JPH01180014A - Constant position stop control method for carrying equipment - Google Patents

Abstract

PURPOSE:To execute the constant position stop of high accuracy by operating a stop start position from the inertia moving distance operating value and target stop position setting value of a carrying equipment and executing the interruption of oil pressure supply to the carrying equipment at a time point when this stop start position is equal to a moving distance measured value. CONSTITUTION:A pulse number in each constant distance from a pulse transmitter 4, which is linked to the vehicle shaft of a coil car, is counted by a pulse counter 5 and converted as a traveling distance L of the coil car. The distance L is compared with a deceleration starting distance setting value L1 and deceleration is controlled. A low traveling speed vL of the coil car is detected by a low speed detector 8 and an inertia traveling distance S is operated from the speed vL and a decelerating rate beta. Next, a stop start distance L2 is operated from the distance S and a target stop position Laim. The distance L2 and the measured distance L are compared by a comparator 10 and at the time point when the distances go to be equal, a electromagnetic valve for low sped is closed and the oil pressure supply of the coil car to an oil pressure motor is interrupted. Thus, the constant position stop of the high accuracy can be executed.

Description

DETAILED DESCRIPTION OF THE INVENTION "Field of Industrial Application" The present invention relates to a localization i-stop control method for a transport device.

``Prior Art'' A conventional method for controlling a fixed position stop of a conveyance device, such as a coil car, which is moved a predetermined distance using hydraulic pressure as a drive source and is controlled to stop will be described.

As shown in FIG. 3, the coil car 1 that transports the steel strip coil C from one predetermined location to another is driven by a hydraulic motor 2. It is supplied from a hydraulic unit 3 shared with the coil car 1 via a solenoid valve (not shown) provided in the coil car 1.

The coil car I is controlled to travel a predetermined distance with a travel pattern as shown in FIG.

That is, the coil car 1 starts running from a predetermined starting position point A, gradually increases speed to point B, and then travels at a predetermined height from point B to point 0 (a predetermined distance from the starting position A). The vehicle travels at speed vH, starts decelerating at point 0, is gradually decelerated to point D, and then travels at a predetermined low speed vL from point D to point E (a predetermined distance b consisting of the starting position point A). ,E
The hydraulic pressure supply is cut off at point F, and the vehicle coasts until point F.
Stop at point F.

A conventional traveling control method for the coil car 1 having such a traveling pattern will be explained with reference to FIG.

As shown in FIG. 5, the number of pulses from the pulse transmitter 4 connected to the axle of the coil car 1 at every fixed distance is counted by the pulse counter 5 and converted into the traveling distance ML of the coil car 1.

The travel distance of the coil car 1 is compared with the deceleration start distance setting value by the first comparator 6, and until L<LJ, the high speed solenoid valve is and the low-speed solenoid valve are open, and hydraulic pressure is supplied to the hydraulic motor 2 of the coil car 1 via both solenoid valves, so the coil car 1 runs at a predetermined high speed.

When the traveling distance of the coil car 1 becomes L≧, the high-speed solenoid valve is closed by the output signal from the first comparator 6 corresponding to L≧, and the hydraulic motor 2 of the coil car 1 is closed. Since hydraulic pressure is supplied through the low-speed solenoid valve, the coil car 1 is decelerated and runs at a predetermined low speed, and when the coil car 1 passes the mileage mark, the mileage ML of the coil car 1 becomes , is compared with the stop start distance setting value by the second comparator 7, and when L≧h, L≧
The low-speed solenoid valve is closed by the output signal from the second comparator 7, which corresponds to the output signal, and no hydraulic pressure is supplied to the hydraulic motor 2 of the coil car 1 (so, after the coil car 1 coasts, Stop.

"Problems to be Solved by the Invention" By the way, in the traveling control method of the coil car 1 as shown in FIG. 5, when the hydraulic pressure to the hydraulic motor 2 of the coil car 1 is at a specified pressure, In the traveling pattern shown by the solid line, the coasting distance from point E to point F is S. However, if the hydraulic unit 3 is shared with other hydraulic equipment, the hydraulic motor 2 of the coil car 1 There are times when the oil pressure is lower than the specified pressure, and in that case, the running pattern will be as shown by the broken line in Figure 4, and the coasting distance will be S', which is shorter than S at the specified pressure, and the coil car will There was a problem that the stop position of No. 1 was incorrect.

The present invention has developed a method for controlling a fixed position stop of a conveying device in order to solve the above-mentioned conventional problems.

"Means for Solving Problems" The gist of the present invention is to increase the moving speed of a conveyance device that is moved a predetermined distance using hydraulic pressure as a drive source and is controlled to stop at a high speed at a predetermined deceleration start position. After switching to a low speed from In the fixed position stop control, the predetermined low moving speed of the transporting device is detected, and the inertial movement distance of the transporting device is calculated from this predetermined low moving speed detection value and the deceleration rate during the inertial movement of the transporting device. Then, the stop start position is calculated from this inertial movement distance calculation value and the target stop position setting value, and when the stop start position calculation value and the actual measurement value of the movement distance of the transporter become equal, A method for controlling a fixed position stop of a transport device, characterized by cutting off the supply of hydraulic pressure to the transport device.

"Operation" As described above (in the fixed position stop control method for a transport device according to the present invention, a predetermined low moving speed of the transport device is detected, and this predetermined low moving speed detection value and the fixed position stop control method of the transport device) are used. From the deceleration rate during inertia movement, calculate the inertia movement distance of the conveyance equipment, calculate the stop start position from this inertia movement distance 7iii calculation value and the target stop position setting value, and calculate the stop start position from this calculation value of the stop start position. The hydraulic pressure supply to the transport equipment is cut off when the measured value of the travel distance of the transport equipment becomes equal, so the stop position of the transport equipment can be controlled with high precision even if there are oil pressure fluctuations or changes in the oil amount. be able to.

"Example" Next, an example of the method of the present invention will be described below based on FIG.

As shown in FIG. 1, the number of pulses from a pulse transmitter 4 connected to the axle of the coil car at every fixed distance is counted by a pulse counter 5 and converted into the traveling distance of the coil car.

The traveling distance of the coil car is compared with the deceleration start distance setting value by the first comparator 6, and until L<Ll, L<Ll
The high-speed solenoid valve and the low-speed solenoid valve remain open due to the output signal from the first comparator 6 corresponding to , the coil car is run at a predetermined high speed vH.

When the traveling distance of the coil car becomes L≧, the high-speed solenoid valve is closed by the output signal from the first comparator 6 corresponding to L≧, and the low-speed solenoid valve is Since oil pressure is supplied through the electromagnetic valve, the coil car is decelerated and runs at a predetermined low speed νL.

The process up to this point is the same as before.

As mentioned above, after the high-speed solenoid valve is closed, D in FIG.
The low-speed running degree vL of the coil car from point to point E is detected by the low-speed detector 8 via the pulse counter 5.

This low speed detector 8 is activated by the closing signal of the high speed solenoid valve, and the low speed vL of the coil car detected by the low speed detector 8 is determined by the coasting ratio 1 of the coil car.
@The deceleration rate β of the coil car, which is given as an input signal to the computing unit 9 and set in the coasting distance computing unit 9, and the coasting path NiS of the coil car inertia 2μ are computed.

The deceleration rate β of the coil car is the deceleration acceleration from the stop start point E to the stop point F in FIG. 4 when the coil car runs at a predetermined low speed vL, and is determined based on the actually measured value. be done.

The calculated value 5-vL'- of the coasting distance of the coil car is given as a human power signal 2β to the stop start distance calculator 10, and the target stop position La1- set in the stop start distance calculator 10, Stop start distance 1@u-
The stop start distance - is calculated using the equation La1a+ -S.

Then, the second comparator 7 compares the stop start distance calculated by the stop start distance calculator 10 with the actually measured traveling distance of the coil car, and when the comparison value becomes L=LJ, L The output signal from the second comparator 7 corresponding to =La closes the low-speed solenoid valve and cuts off the hydraulic pressure supply to the hydraulic motor of the coil car.

Figure 2 shows that the oil pressure to the coil car hydraulic motor fluctuates (
This is an explanatory diagram of the method of the present invention for eliminating variations in the stopping position of the coil car when the coil car is stopped at a lower speed.As mentioned above, the deceleration rate β from the time when the low speed solenoid valve of the coil car is closed until the coil car actually stops is , can be given by measuring it in advance, so even if the oil pressure to the coil car's hydraulic motor fluctuates and the coil car's running speed changes, as long as the coil car's running speed is detected, it will not start stopping. The optimum stopping start point can be found by calculating the coasting path aS based on the current traveling speed of the coil car.

FIG. 2 shows a method of correcting the stop start point when the actual low traveling speed changes to vL' with respect to a predetermined low traveling speed νL.

"Effects of the Invention" As described above, according to the fixed position control method for a transport device according to the present invention, a predetermined low moving speed of the transport device is detected,
From this predetermined low-speed movement speed detection value and the deceleration rate during inertial movement of the concealed transporter, calculate the inertial movement distance of the conveyance equipment, and from this inertial movement distance calculation value and the target stop position setting value, The stop start position is calculated, and when the calculated value of the stop start point becomes equal to the measured value of the moving distance of the lllll equipment, the supply of hydraulic pressure to the transport equipment is cut off, so there is no possibility of oil pressure fluctuation or oil pressure change. Even when the conveyance device is stopped, the stop position of the conveyance device can be controlled with high precision without causing variations in the stop position of the conveyance device.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing an embodiment of the method of the present invention, FIG. 2 is an explanatory diagram of the method of the present invention for correcting the stop start point, FIG. 3 is a schematic explanatory diagram of a coil car to which the method of the present invention is applied, and FIG. 4
The figure is an explanatory diagram showing a running pattern of a coil car, and FIG. 5 is a block diagram showing an example of a conventional method. 1...Coil car, 2...Hydraulic motor, 3...
Hydraulic unit, 4... Pulse transmitter, 5... Pulse counter, 6... First comparator, 7... Second comparator, 8... Low speed detector, 9... Inertia Mileage distance calculator, 10...stop/start distance calculator Fig. 2

Claims (1)

[Claims] (1) The moving speed of the conveyance equipment that is moved a predetermined distance using hydraulic pressure as a drive source and is controlled to stop is switched from high speed to low speed at a predetermined deceleration start position, and then moved at a predetermined low speed. In the fixed position stop control of the transport equipment, which cuts off the supply of hydraulic pressure to the transport equipment at a predetermined stop start position and moves the transport equipment by inertia to the predetermined stop position, the predetermined low moving speed of the transport equipment is controlled. From this predetermined low-speed movement speed detection value and the deceleration rate during the inertia movement of the transfer device, the inertia movement distance of the transfer device is calculated, and this inertia movement distance calculation value and the target stop position setting value are calculated. A stop start position is calculated from the above, and the supply of hydraulic pressure to the transport equipment is cut off when the calculated stop start position becomes equal to the measured value of the travel distance of the transport equipment. Fixed position stop control method.