JPH04238505A - Truck traveling control device - Google Patents

Abstract

PURPOSE:To easily correct the direction of traveling by comparing the displacements of a right and a left driving wheels expected to be rotated per prescribed time and displacements of these actually rotated, and controlling the operation of each motor part on the basis of this deviation. CONSTITUTION:A speed command signal PL is given from a controller 10 to an integrator 12, and integration is executed, and a signal showing the displacement of the left side wheel expected to be rotated per the prescribed time is outputted to a comparator 13. Further, a speed beedback signal a speed encoder 21 outputs is given to the integrator 17, and the displacement of the actual rotation of the rotating shaft of the motor part 19 per the prescribed time is calculated. Then, the deviation of output from the integrator 12 and the output from the integrator 17, that is, the difference of quantity expected to be moved and the quantity actually moved is determined by the comparator 13. Further, the value of the synthesized deviation is outputted to a differential amplifier 18, and is turned into the signal amplified by a prescribed amplification factor K2, and is given to the driver/motor part 19.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for controlling the running of a bogie.

0002

2. Description of the Related Art Some transportation carts have drive wheels, one on each side of the vehicle body, and each drive wheel is rotated by two motors. Such running control of the bogie is generally performed by controlling the rotation of each motor to keep the running direction constant.

[0003] Conventional bogie travel control devices include Japanese Patent Laid-Open No. 63
There is a device that controls the rotational speed of left and right motors, such as the device disclosed in Japanese Patent No. -36312. Also, JP-A-63-172310, or JP-A-1-1061
There have been devices, such as the device disclosed in Publication No. 13, which detect the orientation of a vehicle using a gyro sensor and control the vehicle to travel in a fixed direction.

0004

However, these conventional devices have the following problems. First, although the device controls the rotational speed of a motor, it has not been possible to sufficiently correct disturbances such as unevenness of the road surface by controlling the speed of the motor alone. For this reason, there were cases in which the cart could not be moved straight in a fixed direction. Furthermore, with a device using a gyro sensor, it is possible to control the orientation of the vehicle body to a constant value. However, a sensor for detecting direction such as a gyro has a complicated mechanism and is expensive, leading to an increase in cost.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a bogie running control device that can correct the running direction with a simple configuration without using an expensive direction detection sensor. shall be.

[0006]

[Means for Solving the Problems] A bogie traveling control device of the present invention includes first and second drive wheels provided on the same axis of a bogie body, and a first drive wheel and a first drive wheel, respectively. and a first speed command signal that commands the rotational speed of the first rotational shaft, and a first speed command signal that commands the rotational speed of the second rotational shaft. a controller that detects the rotational speed of the first rotational shaft and outputs the first rotational speed signal; detects the rotational speed of the second rotational shaft and outputs the second rotational speed signal; A speed encoder that outputs a rotational speed signal of a first integrator that calculates a second displacement by which the second rotating shaft should rotate per predetermined time; and a third displacement by which the first rotating shaft rotates per predetermined time using the first rotational speed signal. a second integrator that calculates a fourth displacement of the rotation of the second rotating shaft per predetermined time using the second rotational speed signal; is compared to determine a first deviation, the operation of the first motor section is controlled based on this first deviation, and the second displacement and fourth displacement are compared to determine a second deviation. The present invention is characterized by comprising a control section that determines the deviation and controls the operation of the second motor section based on the second deviation.

[0007]

[Operation] Using the first and second speed command signals output from the controller, the first integrator calculates the first and second displacements at which the first and second rotating shafts should rotate in a predetermined time. demand. Using the first and second rotational speed signals output from the speed encoder, a second integrator determines third and fourth displacements caused by rotation of the first and second rotational shafts in a predetermined time. The control unit determines a first deviation between the first displacement and the third displacement, controls the operation of the first motor unit, and determines the first deviation between the second displacement and the fourth displacement.
The operation of the second motor section is controlled by determining a second deviation from the displacement of the second motor section. In this way, by controlling the operations of the first and second motor parts based on the rotational displacement per predetermined time, effective corrective action can be performed even in response to disturbances that impede straight running, such as unevenness on the road surface. becomes possible.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows the configuration of a bogie travel control device according to this embodiment. Motor parts 19 and 39 including drivers
A controller 10 is provided that outputs speed command signals PL and PR for commanding the respective rotational speeds, and a control section 11 is connected to the output end of the controller 10. This control section 11
are provided with the same components corresponding to the left motor section 19 and the right motor section 39, respectively. Control part 1
1 is connected to a left motor section 19 and a speed encoder 21 that detects the rotational speed of this motor section 19, and further connected to a right motor section 39 and a speed encoder 41 that detects the rotational speed of this motor section 39. There is.

In the control section 11, the left motor section 19
Each element that controls this will be explained using an example. The integrator 12 is connected to the output end of the controller 10 and is given a speed command signal PL. The output terminal of the integrator 12 is connected to one input terminal of the comparator 13. This comparator 13
The output terminal of the integrator 17 is connected to the other input terminal of the integrator 17 , and the deviation between the output from the integrator 12 and the output from the integrator 17 is output to the DA converter 14 . DA converter 1
The output terminal of 4 is connected to one input terminal of comparator 15. The output end of the speed feedback circuit 16 is connected to the other input end of the comparator 15.

The output terminal of the comparator 15 is connected to the input terminal of a differential amplifier 18, and the deviation between the output from the DA converter 14 and the output from the speed feedback circuit 16 is given thereto. The output end of the differential amplifier 18 is connected to the motor section 19, and a driver rotates the motor based on the output from the differential amplifier 18. The rotational speed of the rotating shaft of the motor section 19 is detected by a speed encoder 21, and the detection result is given to the integrator 17 and the speed feedback circuit 16 as a speed feedback signal.

With such a configuration, the travel control device of this embodiment operates as follows. A speed command signal PL is provided from the controller 10 to the integrator 12. The integrator 12 integrates the speed command signal PL and outputs to the comparator 13 a signal indicating the displacement at which the left wheel should rotate per predetermined period of time. The speed encoder 21 detects the rotational speed of the rotating shaft of the motor section 19. This speed encoder 21 has a constant Kp (number of pulses/rad
) is used to count the number of pulses detected per rotation of the rotating shaft and output a speed feedback signal indicating the rotational speed.

[0012] This velocity feedback signal is transmitted to the integrator 17.
Similarly to the integrator 12, the displacement of the rotating shaft of the motor unit 19 per predetermined time is calculated. Comparator 1
3, the deviation between the output from the integrator 12 and the output from the integrator 17, ie, the difference between the amount to be displaced and the amount actually displaced, is determined. The signal indicating this deviation is a digital quantity, and in the DA converter 14, the DA voltage conversion constant K1
(V/number of pulses) is used and converted into an analog quantity. This converted signal is then given to the comparator 15. The comparator 15 also includes a speed feedback circuit 1.
The output from 6 is also given. Speed feedback circuit 1
6 is the motor section 1 detected by the speed encoder 21
9 is converted into a voltage signal for speed feedback using a speed conversion constant K3 (V/number of pulses per second). This voltage signal and the signal provided from the DA converter 14 are provided to the comparator 15. As a result, the differential amplifier 18 receives a value that is a combination of the deviation between the amount by which the motor unit 19 should rotate and be displaced and the amount by which it is actually displaced, and the deviation between the actual rotation speed and the speed at which it should rotate. Output. This output becomes a signal amplified by a predetermined amplification factor K2 by the differential amplifier 18, and is applied to the motor section 19. In the motor section 19, a driver drives the motor based on this signal.

[0013] Also for the right drive wheel, an integrator 32
, comparator 33, DA converter 34, comparator 35, speed feedback circuit 36, integrator 37, differential amplifier 38, motor section 39, and speed encoder 41 are connected in the same way as in the case of the left drive wheel. The motor section 39 operates in the same manner.
is controlled.

In this way, the motor section 1 is modified not only for speed control but also for the rotational displacement at predetermined time intervals with respect to the speed command instructed by the controller 10.
9 and 39 are controlled. Thereby, it is possible to correct disturbances such as unevenness of the road surface, and it is possible to make the truck move straight in a fixed direction.

The elements for controlling the operations of the motor sections 19 and 39 have been described above, but by further providing the following configuration, the yaw angle θ corresponding to the lateral direction of the truck can be determined. The computing unit 22 is connected to the left motor section 19
Detect the rotational speed of the drive wheel, and use the reduction ratio N of the rotational speed of the drive wheel with respect to this rotational speed and the diameter D of the drive wheel to calculate D/2.
N is calculated to find the velocity vector VL of the left driving wheel. The calculator 42 detects the rotational speed of the right motor section 39 and calculates D/2N using the reduction ratio N of the rotational speed of the driving wheel relative to this rotational speed and the diameter D of the driving wheel. The velocity vectors VL and VR have a relationship as shown in FIG. That is, a left drive wheel and a right drive wheel are provided on the truck 61 with a distance L between them, and each drive wheel rotates at a direction and speed according to speed vectors VL and VR. The magnitude of this velocity vector | VL
When | and |VR | are equal, the truck moves straight in the direction of arrow A. However, as shown in FIG. 2, for example, the velocity vector |VL | is better than the velocity vector |VR
If it is larger than |, the vehicle will run tilted to the right in the direction of arrow B. This angle θ is called the yaw angle (rad). This change in yaw angle θ per second dθ/dt (rad/
s ) is the yaw rate, this yaw rate dθ/d
The following (
1) The relationship in the equation holds true.

dθ/dt=(VL−VR)/L…(
1) The computing unit 51 is given the velocity vectors VL and VR from the computing units 22 and 42, respectively, and calculates and outputs the yaw rate dθ/dt using equation (1). The output yaw rate dθ/dt is given to the calculator 52,
The yaw angle θ(ra
d) is required.

[0017]

[Equation 1] If it is necessary to convert the unit of yaw angle θ (rad) from radian to degree, the calculator 53 converts the yaw angle θ (degree)
is required.

Although the computing units 22, 42, and 51 to 53 are not directly necessary for controlling the motor sections 19 and 39, their provision makes it possible to detect the yaw angle.

According to this embodiment, even when there is a disturbance such as an uneven road surface that prevents the vehicle from traveling straight, the vehicle can travel so that the yaw angle θ becomes 0 without using an expensive direction sensor such as a gyro sensor. The direction can be corrected. This makes it possible to improve the responsiveness of running control of the bogie with an inexpensive configuration, resulting in stable running.

[0020] The embodiments described above are merely examples and do not limit the present invention. For example, even if the configuration is different from that shown in FIG. 1, it may be any configuration that can detect and control the rotational displacement of the left and right drive wheels per predetermined time.

[0021]

Effects of the Invention As explained above, the bogie running control device of the present invention compares the displacement of the left and right drive wheels to be rotated per predetermined time with the displacement of the actual rotation, and based on this deviation, By controlling the operation of the motor unit, it is possible to move in the desired direction with a simple configuration without using an expensive direction detection sensor such as a gyro sensor, even when there are disturbances such as uneven road surfaces that prevent straight travel. It can be controlled to run.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the configuration of a bogie travel control device according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram showing the relationship between the speed vector of the left and right wheels of the truck and the yaw angle.

[Explanation of symbols]

10 Controller 11 Control section 12 Integrator 13 Comparator 14 DA converter 15 Comparator 16 Speed feedback circuit 17 Integrator 18 Differential amplifier 19 Driver/motor section 21 Speed encoder 22 Arithmetic unit 32 Integrator 33 Comparator 34 DA converter 35 Comparator 36 Speed feedback circuit 37 Integrator 38 Differential amplifier 39 Driver/motor section 41 Speed encoder 42 Arithmetic unit 51 Arithmetic unit 52 Arithmetic unit 53 Arithmetic unit

Claims (1)

[Claims] 1. First and second drive wheels provided on the same axis of a truck body, a first motor section that drives the first drive wheel via a first rotation shaft, and the first drive wheel. a second motor section that drives a second drive wheel via a second rotation shaft; a first speed command signal that commands the rotation speed of the first rotation shaft; and a first speed command signal that commands the rotation speed of the first rotation shaft; a controller that outputs a second speed command signal that commands a rotational speed; and a controller that outputs a second speed command signal that commands a rotational speed;
a speed encoder that detects the rotational speed of the second rotating shaft and outputs a first rotational speed signal, and detects the rotational speed of the second rotating shaft and outputs a second rotational speed signal; and the first speed command signal. is used to determine the first displacement at which the first rotating shaft should rotate per predetermined time, and the second displacement at which the second rotating shaft should rotate per predetermined time is determined using the second speed command signal. a first integrator that calculates the displacement of the first rotating shaft;
a second integrator that calculates a fourth displacement in which the second rotating shaft rotates per predetermined time using the second rotational speed signal; A first deviation is obtained by comparing the third displacement, and the operation of the first motor section is controlled based on this first deviation, and the obtained second displacement and the fourth displacement are determined. A bogie running control device comprising: a control unit that compares the displacement with the displacement to obtain a second deviation, and controls the operation of the second motor unit based on the second deviation.