JP4607784B2 - Travel control device - Google Patents

Description

  The present invention relates to a traveling control device that controls a traveling cutting machine or traveling processing machine that performs reciprocating motion, and in particular, traveling control that controls material cutting and the like by synchronizing the speed of a material and the traveling cutting machine. It relates to the device.

  In general, a traveling cutting machine and a traveling processing machine are devices that cut or form a material such as an iron plate, an aluminum plate, or a film, or engrave characters or the like. The travel control device that controls the forward and reverse travel of these traveling machines detects the speed of the traveling material with a pulse generator, and the speed of the traveling machine is determined by the pulse of the motor that drives the traveling machine. The material is cut and the like is realized by detecting with a generator and performing synchronous control of the material and the traveling machine. Specifically, taking the case of cutting material as an example, the traveling control device moves the traveling cutting machine in the same traveling direction (forward rotation) as the material when the cutting process is started while the material is traveling. The cutting signal is output after the speeds of the two coincide. Then, when cutting is completed by the traveling cutting machine that has input the cutting signal, a cutting end signal is input, and the traveling cutting machine is moved in the direction opposite to the traveling direction of the material (reverse rotation) to return to the home position that is the home position. . Then, the next cutting process is started again. By such repetition, the traveling material is continuously cut (see Patent Documents 1 to 3).

  FIG. 5 is a control block diagram showing a configuration of a conventional traveling cutting control device, and FIG. 6 is a time chart for explaining the operation of the traveling cutting control device shown in FIG. Referring to FIG. 5, this travel cutting control device 50 drives the rack 1 and the pinion 15 engaged with the carriage 1 by the motor 17 via the speed reducer 16, thereby moving the carriage 1 in the travel direction of the material 2 (from the left side). The function of moving forward to the right), the function of moving backward to the direction opposite to the travel direction of the material 2 (from right to left) and returning to the origin, and the travel speed of the material 2 and the travel speed of the carriage 1 are the same. When this happens, it has a function of outputting a cutting signal to cause the carriage 1 to cut the material 2.

Next, the operation of the travel cutting control device 50 will be described. First, setting data necessary for cutting, for example, a setting length indicating the cutting length of the material 2 is set in the setting device 5. Then, the material 2 starts traveling in accordance with the operation command (in FIG. 5, the traveling starts from left to right). The length measuring roll 3 is composed of two upper and lower rolls and rotates as the material 2 travels, and the pulse generator 4 generates a pulse for each unit rotation angle. The coefficient unit 6 measures the amount of movement of the continuously traveling material 2 using this pulse signal, and generates a signal (material movement length signal) A corresponding to the movement length of the material 2. Then, the frequency speed converter 8 converts the material movement length signal A into the material movement speed signal V _A and generates a signal (material movement speed signal) V _A = f (A) corresponding to the movement speed of the material 2. (See FIG. 6 (1)).

When the rack and pinion 15 is driven by the motor 17 and the carriage 1 moves forward, the pulse generator 18 generates a pulse for each unit rotation angle, and the coefficient mover 14 feeds back the carriage movement length signal B corresponding to the position of the carriage 1. and feeds back the retracting speed reference signal _{V B} through the register 12 and the function unit 13 (see FIG. 6 (4)). The subtractor 7 calculates the remaining length signal (LA−B) from the set length signal L, the material movement length signal A, and the carriage movement length signal B, and the register 9 calculates the remaining length signal (L−A + B) L−A + B) is input, and the function unit 10 uses this remaining length signal (L−A + B) to generate a remaining length speed signal V _C = f (LA−B) as a function unit output signal (FIG. 6). (See (2)). Then, the subtractor 11 subtracts the remaining length speed signal V _C from the material movement speed signal V _A to generate a forward speed reference signal V _A -V _C in the traveling direction of the material 2 (FIG. 6 (3)). reference).

The code discriminator 21 outputs a signal for selecting a speed command signal _RFE to the motor 17 that drives the carriage 1 to the selector 22 based on the forward speed reference signal V _A -V _C. Specifically, the sign discriminator 21 outputs a selection signal so that the speed command signal _RFE becomes the forward speed reference signal V _A -V _C when V _A -V _C ≧ 0 (FIG. 6 ( 5) (Refer to a)) When V _A −V _C <0, a selection signal is output so that the speed command signal _RFE becomes the reverse speed reference signal V _B (see FIG. 6 (5) b). Accordingly, the selector 22 outputs the forward speed reference signal V _A -V _C or the speed command signal R _FE based on the selection signal. The speed command signal _RFE is subtracted from the pulse signal from the pulse generator 18 by the subtracter 20 and output to the motor 17 via the speed controller 19.

As described above, when V _A −V _C ≧ 0, the forward speed reference signal V _A −V _C is set as the speed command signal _RFE to the motor 17 that moves the carriage 1 (FIG. 6 (5)). a). At this time, the carriage 1 moves forward (see FIG. 6 (5) c) and is controlled so that the remaining length speed signal V _C = 0. As a result, the moving length of the material 2 becomes equal to the set length, and at the same time, the speed of the carriage 1 and the speed of the material 2 are the same (see FIG. 6 (5) d). Then, the carriage 1 inputs a cutting signal from the traveling cutting control device 50 and cuts the material 2. Further, when the traveling cutting control device 50 inputs a cutting end signal from the carriage 1, a set length is set in the setting device 5, and V _A −V _C <0 (see FIG. 6 (3) e). Then, as the speed command signal R _FE to the motor 17 for moving the carriage 1, retracting speed reference signal V _B is set (see Figure 6 (5) b), the carriage 1 returns to the origin.

  On the other hand, paying attention to the movement operation of the carriage 1, the carriage 1 follows the speed of the material 2 and rapidly accelerates until it synchronizes. When the carriage 1 reaches the set length value, it receives the cutting signal and cuts the material 2 (FIG. 6). (5) See a). When the cutting is completed, the carriage 1 decelerates rapidly, and at the same time as the deceleration is completed, the motor 17 reversely rotates to return to the origin and wait (see FIG. 6 (5) b).

JP-A-49-13792 JP 2000-117684 A JP 2000-176883 A

  In the conventional traveling cutting control device 50 shown in FIG. 5, the sign discriminator 21 discriminates the forward / reverse movement direction of the carriage 1, and the selector 22 inputs the selection signal of the movement direction discriminated by the code discriminator 21. Actually switching between forward and reverse rotation. For this reason, in order to control the forward / reverse movement of the carriage 1, the code discriminator 21 and the selector 22 are required, and there is a problem that the circuit becomes complicated and the reliability of the entire apparatus is lowered.

  Moreover, in the conventional traveling cutting control apparatus 50, after the carriage 1 cut | disconnects the material 2, it is necessary to return to an origin. For this reason, the material 2 travels greatly from the start of the origin return operation to the cutting time at which the moving speed of the material 2 and the moving speed of the carriage 1 are the same in the next cutting process. There was a problem that short cutting was not possible.

  Therefore, the present invention is to provide a travel control device capable of realizing a process of cutting a material or the like without returning a travel cutting machine or the like to the origin that is a standby position with a simple configuration.

  In order to achieve the above object, a travel control device according to the present invention is a device that controls traveling of a traveling machine that cuts or processes following the speed of a traveling material. A motor for moving the traveling machine in the forward or reverse direction, a setting means for setting a set length indicating the cutting position or processing position of the material, a first detecting means for detecting the moving length of the material, A second detecting means for detecting a moving length; a first speed generating means for generating a material moving speed based on the moving length of the material detected by the first detecting means; and the setting means. The second speed for generating the remaining length speed of the material based on the set length of the material, the moving length of the material detected by the first detecting means, and the moving length of the traveling machine detected by the second detecting means Generating means; and A subtractor that subtracts the remaining length speed of the material generated by the second speed generating means from the material moving speed generated by the first speed generating means and outputs a forward speed reference, and is detected by the second detecting means. The third speed generating means for generating the reverse speed reference based on the travel length of the traveling machine, the forward speed reference from the subtractor, and the reverse speed reference from the third speed generating means are input in advance. And a limiter that outputs the forward speed reference as the speed command with the backward value as the lower limit and the forward speed reference as the lower limit. As a result, the limiter outputs the forward speed reference as a speed command as long as the forward speed reference is between the upper limit value and the lower limit value, and the traveling machine moves forward or reverse based on this speed command.

  In the travel control device according to the present invention, the limiter inputs a forward speed reference higher than the reverse speed reference from the subtractor until the next cutting or processing ends after the material cutting or processing ends. The forward speed reference is output as the speed command.

  In the travel control apparatus according to the present invention, the second speed generation unit subtracts the movement length of the material detected by the first detection unit from the set length of the material set by the setting unit, and the subtraction result Is added to the travel length of the traveling machine detected by the second detection means, and the remaining length speed of the material is generated based on the addition result, and the limiter determines the forward speed reference from the subtractor and the third speed. When the reverse speed reference is input from the generating means and the forward speed reference exceeds a preset upper limit value, the upper limit value is output as the speed command, and the forward speed reference is less than the upper limit value and the reverse speed reference In this case, the forward speed reference is output as the speed command, and when the forward speed reference is lower than the reverse speed reference, the reverse speed reference is output as the speed command.

  The travel control apparatus according to the present invention further receives a speed command from the limiter and generates a new speed command having a predetermined slope when the slope of the change in the speed command is larger than a preset slope. And a rate means for outputting the new speed command.

  As described above, according to the present invention, it is possible to realize a process of cutting or processing a material without returning the traveling machine to the origin that is the standby position with a simple configuration. Further, since the configuration of the traveling control device is simple, the reliability of the entire device is improved.

  Hereinafter, the best mode for carrying out the present invention will be described with reference to the drawings, taking as an example a traveling cutting control device that controls a traveling cutting machine (hereinafter referred to as a carriage) that cuts material. FIG. 1 is a control block diagram showing a configuration of a travel cutting control device according to the present invention. FIG. 2 is a diagram for explaining the function of the limiter constituting the traveling cutting control device. FIG. 3 is a time chart for explaining the operation of the traveling cutting control device. FIG. 4 is a control block diagram in the case where a rate circuit is provided after the limiter.

〔Constitution〕
With reference to FIG. 1, the structure of the traveling cutting control apparatus 100 is demonstrated. The traveling cutting controller 100, limiter 101, and outputs a speed command signal S _R for controlling the driving of the forward / reverse movement of the carriage 1. That is, in the conventional traveling cutting control device 50 shown in FIG. 5, reference numeral classifiers 21 and selector 22, switches between forward speed reference signal _V A -V _C and retracting speed reference signal _{V B} as the speed command signal _{R FE} the switching method has been to perform the normal and reverse rotation control, the traveling cutting control device 100 shown in FIG. 1, a limiter 101, a method of setting the forward speed reference signal V _a -V _C as a speed command signal S _R, Forward / reverse control is performed.

  When the traveling cutting control device 100 shown in FIG. 1 is compared with the conventional traveling cutting control device 50 shown in FIG. 5, the traveling cutting control device 100 includes the limiter 101, whereas the traveling cutting control device 50 is denoted by The difference is that a discriminator 21 and a selector 22 are provided. On the other hand, the carriage 1, the material 2, the length measuring roll 3, the pulse generator 4, the setting unit 5, the coefficient unit 6, the subtractor 7, the frequency speed converter 8, the register 9, the function unit 10, the subtractor 11, and the register 12 The configuration of the function unit 13, the coefficient unit 14, the rack and pinion 15, the speed reducer 16, the motor 17, the pulse generator 18, the speed controller 19, and the subtractor 20 is the same. Since these functions have already been described with reference to FIG. 5, description thereof will be omitted here.

Limiter 101, the forward speed reference signal _V A -V _C from the subtractor 11, the retracting speed reference signal _{V B} is inputted from the function unit 13, with respect to the value of the forward speed reference signal _V A -V _C, preset value (the value of the MAX signal) as the upper limit value, the value of the reverse speed reference signal V _B and the lower limit value, and outputs the advancing speed reference signal V _a -V _C as a speed command signal S _R.

The function of the limiter 101 will be described in detail with reference to FIG. FIG. 2 (1) is a diagram showing input / output signals of the limiter 101. A MAX signal used as an upper limit value is input to the + (upper limit) terminal of the limiter 101, a forward speed reference signal V _A -V _C used as an input signal is input to the IN (input) terminal, and a-(lower limit) terminal is input. is inputted retracting speed reference signal V _B used as the lower limit, OUT (output) speed command signal S _R from the terminal is output. FIG. 2B is a diagram illustrating general characteristics of the limiter 101. Basically, the input signal is output as it is, but the upper limit signal is output for input signals that exceed the upper limit, and the lower limit signal is output for input signals that are lower than the lower limit. Is done.

That is, the limiter 101 performs the following processes (A) to (C).
(A) when the reverse speed reference signal _{V B} ≦ forward speed reference signal _V A -V _C ≦ MAX signal outputs forward speed reference signal _V A -V _C as a speed command signal _{S R.}
(B) In the case of the forward speed reference signal _V A -V _C <retracting speed reference signal _{V B,} since below the lower limit value, and outputs the retracting speed reference signal _{V B} as the speed command signal _{S R.}
(C) For MAX signal <forward speed reference signal _V A -V _C, since it exceeds the upper limit value, and outputs a MAX signal as the speed command signal _{S R.}

In this way, the output velocity command signal S _R via the subtractor 20 and the speed controller 19 is supplied to the motor 17, the carriage 1 forward or reverse movement.

[Operation]
Next, with reference to FIG. 3, operation | movement of the traveling cutting control apparatus 100 shown in FIG. 1 is demonstrated in detail. First, set lengths L <b> 1 and L <b> 2 indicating the cutting length of the material 2 are set in the setting device 5. Here, it is assumed that the set length is L1> L2, L1 is set as the set length in the first and second cutting processes, and L2 is set as the set length in the third and fourth cutting processes. When the material 2 starts traveling according to the operation command, the material movement speed signal V _A becomes a constant speed (see FIG. 3 (1) a). In each subsequent cutting process, the material movement speed signal _VA maintains a constant speed. Moreover, since with it the material moving speed signal V _A is constant speed remaining length signal L-A + B becomes smaller, the remaining length speed signal V _C is gradually reduced from the speed corresponding to the set value L1 (FIG. 3 (See (2) b). The forward speed reference signal V _A -V _C gradually increases from the time when the forward speed reference signal V _A -V _C = 0 (see FIG. 3 (3) c). In this case, the limiter 101, the condition is satisfied of the forward speed reference signal _V A -V _C is (A), outputs a positive forward speed reference signal _V A -V _C as normal as the speed command signal _{S R} ( (See FIG. 3 (5) h). As a result, the carriage 1 moves forward.

When the remaining length speed signal V _C = 0 (see FIG. 3 (2) d) due to the traveling of the material 2 and the forward movement of the carriage 1, the moving length of the material 2 becomes equal to the set length L1, The speed of the carriage 1 and the speed of the material 2 are the same (see FIGS. 3 (3) e and (5) i). Here, retracting speed reference signal V _B increases gradually in response to the position of the carriage 1 with the forward movement of the carriage 1 (Fig. 3 (4) see g).

Then, the carriage 1 inputs a cutting signal and cuts the material 2. Thereby, the material of the setting length L1 can be obtained. When cut by the carriage 1 is completed, the setting device 5 is set set length L1 of the second cutting process, the rate at which the remaining length speed signal V _C corresponds to the set value L1. In this case, it is assumed that the forward speed reference signal V _A −V _C <the reverse speed reference signal V _B (see FIG. 3 (3) f).

Here, the limiter 101, the forward speed reference signal _V A -V _C from satisfying the (B), and outputs a negative retracting speed reference signal _{V B} as the speed command signal _{S R} (FIG. 3 (5) j). As a result, the carriage 1 moves backward and returns to the origin.

In the second cutting process, the same operation as described above is performed. When the remaining length speed signal V _C becomes 0 again due to the traveling of the material 2 and the forward movement of the carriage 1 (see k in FIG. 3 (2)), the movement length of the material 2 becomes equal to the set length L1, and at the same time The speed of 1 and the speed of material 2 are the same (see FIGS. 3 (3) l and (5) n). Then, the carriage 1 receives a disconnect signal to disconnect the material 2, setter 5 sets the length of the cutting process of the third round L2 (<L1) is set in, the remaining length speed signal V _C set value L2 It becomes the speed corresponding to. In this case, it is assumed that the set length L2 is smaller than L1 and realizes short cutting, and the forward speed reference signal V _A -V _C > the reverse speed reference signal V _B (FIG. 3 (3) m See).

Here, the limiter 101, the forward speed reference signal _V A -V _C satisfies the condition of the (A), the speed command signal _{S R} to output a negative forward speed reference signal _V A -V _C (FIG. 3 (5) See o). As a result, the carriage 1 moves in the reverse direction.

The remaining length speed signal _{V C} is gradually reduced from the speed corresponding to the set value L2 (see FIG. 3 (2) p). Here, since L2 <L1, the speed corresponding to the set value L2 is smaller than the speed corresponding to the set value L1. Then, from the time point when the forward speed reference signal V _A −V _C = 0 (see q in FIG. 3), the carriage 1 is switched to forward rotation, and the forward speed reference signal V _A −V _C gradually increases. In this case, the limiter 101 subsequently outputs a forward speed reference signal _V A -V _C as a speed command signal _{S R} (see Figure 3 (5) r).

When the remaining length speed signal V _C = 0 due to the traveling of the material 2 and the forward movement of the carriage 1 (see (2) u in FIG. 3), the moving length of the material 2 becomes equal to the set length L2, The speed of the carriage 1 and the speed of the material 2 are the same (see FIGS. 3 (3) v and (5) s).

Then, the carriage 1 inputs a cutting signal and cuts the material 2. Thereby, the material of setting length L2 can be obtained. When cut by the carriage 1 is completed, sets the length L2 of the cutting process of the fourth is set in the setter 5, the rate at which the remaining length speed signal V _C corresponds to the set value L2. Also in this case, the forward speed reference signal V _A -V _C > the reverse speed reference signal V _B (see w in FIG. 3 (3)).

Here, the limiter 101, the forward speed reference signal _V A -V _C satisfies the condition of the (A), the speed command signal _{S R} to output a negative forward speed reference signal _V A -V _C (FIG. 3 (5) See t). As a result, the carriage 1 moves in the reverse direction. Thereafter, the operation is the same as that of the third cutting process described above. In this case, the limiter 101 continues to output the forward speed reference signal _V A -V _C as a speed command signal _{S R.}

Paying attention to the movement operation of the carriage 1 in the third and fourth cutting processes described above, the carriage 1 rapidly accelerates until it synchronizes with the speed of the material 2, and when the set length L2 is reached, a cutting signal is sent. Receiving and cutting material 2. When cutting is completed, the carriage 1 decelerates and moves backward. However, the carriage 1, since it is running control by the forward speed reference signal V _A -V _C as a speed command signal S _R, the travel of the material 2, and the speed of the reverse movement or material moving speed signal V _A of the carriage 1 Due to the forward rotation of the carriage 1 that is slower, the forward speed reference signal V _A −V _C ≧ 0, and the forward movement is performed before returning to the origin.

Incidentally, the speed command signal S _R which limiter 101 outputs, for either in any pattern in relation to the setting length L1, L2 is a cut length of material 2, the forward speed reference signal V _A -V _C and It is determined by parameters in the frequency speed converter 8, the function unit 10, and the function unit 13 that generate the reverse speed reference signal V _B. That is, in relation to the set length set in the setting device 5, a series of forward / reverse travel control in which the carriage 1 performs the next cutting process without returning to the origin is determined by the aforementioned parameters.

In this manner, according to the running cutting controller 100, a series of processes of cutting, the limiter 101 outputs the forward speed reference signal V _A -V _C as a speed command signal S _R, forward / reverse movement of the carriage 1 Was controlled to run. That is, the limiter 101 restricts the speed to the forward speed reference signal V _A −V _C = 0 with the reverse speed reference signal V _B as the lower limit value so that the carriage 1 is not moved backward to the origin. Thereby, the next cutting process can be performed without the carriage 1 once returning to the origin. Therefore, it becomes possible to perform short cutting.

Also, according to traveling cutting control device 100, since the speed command signal S _R is determined only by the limiter 101, the code discriminator 21 and selector 22 as in the prior art becomes unnecessary, it is possible to realize a simple configuration . Thereby, reliability improves as the traveling cutting control apparatus 100 whole.

Next, another embodiment of the travel cutting control device 100 shown in FIG. 1 will be described. FIG. 4 is a control block diagram when the rate circuit 102 is provided in the subsequent stage of the limiter 101. In another embodiment of the travel cutting control device 100, a rate circuit 102 is provided at the subsequent stage of the limiter 101 in addition to the configuration shown in FIG. 1. Rate circuit 102, generates a type the speed command signal S _R from the limiter 101, when the inclination of the change in the speed command signal S _R is greater than the slope which is set in advance, the predetermined gradient of the speed command signal S _{R '} And output to the subtracter 20. Further, when the inclination of the change in the speed command signal S _R is less than the slope which is set in advance, as it is output to the subtracter 20 to the speed command signal S _R as a speed command signal S _{R '.} The speed command signal S _R ′ thus output is supplied to the motor 17 via the subtracter 20 and the speed controller 19, and the carriage 1 moves forward or backward.

FIG. 3 (6) is a time chart of the speed command signal S _R ′ output from the rate circuit 102. This figure x, y, in the z, the rate circuit 102, with respect to the speed command signal S _R input, it can be seen that generates a signal of a predetermined inclination. As a result, the forward / reverse movement of the carriage 1, that is, the forward / reverse switching of the motor 17 can be performed gently.

  In the embodiment of the traveling cutting control device 100, the traveling cutting machine that cuts the material as the carriage 1 has been described as an example. However, the present invention is not limited to this, and traveling processing that processes the material. The present invention can also be applied to a machine or a traveling machine that engraves characters on a material.

It is a control block diagram which shows the structure of the traveling cutting control apparatus which concerns on this invention. It is a figure for demonstrating the function of a limiter. It is a time chart for demonstrating operation | movement of the traveling cutting control apparatus which concerns on this invention. It is a control block diagram in the case where a rate circuit is provided in the subsequent stage of the limiter. It is a control block diagram which shows the structure of the conventional traveling cutting control apparatus. It is a time chart for demonstrating operation | movement of the conventional traveling cutting control apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Carriage 2 Material 3 Measuring roll 4 Pulse generator 5 Setting device 6 Coefficient unit 7 Subtractor 8 Frequency speed converter 9 Register 10 Function unit 11 Subtractor 12 Register 13 Function unit 14 Coefficient unit 15 Rack and pinion 16 Reducer 17 Motor 18 Pulse generator 19 Speed controller 20 Subtractor 21 Sign discriminator 22 Selector 50, 100 Travel cutting control device 101 Limiter 102 Rate circuit A Material movement length signal B Carriage movement length signal L Set length signal V _A Material movement speed signal V _B Reverse speed reference signal _{V C} remaining length speed signal _V A -V _C forward speed reference signal _R FE, _{S R} speed command signal

Claims (4)

For a traveling machine that cuts or processes following the speed of the traveling material, in a device that controls the traveling,
A motor that causes the traveling machine to move forward or backward at a speed based on the speed command; and
A setting means for setting a set length indicating the cutting position or processing position of the material;
First detection means for detecting the movement length of the material;
Second detection means for detecting the travel length of the traveling machine;
First speed generation means for generating a material movement speed based on the movement length of the material detected by the first detection means;
Based on the set length of the material set by the setting means, the moving length of the material detected by the first detecting means, and the moving length of the traveling machine detected by the second detecting means, the remaining length speed of the material Second speed generating means for generating
A subtractor that subtracts the remaining length speed of the material generated by the second speed generation means from the material movement speed generated by the first speed generation means and outputs a forward speed reference;
Third speed generation means for generating a reverse speed reference based on the travel length of the traveling machine detected by the second detection means;
The forward speed reference is input from the subtracter, the reverse speed reference is input from the third speed generation means, the preset value is the upper limit value, the reverse speed reference is the lower limit value, and the forward speed reference is the speed command. A limiter to output,
A travel control device comprising: The travel control device according to claim 1,
The limiter inputs a forward speed reference equal to or higher than a reverse speed reference from the subtractor from the end of the cutting or processing of the material to the end of the next cutting or processing, and uses the forward speed reference as the speed command. A travel control device that outputs as In the traveling control device according to claim 1 or 2,
The second speed generation means subtracts the movement length of the material detected by the first detection means from the set length of the material set by the setting means, and the subtraction result is detected by the second detection means. Add the travel length of the traveling machine, generate the remaining length speed of the material based on the addition result,
The limiter inputs the forward speed reference from the subtractor and the reverse speed reference from the third speed generation means, respectively, and when the forward speed reference exceeds a preset upper limit value, the upper limit value is used as the speed command. When the forward speed reference is lower than the upper limit value and higher than the reverse speed reference, the forward speed reference is output as the speed command, and when the forward speed reference is lower than the reverse speed reference, the reverse speed reference Is output as the speed command. In the traveling control device according to any one of claims 1 to 3,
Further, when a speed command is input from the limiter, and the slope of the change in the speed command is larger than a preset slope, a new speed command having a predetermined slope is generated, and the new speed command is output. A travel control device comprising means.

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