as a multistory parking lot is transported up and down to a predetermined transport position.

[0002]

2. Description of the Related Art FIG. 11 is a main configuration diagram showing a control device of a multistory parking lot as an elevating / lowering transport device for vertically transporting an object to be transported to a predetermined transport position. In FIG. 11, reference numeral 1 denotes a base on which an automobile 3 to be controlled to ascend and descend is mounted, 2 denotes a pallet mounted on the base 1 for sliding the automobile 3, 4 denotes a chain hanging both ends of the base 1, and 5 denotes a sprocket. , 6 are counterweights suspended by a chain 4 on the opposite side of the base 1 to balance the load;
7 is a speed reducer, 8 is a brake, 9 is a driving servomotor for driving the sprocket 5 via the brake 8 and the speed reducer 7 to vertically move and convey the base 1 suspended on the chain 4 and 10 An encoder directly connected to the axis of the servo motor 9, 11 is a servo amplifier for controlling the servo motor 9, 12 is a position controller for performing positioning control, and 13 is a power supply.

As shown in FIG. 12, a multi-story parking lot controlled by the control device having the above-described structure is provided with a storage shelf 14 provided in multiple stages in a hangar to store the automobile 3, and a three-dimensional parking lot. A strut 15 for supporting the hangar of the parking lot is provided, and as shown in FIG. 13, the strut 15 at the stop position of the base 1 is provided at a tip end of the base 1 on the strut side. A proximity switch 16 for giving a stop command to the servomotor 9 when it comes into contact with the dog 17 provided is provided for stopping the base 1 on which the automobile 3 is mounted and which is conveyed up and down at the position of the storage shelf 14. Make up the mechanism.

[0004] Next, the operation of the control device of the transport device having the above configuration will be described with reference to a timing chart shown in FIG. In FIG. 11, when the car 3 is stored in the multi-story parking lot, the base 1 on which the pallets 2 are loaded is waiting at the entrance of the car 3, and the cars 3 move on the pallets 2 by themselves. At this time, the car 3
Due to the weight of the chain 4, the chain 4 extends. After confirming that the car 3 has moved onto the pallet 2, the start button of the position controller 12 is turned on, and when the start signal is input to the servo amplifier 11 as shown in FIG. The drive of the servomotor 9 is controlled, whereby the base 1 is controlled to move up and down to perform positioning so as to stop at a predetermined stop position.

However, when the automobile 3 is mounted on the base 1, the weight of the chain 4 causes the chain 4 to extend, so that the starting position of the base 1 is slightly lowered due to the extension. For example, the base 1 on which the automobile 3 is mounted is mounted. In order to raise the distance by a predetermined distance, FIG.
As shown in (2), the speed of the servo motor 9 increases in accordance with a predetermined high-speed mode, and decreases and stops after maintaining a high constant speed, but does not reach the target stop position set by the position controller 12. If the proximity switch 16 installed at the target stop position has not been turned on yet, a low speed mode is required to correct the elongation of the chain 4, and the movement is performed at a low speed in accordance with the predetermined low speed mode toward the target storage position. When you reach the target position,
As shown in FIGS. 14C and 14D, the proximity switch 16 at the position of the target storage shelf is input, the servomotor 9 is controlled to stop, the brake 8 operates, and the base 1 is held at that position. You. When the base 1 is fixed at the target position in this manner, the automobile 3 is then moved to the storage in the pallet 2 as shown in FIG.
Is stored in

Next, when the car 3 is carried out, the same movement as described above is performed without the pallet 2 to reach the target position where the car 3 is to be carried out. When the vehicle reaches the target position, the brake 8 is actuated to fix the base 1 in the same manner as described above. In this state, the car 3 is carried out with every pallet 2. When it is confirmed that the pallet 2 has entered the base 1, the brake 8 is released, the servomotor 9 starts moving to the lowest position, is positioned by the same movement as described above, and the base 1 is again at the lowest position. Fixed, car 3
Goes out of the multi-story parking lot by himself.

[0007]

The control device of the conventional lifting and lowering transport device is configured as described above. As a correction for the elongation of the chain 4, as shown in FIG.
Needed low speed mode. For this purpose, the positioning to the target position is performed once by using the conventional data near the target position, and then the proximity switch 16 of the target position is used.
However, there is a problem that it takes a very long time to move at a low speed until the signal is input. In addition, since the elongation of the chain 4 changes depending on the type of the vehicle 3 mounted, extra operations such as stopping the motor once and correcting it again, or performing gain adjustment by mounting the maximum and minimum weight vehicles 3 are performed. We needed to find the optimal value. Further, the mechanical system may become unstable due to a difference in load inertia between when the vehicle 3 is mounted and immediately after the vehicle 3 is stored in the storage shelf 14, and an optimum response may not be obtained. There was also.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems in the prior art, and is intended to control a lifting / lowering transport device capable of correcting the elongation of a chain caused by loading of a transported object and performing accurate positioning control. The aim is to obtain a device.

[0009]

According to the present invention, there is provided a control device for a lifting and lowering device, comprising: a storage having a plurality of storage shelves for storing an object to be transported; and a counterweight suspended via a pair of sprockets. The base on which both ends are hung on the other end side of the chain and on which the object is mounted, and the base on which the object is mounted by driving the pair of sprockets are moved up and down to any storage shelf of the hangar. Servo motor for transporting, a plurality of position detecting means for positioning the base to be raised and lowered to each storage shelf, and drive control of the servo motor based on position command data corresponding to the storage shelf on the target floor And control means for stopping and controlling the servomotor based on the detection signal of the position detection means corresponding to the storage shelf on the target floor. There are, to the control means, Rutotomoni a correction means for correcting the position command data in the detected current position the extension amount of the chain, and the correction means
Location check corresponding to the storage shelf on the floor just before the target floor.
Creates position command data based on the detection signal input of the output means
Position command data corresponding to the storage shelf of the target floor output from the
Data remaining distance and position command from the position command data creation unit
Encoder directly connected to the data and the servo motor axis
Output from the deviation counter based on the amount of feedback from the
Latch means for latching the applied position droop; and
Based on these latch data and position command data between storage shelves,
To determine the amount of elongation of the chain
And a correction operation unit for correcting the command data .

[0010]

[0011]

[0012]

[0013] Further, the control of the lifting and lowering transport device according to another invention.
In the equipment, storage shelves for storing conveyed objects were installed in multiple stages
Counterway via hangar and a pair of sprockets
Ends are attached to the other end of the chain
A base on which the suspended object is mounted by being suspended,
Driving a pair of sprockets and loading the above-mentioned transferred object
To move the base up and down to any storage shelf in the above hangar
Stop the servo motor and the base that moves up and down
A plurality of position detecting means for positioning the target floor;
Based on the position command data corresponding to the storage shelf
Control the motors and support the storage shelves on the target floor.
Servo motor based on the detection signal of the position detecting means
Of a lifting and lowering transport device having a control means for controlling the stop of the transport
In the apparatus, the control means includes an elongation amount of the chain.
To correct the position command data currently being positioned
Correct means, and as the correction means,
The feedback pulse of the encoder directly connected to the
Latch to latch the count value of the counter
Step and the chain elongation based on the latch data
To correct the position command data currently being positioned
A positive operation unit, wherein the latch unit latches the count value of the counter based on a detection signal of a position detection unit corresponding to a storage shelf on the floor immediately before the target floor, and performs the correction operation. The section calculates the amount of elongation of the chain based on the latch data and the position command data between the storage shelves, and corrects the position command data currently being positioned.

[0014]

[0015]

Further, according to another aspect of the present invention, there is provided a control device for a lifting and lowering transport device, comprising: a hangar having a plurality of storage shelves for storing objects to be transported; and a chain in which counterweights are respectively suspended via a pair of sprockets. A base on which both ends are hung on the other end side of the base and the base on which the object is mounted, and a pair of sprockets for driving the base on which the object is mounted to ascend and descend to any storage shelf of the hangar. And a plurality of position detecting means for positioning the ascending / descending base to stop at each of the storage shelves, and controlling and driving the servo motor based on position command data corresponding to the storage shelves at the target floor. A control unit for stopping and controlling the servomotor based on a detection signal of a position detection unit corresponding to a storage shelf on the floor. Speed control means for generating a speed command based on the input of a start signal to control the speed of the servomotor; torque calculation means for obtaining torque during speed control; Switching from speed control by the speed control means to position control based on the input of the detection signal of the position detection means corresponding to the storage shelf on the floor,
Position control means for calculating a deceleration time for stopping at the target storage shelf in the shortest time based on the maximum torque that can be output by the servo motor based on the torque at the time of speed control detected by the torque calculation means and generating a position command. It is characterized by having.

Further, the speed control means gradually accelerates for a predetermined acceleration time and generates a constant speed command after acceleration, and the torque calculation means calculates an acceleration torque during acceleration control based on the speed command and an acceleration torque after acceleration. In addition to obtaining the load torque at the time of constant speed control, the position control means sets the target storage shelf in the shortest time based on the maximum torque that the servomotor can output based on the acceleration torque and the load torque detected by the speed control. The present invention is characterized in that a position command is generated by calculating a deceleration time for stopping.

Further, the speed control means generates a step-like speed command for accelerating the servomotor at the maximum torque, and the torque calculation means calculates the acceleration time during acceleration and the load torque during constant speed control. The position control means calculates the deceleration time for stopping at the target storage shelf in the shortest time based on the maximum torque that the servo motor can output based on the acceleration time and the load torque detected by the speed control, and calculates the position command. Is generated.

The servo motor further includes means for detecting a change in load inertia of a mechanical system mounted on the servomotor and performing tuning in real time, and a disturbance suppressing unit which sets a constant based on the tuning result and suppresses disturbance. It is characterized by having.

[0020]

In the control device for the ascending / descending transport device according to the present invention, the servomotor is drive-controlled based on the position command data corresponding to the storage shelf on the target floor, and the position detecting means corresponding to the storage shelf on the target floor is detected. The control means for controlling the stop of the servomotor based on the signal includes a correction means for detecting the amount of elongation of the chain and correcting the position command data currently being positioned. Even if there is, a correction can be made during positioning for the storage shelf on the target floor, and quick and accurate positioning control can be performed. In addition, as the correction means, the target
Of the position detecting means corresponding to the storage shelf on the floor immediately before the floor
Output from the position command data generator based on the detection signal input.
Position command data corresponding to the target floor storage shelves
The distance and the position command data from the position command data generator
From the encoder directly connected to the servo motor shaft
Output from deviation counter based on feedback amount
Latch means for latching the position droop;
Based on the switch data and the position command data between the storage shelves.
Determine the chain elongation and obtain the position command data currently being positioned.
And a correction calculation unit that corrects the position
Command data and the position droop latch data.
Position data can be corrected during positioning.
Thus, accurate positioning control can be performed.

[0021]

[0022]

[0023]

Further , as the correction means, the servo model
Counts the feedback pulse of the encoder directly connected to the motor axis.
Latch means for latching the count value of the counter
And the amount of chain elongation based on the latch data
To correct the position command data currently being positioned
With the calculation unit, the encoder can be used during positioning.
Chain elongation based on the return pulse count
Correct position command data can be obtained,
Control can be performed. Further, the latch means includes:
The count value of the counter is latched based on the detection signal of the position detecting means corresponding to the storage shelf on the floor immediately before the target floor, and the correction operation unit calculates the position between the latch data and the storage shelf. By calculating the amount of elongation of the chain based on the command data and correcting the position command data currently being positioned, the encoder passes through the storage shelf on the floor immediately before the target floor and performs positioning during positioning on the target floor. The elongation of the chain can be corrected based on the count of the feedback pulse, and accurate positioning control can be performed.

[0025]

[0026]

According to another aspect of the present invention, there is provided a control device for an ascending / descending transport device, which controls a drive of a servomotor based on position command data corresponding to a storage shelf on a target floor and detects a position corresponding to the storage shelf on the target floor. Speed control means for controlling the speed of the servomotor by generating a speed command based on the input of a start signal to control means for stopping and controlling the servomotor based on a detection signal of the means; And switching from speed control by the speed control unit to position control based on the input of the detection signal of the position detection unit corresponding to the storage shelf on the floor immediately before the target floor. Calculate the deceleration time for stopping at the target storage shelf in the shortest time based on the maximum torque that the servo motor can output based on the torque at the time of speed control detected by And position control means for generating a position command, thereby switching from speed control to position control based on the input of the detection signal of the position detection means corresponding to the storage shelf on the floor immediately before the target floor. Therefore, there is no need to correct for chain elongation, and positioning control can be performed in the shortest time by effectively using the torque of the servomotor during deceleration.

Further, the speed control means gradually accelerates for a predetermined acceleration time and generates a constant speed command after acceleration, and the torque calculation means calculates the acceleration torque at the time of acceleration control based on the speed command and the acceleration torque after acceleration. In addition to obtaining the load torque at the time of constant speed control, the position control means sets the target storage shelf in the shortest time based on the maximum torque that the servomotor can output based on the acceleration torque and the load torque detected by the speed control. By calculating the deceleration time to stop and generating a position command, when switching from speed control to position control and positioning a fixed distance, the load torque and acceleration torque are detected in advance to detect the maximum deceleration torque that the motor can output. By setting the deceleration time, positioning can be performed in the shortest time.

Further, the speed control means generates a step-like speed command for accelerating the servomotor at the maximum torque, and the torque calculation means calculates the acceleration time during acceleration and the load torque during constant speed control. The position control means calculates the deceleration time for stopping at the target storage shelf in the shortest time based on the maximum torque that the servo motor can output based on the acceleration time and the load torque detected by the speed control, and calculates the position command. When speed is switched from speed control to position control, the acceleration / deceleration time can be changed depending on the load condition.Acceleration is performed at the maximum torque in the speed loop step response. Based on the maximum deceleration time that can be obtained by the motor, positioning can be performed in the shortest time when switching to position control.

Further, there are provided means for detecting a change in load inertia of a mechanical system attached to the servomotor and tuning in real time, and a disturbance suppressing unit for setting a constant based on the tuning result and suppressing disturbance. As a result, even if the inertia of the load changes due to the use of real-time auto-tuning, disturbance is suppressed based on the tuning result. can get.

[0031]

【Example】

Embodiment 1 FIG. Hereinafter, the present invention will be described based on illustrated embodiments. First, in the first embodiment, the same configuration as that of the conventional multi-story parking control device shown in FIGS. 11 to 13 is provided, but the configuration in the servo amplifier 11 and the position controller 12 shown in FIG. The difference is that a correcting means for correcting the elongation of the chain and performing positioning is provided.

FIG. 1 is a configuration diagram showing a control unit including a servo amplifier 11 and a position controller 12 according to the first embodiment. In FIG. 1, reference numeral 18 designates a signal of the proximity switch 16 located immediately before (n-1) of the storage shelf on the target floor n as a latch signal, and based on the input of the latch signal, the position command data from a position command creating unit to be described later. latch circuits for latching the remaining distance D _R, 19 is the distance between the position droop D _P and proximity switch 16 from the deviation counter to be described later to enter in synchronism with the latch and remaining distance D _R latched by the latch circuit 18 A correction calculating unit for calculating a correction amount ε for correcting the position data being currently positioned according to the amount of elongation of the chain 4 based on the position command data D as a value; To output the position command data based on the correction amount ε from the correction operation unit 19 and output the position command data based on the start signal. Command generating section Me-decided, 21 deviation counter for determining the position droop D _P is the deviation between the feedback quantity from the positioning command the encoder 10 from the positioning command creation part 20, 22 is position control unit, 2
Reference numeral 3 denotes a speed control unit, reference numeral 24 denotes a torque control unit, reference numeral 25 denotes a current detection unit, and reference numeral 26 denotes a latch signal for latching with a signal of a proximity switch at (n-1).

Next, the operation according to the above configuration will be described with reference to FIGS. In FIG. 2, reference numeral 16 denotes a proximity switch mounted on each storage shelf, and 17 denotes a dog mounted on the base 1, which is the same as the conventional example. Here, the proximity switches 16 provided between the proximity switches 16 calculated based on the encoder 10 attached to the servomotor 9, that is, on the surface of the column 15 where the storage shelves 14 are installed, facing the base 1. The position command data between them is D, and the installation hierarchy of the storage shelf 14 is n. Also,
D (n) and D (n-1) are n, position command data up to the (n-1) th floor, 16 (n), 16 (n-1), 16
(1) and 16 (0) are proximity switches attached to the storage shelves 16 on the n, (n−1), and 1st floors.

Now, in FIG. 2, when the automobile 3 is mounted on the base 1, the chain 4 is extended by its weight. When a start signal is input in that state, the base 1 on which the vehicle 3 is mounted starts to rise to store the vehicle 3 in the target storage shelf, but it is necessary to output a lot of position command data by the length of the chain 4. FIG. 3 shows a method of correcting the elongation of the chain 4 and positioning the chain 4 on the target storage shelf.

In FIG. 3, when the latch signal 26 is inputted at the timing when the proximity switch 16 (n-1) immediately before the proximity switch 16 (n) of the target storage shelf is turned on, the latch circuit 18 is moved to the position. The remaining distance D _R of the position command data from the command data creation unit 20 is latched, and the correction operation unit 1 is latched.
9, the remaining distance D _R latched in position droop amount D _P and the latch circuit 18 from the deviation counter 21 for counting the difference between the feedback pulse from the position command data and the encoder 10 of the position command data creation unit 20 Latch is performed, and the correction amount ε is calculated based on the difference from the actual position command data D.

At this time, the actual position command data D between shelves, that is, between the proximity switches 16 (n-1) and 16 (n) is
The correction amount ε measured in advance and calculated by the correction calculation unit 19 is given by the following equation from the relationship shown in FIG. ε (correction amount) = D− (D _P + D _R ) This correction amount ε is taken into the position command data creating unit 20,
The current position command data is corrected, and the vehicle 3 is stored in the target storage. In addition, the same operation is performed when unloading from the storage shelf.

That is, in the configuration shown in FIG. 1, when positioning at the target floor, the position command data creating unit 20
The position command data corresponding to the target floor designation signal given from outside is created. For example, when ascending from the first floor, which is the lowest position, to the fifth floor, the position command data creation unit 20
The position command data for D × (5-1) = 4D is created.
Next, when a start signal is input, the created position command data is output to the deviation counter 21, and further passed through a position control unit 22, a speed control unit 23, and a current control unit 24, respectively. , And a torque command to drive and control the servomotor 9 to raise the base 1 and perform positioning.

At this time, the latch circuit 18 stores the remaining distance D _R of the position command data created by the position command data creating section 20.
When a signal from the proximity switch 16 immediately before the proximity switch 16 on the target floor is input as a latch signal, the remaining distance D _R is latched and output to the correction operation unit 19. Correction calculation unit 19, remaining distance D in synchronization with the input the position command data creation unit of _R 2 from the latch circuit 18
Enter the position droop D _P from the deviation counter 21 to determine the difference between the feedback amount from the position command data and the encoder 10 0, car 3 is mounted on the base 1, the chain 4 is expanded in its weight correspondingly Ε (correction amount) = D− (D _P + D) in order to correct and position the target storage shelf.
_R ) is obtained, taken into the position command data creating section 20, and the current position command data is corrected.
Is stored.

Embodiment 2 FIG. Next, FIG. 4 is a configuration diagram according to the second embodiment. Also in the second embodiment, the configuration of the multi-story parking lot is the same as that of the first embodiment. In the first embodiment, the droop of the deviation counter 21 and the remaining distance of the position command data are latched. In the second embodiment, the count value of the counter 27 for counting the feedback pulse from the encoder 10 is latched by the latch circuit 28. The position command data is corrected by the correction calculation unit 29 based on the latch data. In FIG. 4, the same parts as those in FIG. 1 are denoted by the same reference numerals.

In FIG. 4, in order to put the automobile 3 in the target storage shelf, the proximity switch 16 in front of the target storage shelf is required.
At the timing when (n-1) turns on, the latch signal 26 is turned on, and the count value of the counter 27 for counting the feedback pulse from the encoder 10 attached to the servomotor 9 is latched by the latch circuit 28, and the value is latched. PCO
UNT. The position command data immediately before the target storage shelf is D (n-1), and the difference from this value is obtained by the correction operation unit 29. This is the correction amount ε including the extension of the chain. ε (correction amount) = PCOUNT−D (n−1) This correction amount ε is taken into the position command data creation unit 20, the current position command data is corrected, and the vehicle is stored in the target storage. In addition, the same operation is performed when unloading from the storage shelf.

Embodiment 3 FIG. Next, FIG. 5 is a configuration diagram according to the third embodiment. Also in the third embodiment, the configuration of the multi-story parking lot is the same as that of the first embodiment. In FIG. 5, as a new configuration, for example, as shown in FIG. 6, 30 is attached to the lower part of the proximity switch 16 (0) on the lowest floor, detects the position of the base on which the automobile 3 is mounted, and extends the chain 4. Sensor for measuring the scale, 31 is the sensor 30
The reference numeral 32 is a correction operation unit for calculating the amount of elongation of the chain based on the count value of the counter 31 and the position command data D between the proximity switches and correcting the position command data.

In FIG. 6, when the automobile 3 is mounted on the lowest floor, the chain 4 extends and the base 1 moves downward. In FIG. 6, the extended value is counted by the counter 31, the count value is Dcount, the actual distance to the target storage shelf 14 is N (n), and the length of the chain 4 is L _0.
Then, the correction calculator 32 calculates a correction amount ε shown in the following equation. ε = Dcount × [(L ₀ −N (n)) / L ₀ ] This correction amount ε is taken into the position command data creating unit 20,
The vehicle is stored in the target storage shelf 14 with the current position command data as a correction. Further, the same operation is performed when unloading from the storage shelf 14.

Embodiment 4 FIG. Next, in the fourth embodiment, the same configuration as that of the second embodiment shown in FIG. 4 is provided, but the counter 27 and the latch circuit 28 shown in FIG. 4 detect a displacement at the lowest floor. . That is, as shown in FIG. 6, when the vehicle is mounted on the lowest floor and then raised,
Although a displacement occurs at the lowest floor, that is, when the automobile 3 is mounted on the lowest floor, the chain 4 extends and the base 1 moves downward. When a start signal is input in this state, the base 1 on which the automobile 3 is mounted starts to rise from the shifted position toward the target storage shelf 14, and the latch circuit 28 in FIG. The count value of a counter 27 that counts the feedback pulse of the servo amplifier 9 is input based on the latch signal 26 at the timing when the proximity switch 16 (0) corresponding to the ON state is turned on, and the count value Dcount of the feedback pulse is obtained.

Then, the distance N to the storage shelf 14 on the target floor
Assuming that the chain elongation ε from (n) is a correction amount obtained from the count value of the feedback pulse, the following equation is obtained. ε = Dcount × [(L ₀ −N (n)) / L ₀ ] This correction amount ε is obtained by the correction operation unit 29, taken into the position command data creation unit 21, corrected to the current position command data, and The car is stored in the hangar. These corrections can be performed without stopping the system because they are performed by online control.

Embodiment 5 FIG. Next, in the fifth embodiment, FIG.
And the latch circuit 28 latches the count value of the counter 27 based on the detection signal of the proximity switch 16 corresponding to the storage shelf 14 of each floor. The distance between the proximity switches 16 is measured based on the latch data by measuring means (not shown).

That is, it is considered that the chain 4 hardly expands unless the automobile 3 is mounted on the base 1, and the base 1 is moved from the lowest floor to the highest floor at a low speed, whereby Attached dog 17
Is detected by the proximity switch 16, the counter 27 of the block diagram shown in FIG. Dcount0, Dcount1, Dcount2 ~
By taking DcountN and taking the respective differences, the distance data D between the proximity switches 16 between each floor can be measured. The general formula is as follows. D = Dcount N−Dcount (N−1) By doing so, the length measurement between the respective proximity switches 16 is simplified, and the length measurement at the time of ascending and descending is simplified without danger, and the position is reduced. Data useful for correcting the command data can be obtained.

Embodiment 6 FIG. Next, FIG. 7 is a configuration diagram according to the sixth embodiment. In the sixth embodiment, the configuration of the multi-story parking lot is the same as that of the first embodiment, and in FIG.
The same parts as those of the first embodiment shown in FIG. FIG.
As a new code, reference numeral 33 denotes a speed control / position control changeover switch which operates based on a detection signal of the proximity switch 16 in front of the target storage shelf 14. Reference numeral 34 denotes a speed command generator for generating a speed command based on a start signal to control the speed of the servomotor 9.
The switch 36 switches from the speed control by the speed command generating section 34 to the position control on the position control section 22 side by inputting the control signal, and a movement 36 for calculating the movement time t _X0 at the time of constant control when switching to the position control described later. A time calculation unit. The torque control unit 24 calculates the torque during speed control as described later, and the position command data creation unit 20 calculates the shortest deceleration time and the like as described later. After switching to the position control loop, the vehicle is stored in the target storage shelf in the shortest time.

The operation according to FIG. 7 will be described below with reference to FIG. 8, tpsa is a preset acceleration time, T _Ma is an acceleration torque, _TL is a load torque, t _X is the shortest deceleration time calculated from the position control loop, and T _Md is the maximum deceleration torque that the servomotor 9 can output. , T _max is the maximum torque that the servo motor 9 can output, N is the distance from the proximity switch 16 (n-1) immediately before the target storage shelf to the proximity switch 16 (n) of the target storage shelf, and V is the distance between the proximity switch 16 (n) of the target storage shelf. Indicates the feed speed when positioning.

After the vehicle 3 is mounted on the base 1, the servo motor 9 is accelerated to the speed V for an acceleration time tpsa set based on the speed command from the speed command generator 34. The acceleration torque T _Ma at that time is given by the following equation. T _Ma = [(GD ² × V) / (K × tpsa)] + T _L GD ² : Total inertia K: Constant From this, GD ² × V = K × Tpsa (T _Ma −T _L ) where the load torque T _L may not be constant due to the unbalance torque depending on the position.

When the signal passes through the proximity switch 16 immediately before the target storage shelf, the switch is switched to the position control loop by the changeover switches 33 and 35 which operate based on the detection signal, and the information obtained at the time of acceleration is obtained. The deceleration time at which the servo motor 9 can be stopped in the shortest time is calculated based on the maximum torque that the servo motor 9 can output. Minimum deceleration time t _X is obtained by the following equation from Fig. ^{_{t X = (GD 2 × V}} ) / [K × (Tmax + T _L)] = [tpsa (T _Ma - T _L)] / (Tmax + T _L)

Here, the proximity switch 16 (n-1) immediately before the target storage shelf is changed to the proximity switch 16 of the target storage shelf.
Since the distance to (n) is determined to be N, the feed speed V when the proximity switch is crossed to form a position control loop is obtained.
Is _calculated by the following equation. t _x0 = (N / V) − (1/2) × t _x

As described above, the speed command generator 34 for generating the speed command based on the input of the start signal to control the speed of the servomotor 9 and the torque calculating means (torque controller) for obtaining the torque during the speed control. 24) and switching from the speed control to the position control based on the input of the detection signal of the proximity switch 16 corresponding to the storage shelf on the floor immediately before the target floor, and the speed control detected by the torque calculating means. Position control for calculating and setting a deceleration time for stopping at a target storage shelf in the shortest time based on the maximum torque that can be output by the servo motor 9 based on the acceleration torque of the servo motor and the load torque at the time of constant speed control after acceleration. Means for switching from speed control to position control based on the input of the detection signal of the position detection means corresponding to the storage shelf on the floor immediately before the target floor. To perform the determining, correction is not required for the elongation of the chain 4 can be positioned control in the shortest time effectively using the torque of the servo motor during deceleration.

Embodiment 7 FIG. Next, the seventh embodiment has the same configuration as the sixth embodiment shown in FIG. In the seventh embodiment, when the weight of the vehicle greatly differs depending on the type (when the inertia changes), a deceleration time corresponding to each weight is set, and the lighter one decelerates faster to shorten the total tact time. . That is, in the sixth embodiment, the acceleration time during the speed control is set.
In the seventh embodiment, a command is given at a speed step as in a speed command pattern shown in FIG. At this time, the servo motor 9 accelerates at the maximum torque Tmax. Then, the acceleration time at this time is measured to obtain tpsa. Next, _TL is obtained by measuring the load torque during the transmission at a constant speed.
The acceleration / deceleration torque T _Ma at that time is given by the following equation. tpsa = (GD ² × V) / [K × (Tmax− _TL )] GD ² : all inertia K: constant From this, GD ² × V = K × tpsa ( _Tmax − _TL )

Then, when the signal passes across the proximity switch 16 just before the target storage shelf, a position control loop is performed at a predetermined distance and the operation stops. The deceleration time at which the servo motor 9 can be stopped in the shortest time is calculated from the information obtained at the time of acceleration based on the maximum torque that the servo motor 9 can output. The shortest deceleration time is obtained by the following equation. t _X = (GD ² × V) / [K × (Tmax + _TL )] = [tpsa (Tmax− _TL )] / (Tmax + _TL ) Here, the proximity switch 16 immediately before the target storage shelf. Since the distance from to the target storage shelf is N, the proximity switch 1
The time t _x0 for moving at the feed speed V when the position control loop crosses the line No. 6 is given by the following equation. _{t x0 = (N / V)} - in [(1/2) × t _X] FIG 7, the above calculations performed by moving time calculation section 36 performs calculation by the position instruction data creating unit 20, a position control loop Before switching to, the calculation is performed in advance, and the vehicle is stored in the target storage shelf in the shortest time in the position control loop.

As described above, the speed command generator 34 generates a step-like speed command for accelerating the servomotor 9 with the maximum torque, and the torque controller 24 increases the acceleration time during acceleration and the load torque during constant speed control. And the position control means calculates the deceleration time for stopping at the target storage shelf in the shortest time based on the maximum torque that the servo motor 9 can output based on the acceleration time detected by the speed control and the load torque. By generating a position command, when positioning a fixed distance switched from speed control to position control, the acceleration / deceleration time can be changed depending on the load condition.Acceleration with the maximum torque in the step response of the speed loop,
Based on the result, the maximum deceleration time that can be obtained by the motor is determined, and when switching to position control, positioning can be performed in the shortest time.

Embodiment 8 FIG. Next, FIG. 10 is a configuration diagram according to the eighth embodiment. The block shown in FIG. 10 is a configuration diagram of the model adaptive control. Here, the ideal model unit 37 has a model inertia setting unit 39, and a real-time auto-tuning unit 38 obtains the load inertia JL of the mechanical system attached to the servomotor 9, and sets the value. In addition, 40 is a model gain setting unit, 41 is a disturbance suppressing unit that suppresses disturbance, and 42 is a load inertia of a mechanical system attached to the servomotor 9.

As a method of obtaining the inertia, acceleration / deceleration is performed with the vehicle mounted, the load torque is obtained from the acceleration torque, the deceleration torque, and the difference between the acceleration and the deceleration torque, and the inertia of the load is obtained from the actual acceleration time. It has been calculated. The value of the inertia is stored and set in the model inertia setting unit 39 so that the operation can be performed with an optimum response to the machine state, and the operation can be very stable.

Next, when the vehicle reaches the target storage shelf, the car 3 is stored in the storage shelf, and the base 1 becomes empty,
The inertia of the load measured in the empty state is set in the model inertia setting unit 39 to prevent the vibration from being generated and to stabilize. In addition, car 3
When the vehicle 3 is carried out, it is detected that the vehicle 3 has entered the base 1, and the inertia value stored when the vehicle 3 is stored in the storage shelf is set in the model inertia setting unit 39, and an optimal response for the mechanical system is obtained. I am getting it.

As described above, the real-time auto-tuning section 38 which detects a change in the load inertia 42 of the mechanical system attached to the servomotor 9 and tunes in real time, and sets a constant based on the tuning result to suppress disturbance. With the use of the disturbance suppression unit 41, even if the inertia of the load changes by using real-time auto-tuning, the disturbance is suppressed based on the tuning result, so that the load can be moved without generating vibration or the like. And a stable and optimal response is obtained.

[0060]

As described above, according to the present invention, the servomotor is driven and controlled based on the position command data corresponding to the storage shelf on the target floor, and the position detecting means corresponding to the storage shelf on the target floor is detected. The control means for controlling the stop of the servomotor based on the signal includes a correction means for detecting the amount of elongation of the chain and correcting the position command data currently being positioned. Even if there is, the correction can be performed during positioning for the storage shelf on the target floor, and there is an effect that quick and accurate positioning control can be performed. In addition, the correction means
Location check corresponding to the storage shelf on the floor just before the target floor.
Creates position command data based on the detection signal input of the output means
Position command data corresponding to the storage shelf of the target floor output from the
Data remaining distance and position command from the position command data creation unit
Encoder directly connected to the data and the servo motor axis
Output from the deviation counter based on the amount of feedback from the
Latch means for latching the applied position droop; and
Based on these latch data and position command data between storage shelves,
To determine the amount of elongation of the chain
And a correction operation unit for correcting the command data.
The remaining distance of the position command data and the position
Position command data during positioning based on data
And can perform accurate positioning control
There is an effect.

[0061]

[0062]

[0063]

As the correction means, the servo motor
Counts the feedback pulse of the encoder directly connected to the motor axis.
Latch means for latching the count value of the counter
And the amount of chain elongation based on the latch data
To correct the position command data currently being positioned
With the calculation unit, the encoder can be used during positioning.
Chain elongation based on the return pulse count
Correct position command data can be obtained,
Control can be performed. The latch means latches the count value of the counter based on the detection signal of the position detection means corresponding to the storage shelf on the floor immediately before the target floor, and latches the count value by the correction operation unit. The amount of elongation of the chain is obtained based on the data and the position command data between the storage shelves, and the position command data currently being positioned is corrected to pass through the storage shelf on the floor immediately before the target floor and reach the target position. During positioning on the floor, the elongation of the chain can be corrected based on the count of the feedback pulses of the encoder, so that there is an effect that accurate positioning control can be performed.

[0065]

[0066]

According to another aspect of the present invention, the servomotor is drive-controlled based on the position command data corresponding to the storage shelf on the target floor, and based on the detection signal of the position detecting means corresponding to the storage shelf on the target floor. Control means for controlling the stop of the servo motor, a speed control means for generating a speed command based on the input of the start signal to control the speed of the servo motor, a torque calculation means for obtaining a torque at the time of speed control, Based on the input of the detection signal of the position detecting means corresponding to the storage shelf on the floor just before the target floor, the speed control is switched from the speed control to the position control, and the speed control detected by the torque calculating means is performed. Position control means for calculating a deceleration time for stopping at the target storage shelf in the shortest time based on the maximum torque that can be output by the servomotor based on the torque of the servomotor and generating a position command By having a target floor 1
Positioning is performed by switching from speed control to position control based on the input of the detection signal of the position detection means corresponding to the storage shelf on the floor immediately before, so that there is no need to correct for chain elongation, There is an effect that positioning control can be performed in the shortest time by effectively using the torque.

Further, the speed control means gradually accelerates for a predetermined acceleration time and generates a constant speed command after acceleration.
The torque calculating means obtains an acceleration torque at the time of acceleration control based on the speed command and a load torque at the time of constant speed control after acceleration, and the position control means detects the acceleration torque and the load detected by speed control. Switching from speed control to position control by calculating the deceleration time to stop at the target storage shelf in the shortest time based on the maximum torque that the servo motor can output based on the torque and positioning the fixed distance , Pre-load torque,
By setting the deceleration time for the maximum deceleration torque that the motor can output by detecting the acceleration torque, there is an effect that positioning can be performed in the shortest time.

Further, the speed control means generates a step-like speed command for accelerating the servomotor at the maximum torque, and the torque calculation means calculates the acceleration time during acceleration and the load torque during constant speed control. The position control means calculates the deceleration time for stopping at the target storage shelf in the shortest time based on the maximum torque that can be output by the servo motor based on the acceleration time detected by the speed control and the load torque. When speed is switched from speed control to position control, the acceleration / deceleration time can be changed depending on the load condition.Acceleration is performed at the maximum torque in the speed loop step response. Based on the maximum deceleration time that the motor can output, positioning can be performed in the shortest time when switching to position control. There is an effect that kill.

Further, there are provided means for detecting a change in load inertia of a mechanical system mounted on the servomotor and tuning in real time, and a disturbance suppressing unit for setting a constant based on the tuning result and suppressing disturbance. As a result, even if the inertia of the load changes due to the use of real-time auto-tuning, disturbance is suppressed based on the tuning result. The effect is obtained.

[Brief description of the drawings]

FIG. 1 is a configuration diagram illustrating a main part of a control device of a lifting and lowering transport device according to a first embodiment of the present invention.

FIG. 2 is an explanatory diagram of position detection means and position command data in a multi-story parking lot.

FIG. 3 is an explanatory diagram illustrating a correction amount of position command data according to the first embodiment.

FIG. 4 is a configuration diagram illustrating a main part of a control device of the lifting and lowering transport device according to the first, fourth, and fifth embodiments of the present invention.

FIG. 5 is a configuration diagram illustrating a main part of a control device of a lifting and lowering transport device according to a third embodiment of the present invention.

FIG. 6 is an explanatory diagram illustrating a correction amount of position command data according to Embodiments 3 and 4 of the present invention.

FIG. 7 is a configuration diagram illustrating a main part of a control device of a lifting and lowering transport device according to Embodiments 6 and 7 of the present invention.

FIG. 8 is a control timing chart at the time of switching control between speed control and position control according to Embodiment 6 of the present invention.

FIG. 9 is a control timing chart at the time of switching control between speed control and position control according to Embodiment 7 of the present invention.

FIG. 10 is a block diagram of model adaptive control according to Embodiment 8 of the present invention.

FIG. 11 is a configuration diagram of a conventional example and a multistory parking lot according to the present invention.

FIG. 12 is an external view of a conventional example and a multistory parking lot according to the present invention.

FIG. 13 is a detailed view of a conventional example and a position detecting unit of a multistory parking lot according to the present invention.

FIG. 14 is a timing chart illustrating control according to a conventional example when a car is stored in a storage shelf.

[Explanation of symbols]

1 base, 3 cars (transported goods), 4 chains,
5 sprockets, 6 counter weights, 9 servo motors, 10 encoders, 11 servo amplifiers, 12
Position controller, 14 storage shelves, 16 proximity switches, 17 dogs, 18, 28 latch circuits, 19, 2
9, 32 correction operation unit, 20 position command data creation unit,
21 deviation counter, 22 position control unit, 23 speed control unit, 24 torque control unit, 25 current detection unit, 26
Latch signal, 27 counter, 30 position detection sensor,
31 counter, 33 internal speed control / position control changeover switch, 34 speed command generator, 35 changeover switch,
37 ideal model section, 38 real-time auto tuning section, 39 model inertia setting section, 40 model gain setting section, 41 disturbance suppression section, 42 load inertia.

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. ⁷ , DB name) B66B 1/00-19/06

Claims (6)

(57) [Claims] 1. A hangar in which a plurality of storage shelves for storing objects to be conveyed are installed, and a chain in which counterweights are suspended via a pair of sprockets at the other end of the chain. A base for mounting the conveyed object, a servomotor for driving the pair of sprockets to vertically move the base on which the conveyed object is mounted to any storage shelf of the hangar, and a base for elevating and lowering each storage shelf. A plurality of position detecting means for positioning to stop; a drive signal for the servomotor based on position command data corresponding to the storage shelf on the target floor; and a detection signal from the position detecting means corresponding to the storage shelf on the target floor. A control unit for stopping and controlling the servomotor based on the control signal. A correction means for correcting the position command data during positioning, the correction means may pair storage shelf of one before the floor of the target floor
Based on the input of the detection signal of the corresponding position detection means, the position
Corresponding to the storage shelf of the target floor output from the
The remaining distance of the position command data and the position command data
Directly connected to these position command data and the servo motor axis
Deviation based on the feedback amount from the
Latch that latches the position droop output from the
Switch data and the position command data between the latch data and the storage shelf.
The amount of elongation of the above chain is calculated based on the
A control device for an ascending / descending transport device, comprising: a correction operation unit that corrects the determined position command data . 2. Storage shelves for storing objects to be transported are installed in multiple stages.
Hangar and counter through a pair of sprockets
Weight is attached to the other end of the suspended chain.
A base on which both ends are suspended and on which the load is mounted
And driving the pair of sprockets to move the conveyed object
Lifting and lowering the mounted base to any storage shelf in the above hangar
Servo motors and the base that moves up and down
Position detection means for positioning to stop at
And the position command data corresponding to the storage shelf on the target floor
Drive the above servo motor and store the target floor
Based on the detection signal of the position detecting means corresponding to the shelf,
Lifting / lowering transport provided with a control means for stopping and controlling the robot motor
In the control device of the device, the control means detects the amount of elongation of the chain and
A correction means is provided for correcting the position command data during the positioning, and the correction means is provided with an air directly connected to the axis of the servomotor.
Counter counter for counting encoder return pulses
Latch means for latching the
Then, calculate the elongation of the above chain
And a correction arithmetic unit for correcting the置指old data, and the
Latch means corresponds to the storage shelf on the floor just before the target floor
Of the counter based on the detection signal of the position detecting means
In addition to latching the count value, the correction calculation unit
Is the data between the latch data and the position command data between the storage shelves.
The elongation of the above chain is determined based on the
Controller of the temperature descending conveying device you and correcting a position command data. 3. Storage shelves for storing objects to be transported are provided in multiple stages.
Hangar and counter through a pair of sprockets
Weight is attached to the other end of the suspended chain.
A base on which both ends are suspended and on which the load is mounted
And driving the pair of sprockets to move the conveyed object
Lifting and lowering the mounted base to any storage shelf in the above hangar
Servo motors and the base that moves up and down
Position detection means for positioning to stop at
And the position command data corresponding to the storage shelf on the target floor
Drive the above servo motor and store the target floor
Based on the detection signal of the position detecting means corresponding to the shelf,
Lifting / lowering transport provided with a control means for stopping and controlling the robot motor
In the control device of the device, the control means may include a start signal
Generates a speed command based on the input and activates the servo motor.
Speed control means for speed control, and torque control during speed control.
Torque calculating means for determining the floor, and the floor just before the target floor
Based on the input of the detection signal of the position detection means corresponding to the storage shelf of
From speed control by the speed control means to position control
Switch the speed control detected by the torque calculation means.
The maximum that the above servo motor can output based on the torque at the time of
During deceleration to stop at the target storage rack in the shortest time based on torque
Position control means for calculating the interval and generating a position command.
A control device for a lifting and lowering transport device. 4. The speed control means according to claim 1, wherein said speed control means comprises:
Accelerate gradually, and after accelerating, generate a constant speed command.
Click calculating means, the acceleration of the acceleration control time based on the speed command
Calculate the torque and the load torque during constant speed control after acceleration
In addition, the above-mentioned position control means
Based on the acceleration torque and the load torque,
Target storage rack in the shortest time based on the maximum torque that the data can output
Calculate the deceleration time to stop and generate a position command
The control device for a lifting and lowering transport device according to claim 3, wherein: 5. The servo motor according to claim 1, wherein the speed control means includes:
Generates a step-like speed command that accelerates with maximum torque
The above-mentioned torque calculation means calculates the acceleration time during acceleration and the constant speed.
The load torque during the degree control and the position control
The means comprises the acceleration time detected by the speed control and the load torque.
To the maximum torque that the servo motor can output based on the torque
Calculate the deceleration time to stop at the target storage shelf in the shortest time based on
4. The control device for a lifting and lowering transport device according to claim 3 , wherein the control device generates a position command . 6. A machine mounted on said servomotor.
Detects changes in the load inertia of the
Based on the tuning method and the tuning results
A disturbance suppression unit that sets a constant and suppresses disturbance.
The control device for a lifting and lowering transport device according to claim 1, wherein: