JPH0199405A - Carrying controller - Google Patents

Abstract

PURPOSE:To suppress a hunting state near a stopping desired-position, by installing a disturbance compensator for adding auxiliary control input cancelling an external force, to stopping control input, when a carrier vehicle comes to a position receiving the previously set external force. CONSTITUTION:A position (1o) for a carrier vehicle 1 to which an external force is about to be applied is previously found by the dimension and shape of a rail cross section. Till the carrier vehicle 1 comes to the position (1o), a difference between a desired position and the present position of the carrier vehicle 1 is set to be a speed reference degree through a compensator 6. Then, a difference between the speed reference degree and the speed of the carrier vehicle 1 is applied to a linear motor driving gear through a compensator 7, to control stopping. When the position 1o is detected by a position detector 5, then by an external force compensator 8, the output of control auxiliary-input u for cancelling an external force is directed to the linear motor driving gear. As a result, the hunting of the carrier vehicle near a stopping desired-position can be suppressed.

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Field of Application) The present invention relates to a conveyance control device in a floating conveyance device that mainly conveys small items in a non-contact manner.

(Prior art) In recent years, as part of office automation (OA), factory automation (FA), etc., documents, documents, cash, materials, workpieces, parts, etc. are transferred between multiple points within a building. It is widely practiced to move small items using transport devices.

Conveyance devices used for such conveyance are required to convey objects quickly and quietly, and a system in which a conveyance vehicle is supported on guide rails in a non-contact manner is often adopted.

Air or magnetism is generally used to support the transport vehicle in a non-contact manner. Among these, the method of magnetically supporting the conveyance vehicle has excellent followability to guide rails and noise reduction effect, and can be said to be the most promising support method.

Conventionally, in order to run such a magnetically supported and floating guided vehicle, the secondary conductor plate of a single-sided linear induction motor was attached to the guided vehicle, and the stator of the motor was installed on the track side. A widely used method is to provide a guided vehicle with the thrust required for acceleration and deceleration.

In this case, installing the stator of a one-sided linear induction motor continuously on the track side will increase the cost and increase the weight of the track itself, so it is recommended to install the stator at key points on the track. This is generally done. Further, in order to reduce the installation space, a rotary branch, a right-angled branch, a curved branch, or the like may be provided within the conveyance path.

When a right-angled branch road or a curved branch road is provided in this way, there are places where the rails intersect on the running road. When a magnetically levitated conveyance vehicle approaches this rail intersection, a phenomenon occurs in which the conveyance vehicle attempts to be pulled into the rail intersection. When controlling the transport vehicle to stop at such a rail intersection,
The force with which the control device attempts to send the carrier to the target position at the rail intersection and the force with which the carrier attempts to be drawn into the rail intersection (hereinafter referred to as external force) act in the same direction.

In order to suppress the influence of this external force, the response of the speed control system included in the stop control system inside the shell should be increased.

(Problem to be solved by the invention) However, in the magnetic levitation transport device, the transport vehicle is supported on guide rails without contact, so there is no friction and damping is very poor, so the gain of the control system is increased. Therefore, the responsiveness of the speed control system could not be improved to the extent that the influence of the external force could be suppressed.

Therefore, when stopping, the conveyance vehicle becomes in a hunting state in the vicinity of the target stop position at the rail intersection, which has the disadvantage that it takes a long time to stop.

An object of the present invention is to provide a transport system that is stable and can shorten stopping time by suppressing the external force that tries to pull the transport vehicle into the rail intersection, thereby suppressing the hunting state near the target stop position. The purpose of this invention is to provide a control device.

[Structure of the invention]

(Means for Solving the Problems) In order to stop a guided vehicle driven by a linear motor at a predetermined stop position, a conveyance control device according to the present invention provides a position signal of the guided vehicle relative to the stop position and a signal of the guided vehicle driven by a linear motor. A speed signal is input, and based on these, a stop control input is given to the linear motor drive device, and when the stop position is at a rail cross section, the deviation of the external force applied to the guided vehicle from the target stop position is a disturbance compensator, which has preset characteristics according to the above, operates when the conveyance vehicle reaches a position where it receives a preset external force, and outputs an auxiliary control input to offset the external force to the stop control input; has been established.

(Function) The present invention detects the position where external force starts to be applied to the transport vehicle, and from that time, determines the external force applied to the W1 transport vehicle.

A control auxiliary input is applied to the drive device of the transport vehicle so as to offset this external force, and stop control is performed while suppressing the external force.

(Example) Hereinafter, one embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram of the stop control system.

FIG. 2 is a diagram showing an example of the characteristics of the external force applied to the transport vehicle, and in this diagram, the position where the external force is strongest is set as the target stop position.

The position at which the vehicle starts joining the transport vehicle 1 is determined in advance based on the dimensions and shape of the rail intersection, and this position is designated as ao.

Until the guided vehicle 1 reaches position i0, as shown in FIG. The difference between the speed of the transport vehicle 1 and the speed of the transport vehicle 1 (hereinafter referred to as speed deviation) is applied as a control input U0 to the linear drive device through the compensator 7, and stop control is performed.

The position detector 5 detects the position 2°, and after the detection, the external force compensator 8 applies the control auxiliary input U to the linear motor drive device 3 to cancel the external force G(e).

Therefore, the control inputs applied to the linear motor drive device 3 at this time are U, +u.

The control auxiliary input U output from the external force compensator 8 is:

The magnitude of the external force applied to the transport vehicle 1 is expressed as G(e).

It is determined.

Here, K represents an appropriate control gain.

Here, e represents the positional deviation.

Next, an example in which the control system is digitalized will be described.

When a control system is digitized, if the control input is determined based on the amount of feedback, a -sampling control delay will inevitably occur.

In this case, the amount predicted and calculated from the positional deviation and the speed of the transport vehicle is used as the control auxiliary input.

The speed of the transport vehicle 1 is detected using a speed detector 4.

The control auxiliary input mu is determined as follows.

The sampling time of the control device is Δt, and the current position of the transport vehicle is 2. When the stop target position is reached and the speed of the transport vehicle is 'i', the control auxiliary input is ΣG(L-12-sa・Δt
).

Here, K represents an appropriate control gain.

Although the speed of the guided vehicle is used in the prediction calculation in the above embodiment, it is also possible to use the acceleration of the guided vehicle.

Furthermore, if the sampling time Δt is made sufficiently small, it is also possible to use ΣG(L-12) for u=- as a control auxiliary input.

Although the above explanation shows the case where a linear induction motor is used to drive the floating conveyance device, any other electric motor can be used as the drive device as long as it is a means of applying thrust and reverse thrust to the floating object without contacting it. .

In addition, although we have explained the case where the control auxiliary input for suppressing external force is supported continuously or discretely depending on the position of the guided vehicle, it is also possible to apply the control auxiliary input in an impulse form when the guided vehicle approaches the stop position. May be controlled.

〔Effect of the invention〕

As explained above, according to the present invention, when a guided vehicle is stopped at a rail intersection of a running path branch, the external force that tries to pull the guided vehicle into the rail intersection is suppressed, and the transportation near the target stop position is suppressed. It is possible to realize stop control that suppresses the hunting state of the car, making it stable and shortening the time to stop.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing an embodiment of a transport control device according to the present invention, and FIG. 2 is a diagram showing an example of the characteristics of an external force that attempts to pull a transport vehicle into a rail intersection. 1... Transport vehicle 2... Linear motor 3...
・Linear motor drive device 4...Speed detector 5...
Position detector 6... Compensator 7... Compensator
8... External force compensator agent Patent attorney Nori Chika
Yudo Daishimaru Ken Diagram 1

Claims (1)

[Claims] In order to stop a guided vehicle driven by a linear motor at a predetermined stop position, a position signal and a speed signal of the guided vehicle relative to the above stop position are input, and based on these, the linear motor drive device stops the guided vehicle. In a transport control device that provides a control input, characteristics of an external force applied to the transport vehicle when the stop position is at a rail cross section are set in advance according to a deviation from a target stop position, and the transport vehicle is set in advance. 1. A conveyance control device comprising: a disturbance compensator that operates upon reaching a position where it receives an external force, and outputs an auxiliary control input to offset the external force to the stop control input.