JPH01177982A - Adjustable travel speed control device for moving body - Google Patents

Abstract

PURPOSE:To make it possible to accelerate and decelerate a movable body without spoiling safety and operationability and without bringing about shocks to the movable body by providing an arithmetic unit for setting an acceleration speed and deceleration speed given to the movable body at desired values and giving them to the serbo device of the movable body. CONSTITUTION:The analogue speed signals which are input by an operation lever 6 are converted into digital signals through an A/D converter 5 and input in an arithmetic unit 4. In this unit 4, an acceleration speed and deceleration speed given to a jointed section 1 which is an movable body are set at a desired values respectively. These set values are given to the servo device 2 of the jointed section 1 which is a movable body. This leads to the acceleration and deceleration control of the jointed section 1 without shocks to a machine body.

Description

Detailed Description of the Invention [Field of Industrial Application] The present invention relates to a moving body movement acceleration/deceleration control device used, for example, in a large crane, which has a moving body such as a joint that moves in response to a movement command from an operating device. Regarding.

[Conventional technology]

Conventionally, for example, large construction cranes have been equipped with an electric means for setting the movement speed of the joints and an operating device that is linked to this, such as a control lever.If the control lever is suddenly operated, the power This is done by accelerating or decelerating at the maximum power source, or by switching the output capacity in one step. Moreover, the control is analog control.

Figure 6 is a diagram for explaining the above points. This is a diagram for explaining the above points. This is a diagram for instantaneously operating the operating lever from the neutral position to the maximum angle to the neutral position in a device that does not have a stepwise gear change function. The solid line in Figure 6 shows the change in moving speed when the machine is operated.The solid line in Figure 6 shows the acceleration and deceleration according to the maximum capacity of the mechanical device, so if the control lever is moved suddenly and greatly, large accelerations and decelerations will occur. It represents.

[Problem that the invention seeks to solve]

In the conventional device described above, the acceleration or deceleration of the machine body when the operating lever is suddenly operated is mostly controlled by the control that is left to its maximum capacity and the characteristics of the mechanical moving parts. It's been done.

Calculations and control are not carried out based on reliable numerical values, and the degree of buffering cannot be said to be sufficient.Also, even for devices that have a buffering function, it is performed by step-by-step analog control, and in this case, the degree of buffering is not complete.

Moreover, the advantage of digital control, which has a wide degree of freedom, is not utilized.

Accordingly, one object of the present invention is to provide a moving object movement acceleration/deceleration control device that causes almost no impact no matter how the operating device is operated.

[Means for solving problems]

In order to achieve the above-mentioned object, the present invention provides a machine having a moving body that moves in response to an operation command from an operating device, in which acceleration and deceleration applied to the moving body can be set to desired values. and a calculation device that provides the servo device of the moving body.

[Effect]

According to the present invention, if the acceleration and deceleration are set to optimal values in advance as described above, acceleration and deceleration control with almost no impact is possible no matter how the operating device is operated.

[Example] An example of the present invention will be described below based on the drawings.

FIG. 1 is a block diagram showing an embodiment of the present invention, in which 1 is a joint part (moving body) of a machine to be controlled;
2 is a servo device that outputs a mechanical output based on an analog signal; 3 is a D/A converter that converts a digital signal output from a calculation device 4 into an analog signal; 4 is a calculation device that performs calculation processing to be described later; 5 is an A/D converter that converts an analog signal from an operating device, such as the operating lever 6, into a digital signal.

FIG. 4 shows a position detector (angle detector) 41 and a hydraulic cylinder 4 mounted on the machine body at the joint part 1.
2 and booms 43 and 44.

FIG. 5 is a control block diagram that shows the inside of the servo device 20 and its relationship with the hydraulic cylinder that is the actuator, focusing on the mechanical part.

Central processing unit (CPU)-A that performs digital control calculations
/D converter, D/A converter, memory, etc., control calculation device 55. Servo amplifier 5 that generates analog control calculations and final electrical output signals and controls servo solenoid valve 53
4. A hydraulic cylinder drive solenoid valve 53 and a fourth hydraulic cylinder drive solenoid valve 53 that controls the amount of oil to the joint hydraulic cylinder 51 (corresponding to 42 in FIG. 4).
It is composed of a position detector 51 corresponding to 43 and 44 in the figure (corresponding to 41 in FIG. 4) and a hydraulic cylinder 51.

In addition, the dashed-dotted line in FIG. 5 shows a hydraulic line, the broken line shows a mechanical connection, and the solid line shows an electric signal line.

Next, the operation of one embodiment of the moving object movement acceleration/deceleration control device according to the present invention configured as described above will be described with reference to FIGS. 2, 3, and 6.

FIG. 2 is a graph showing the relationship between the command speed from the operating lever and the output speed, which is schematically shown to explain the buffering function of the control device according to the present invention.

FIG. 3 is a 70-chart of arithmetic processing for realizing the buffer function.

FIG. 6 is a graph showing the relationship between the operation of the operating lever 6 and the moving speed of the joint 1, comparing the conventional method and the method according to the present invention.

Now, the speed signal (
Analog signals such as voltage obtained from potentiometers etc. (hereinafter referred to as J8 manual power)) are A/
It is converted into a digital signal by the D converter 5, and then sent to the arithmetic unit 4.
Enter. here.

After performing the arithmetic processing as shown in Fig. 3, the D/A converter 3 converts it into an analog signal and inputs it to the servo device 2.
Move the joint part 1 of the machine body.

In this example, the command signal to the servo device 2 is given as a speed, but the effects of the present invention can also be achieved by giving a position (angle) command signal for each calculation processing time cycle in the calculation device 4. be.

Figure 2 shows the input speed (solid line) 11 from the operating lever 6 and the calculation process when the operating lever 6 is stepped from zero to the maximum in the positive direction and from the maximum in the positive direction to the maximum in the negative direction. This is a graph showing the relationship between the output speeds 12 and 12.

By performing the arithmetic processing shown in FIG. 3, the relationship (speed command output) shown at 12 in FIG. 2 can be realized. Furthermore, as shown in FIG. 2, it is generally better to increase the acceleration and deceleration from the viewpoint of avoiding danger and improving operability.

In FIG. 3, the digital signal (J8 manual speed) input from the + A/D converter 5 is copied to a data node called J8 manual speed copy (21 in FIG. 3).
), but this is because if the arithmetic processing timing of the 1A/D converter 5 and the arithmetic processing timing of the arithmetic unit 4 are not synchronized, the input data changes during the arithmetic processing of the arithmetic unit 401, resulting in data consistency. This is a process to prevent problems from occurring in the arithmetic processing due to damage.

Then, if the polarity of the output speed and the J8 manual speed copy are opposite to each other, the data of the JS input speed copy is set to zero (
22-27 in Figure 3).

This is when a certain output speed is being output.

If the control lever is suddenly pulled in the opposite direction, the speed will be decelerated to zero at the set deceleration, and when the output speed reaches zero, it will be accelerated in the opposite direction at the set acceleration, thereby avoiding danger. Also, from the viewpoint of improving operability, it is better to make the deceleration larger than the acceleration, and this process is necessary because acceleration and deceleration are different.

If this process is omitted, in the above case, the vehicle will simply accelerate in the opposite direction, which will take a long time to reach zero speed, and there is a risk that safety and operability will be impaired.

Next, compare the absolute value of J8 manual speed copy and the output speed. 28 in Figure 3) If the absolute value of JS input speed copy is large, it means that the output speed has not reached the required speed from the control lever. Therefore, the absolute value of the output speed is multiplied by the preset acceleration and the CPU calculation processing time (chimpling time) Δt (29 in FIG. 3).

If the added value (V) is smaller than the absolute value of the J8 manual speed copy, the polarity of the output speed is determined and the added value (V) is substituted for the output speed to output it (30 in Figure 3).
~33).

In the opposite case, the J8 manual speed copy is substituted for the output speed and output (30, 34 in FIG. 3).

If the absolute value of the JS input speed copy shown at 28 in Figure 3 is smaller than the absolute value of the output speed, no deceleration processing will be performed.
The value multiplied by PU calculation processing time (chimpling time) Δt is subtracted (35 in FIG. 3). And the subtracted value (V
) is larger than the absolute value of the JS input speed copy, the polarity of the output speed is determined, the subtraction value (v) is assigned to the output speed, and the result is output (36 to 39 in FIG. 3). In the opposite case, the JS input speed copy is substituted for the output speed and output (se, 4o in FIG. 3).

The embodiments described above have been explained in the case of a control device consisting of a digital circuit having a central processing unit (CPU), but in some cases, an analog circuit may be provided at the output stage of the control device and used only when necessary. is possible.

In addition, in the example, the output speed of the calculation bag @4 in Fig. 1 is increased, but in the actual device, the final output uses the value expressed by the following equation (1). .

Position command output value = (output value at 9 puffs of previous sump) + (output speed) x (chimpling time) ・・・・・・・・・
... (1) Furthermore, the acceleration and deceleration in the example are actually performed as follows. In other words, calculate the value based on the mechanical specifications of the shaft, such as maximum acceleration torque, maximum brake torque, moment of inertia, and own weight (self-weight is not required in the case of turning), and calculate approximately 1/2 to 1/2 of that value. Using the value of 3 as a guide,
A method is used in which the value is increased step by step by storing the value in memory and actually driving it, observing the deviation between the command and actual follow-up, operability, load swing, etc.

〔Effect of the invention〕

According to the present invention described above, by setting the acceleration and deceleration to appropriate values suitable for the machine, the machine can be operated without compromising safety and operability regardless of the operation of any operating device. It is possible to provide a moving object movement acceleration/deceleration control device with almost no impact on the main body.

[Brief explanation of the drawing]

Fig. 1 is a block diagram showing an embodiment of the present invention, Fig. 2 is a speed signal graph schematically showing the buffering function of the control device according to the present invention, and Fig. 3 shows the arithmetic processing contents of the control device. flowchart. Figure 4 is a diagram showing the relationship between the hydraulic cylinder and the position detector, Figure 5 is a diagram showing the IT servo device and its peripheral equipment, and Figure 6 is a diagram showing the relationship between the hydraulic cylinder and the position detector.
The figure is a graph for explaining the relationship between the moving speed of the operating lever and the shaft in the conventional device and the device of the present invention. Applicant's agent Patent attorney Takehiko Suzue Figure 3 Figure 4

Claims (1)

[Claims] In a machine having a movable body that moves in response to an operation command from an operating device, the acceleration and deceleration applied to the movable body can be set to desired values, and the calculation is applied to a servo device of the movable body. A moving body movement acceleration/deceleration control device equipped with a device.