JPH04281305A - Speed control method for electric carrier - Google Patents

Abstract

PURPOSE:To run an electric carrier at a set speed corresponding to the pitch of sections to be detected by arranging the sections to be detected at a pitch corresponding to the speed set for a zone along a travel path thereby controlling the speed so that the frequency of pulse signals detected through a sensor mounted on the electric carrier matches with a reference frequency. CONSTITUTION:A mark tape 16 is applied along the longitudinal direction of a rail and sections 17a to be detected are arranged, while being partitioned from sections 17b not to be detected, at same intervals along the longitudinal direction of the rail. A low speed mark tape 16A having the sections 17a to be detected at a short pitch is applied in a low speed travel zone while an intermediate speed mark tape 16B having the sections 17a at an intermediate pitch is applied in an intermediate speed travel zone and a high speed mark tape 16C having the sections 17a at a long pitch is applied in a high speed travel zone. When an electric carrier travels through zones applied with the mark tape 16, a sensor 18 mounted on the carrier continually detects the sections 17a to be detected of the mark tape 16 and the pitch of the sections 17a is set so that the detection frequency calculated at a frequency measuring function 19 matches with a reference frequency.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a speed control method for causing a self-propelled transport train to travel at a set speed on a fixed travel route.

0002

[Prior Art] The running speed of a transport train that runs on a fixed running route varies by zone, for example, low speed in a curve zone, high speed in a straight route between work zones, and medium speed within a work zone. This is generally set. When entering each zone, for example, a speed command marker on the side of the route is read by a mark reader on the transport train, and a speed change command is given to the speed control controller of the travel motor according to the reading content.
The transportation train is configured to run at a speed set for each zone.

0003

[Problem to be Solved by the Invention] In this method of controlling the speed of a transport train, a speed switching command is simply given to the transport train using a speed command marker on the traveling route, so it is difficult to control the speed of the transport train between low speed, medium speed, and high speed. It is necessary to set the speed in advance in the controller on the transport train side for each mode, and in order to travel accurately at the set speed in each mode, for example, the oscillation pulse of the pulse encoder that is linked to the running wheels must be set. The current speed must be calculated from the current speed, the current speed is compared with the set speed, and feedback control must be performed according to the difference, which has the drawback of being complicated and expensive in terms of both hardware and software.

0004

[Means for Solving the Problems] In order to solve the above-mentioned conventional problems, the present invention provides detected parts at equal intervals along the running route of the transport train, and is provided with a sensor for detecting the detected part, and the running of the transport train is controlled such that the frequency of the detection pulse signal of the sensor when the transport train runs substantially coincides with a preset reference frequency. This paper proposes a method for controlling the speed of a transportation train, which is characterized by controlling the speed.

[0005]

According to the above-described speed control method according to the present invention, in a zone where speed control is required, the detected portions are provided along the travel route at a pitch corresponding to the speed set in the zone. When the transportation train runs in the zone, the frequency of the detection pulse signal of the sensor is compared with the reference frequency, and if the detection frequency is larger than the reference frequency, the speed is reduced; When the detection frequency is smaller than the reference frequency, the transport train is accelerated and the speed is controlled so that the detection frequency and the reference frequency substantially match, so that the transport train runs at a set speed corresponding to the pitch of the detected part. I can do it. Therefore, when changing the set speed for each zone, it is sufficient to change the pitch of the detected portion in accordance with the set speed.

[0006]

[Embodiment] An embodiment of the present invention will be described below based on the attached illustrative drawings. In FIG. It is a transport train that is suspended so that it can run. This monorail type transport train 2 has a train main body 5 suspended by a driving trolley 3 and a driven trolley 4, and the train main body 5 is provided with hangers 7 and the like for suspending objects 6 to be transported. The drive trolley 3 includes drive wheels 8, a motor 10 that drives the drive wheels 8 via a speed reducer 9, and a current collection unit 12 that slides on a power supply line 11 laid on the side surface of the guide rail 1. The driven trolley 4 includes idle wheels 14 supported by a bearing unit 13 . 15 is a control device attached to the train body 5.

[0007] On the guide rail 1, a mark tape 16 is pasted along the length direction of the rail, for example, on the bottom surface of the rail. As shown in FIG. 2, this mark tape 16 has detected portions 17a made of a light reflecting surface divided by non-detected portions 17b filled in black and displayed at equal intervals in the tape length direction. 16B is a low-speed compatible mark tape in which the detected portion 17a is displayed at a small pitch and is pasted on the guide rail 1 in the low-speed running zone, and 16B is a medium-speed compatible mark tape in which the detected portion 17a is displayed at a medium pitch. The mark tape is attached to the guide rail 1 in the medium speed running zone, and 16C is a high speed compatible mark tape in which the detected portion 17a is displayed at a large pitch. affixed to. A sensor 18 using a reflective photoelectric switch is attached to the transport train 2, which detects the non-detecting portion 17a on the mark tape 16 without contact while the train is running.

The motor 10 of the drive trolley 3 is operated by the electric power taken into the transport train 2 from the power supply line 11 via the current collection unit 12, and the transport train 2 is guided by rotating the drive wheels 8. The transport train 2 can run in a predetermined direction along the rail 1, and as the transport train 2 runs, the sensor 18 detects the mark tape 16.
The detected portion 17a is intermittently detected, and a pulse signal is output.

As shown in FIG. 2, the control device 15 has a frequency measurement function 19 that calculates the frequency f of the pulse signal from the sensor 18, a comparison calculation function 22, and starts and stops the travel drive motor 10. and a motor controller 23 that performs speed control. The comparison calculation function 22 compares the frequency f calculated by the frequency measurement function 19 with a preset reference frequency f0, and determines whether f=f0, and if f>f0. A deceleration command 20 is output, and when f<f0, an acceleration command 21 is output. The reference frequency f
0, actually, the lower limit reference frequency f1 and the upper limit reference frequency f2 are set in consideration of the tolerance, and f1
When <f <f2, it is determined that f=f0.

According to the above configuration, when the transport train 2 is running in the zone where the mark tape 16 is pasted, the sensor 18 intermittently detects the detected portion 17a of the mark tape 16. The frequency of the pulse signal obtained by this, that is, the frequency f calculated by the frequency measurement function 19, changes in proportion to the running speed of the transport train 2. When the detected frequency f reaches the reference frequency f0
will match. If the pitch of the detected portion 17a is set so that the traveling speed at this time is the desired set speed, when the transport train 2 travels at the set speed, the detected frequency f becomes the reference frequency f0. It will match.

Therefore, when the transport train 2 runs at a higher speed than the set speed, f>f0, so the comparison calculation function 22 outputs the deceleration command 20, and the transport train 2 runs at a speed lower than the set speed. When the vehicle is running, f<f0, so the comparison calculation function 22 outputs the acceleration command 21. As a result of the motor controller 23 receiving this deceleration command 20 or acceleration command 21 decelerating or accelerating the running drive motor 10 in accordance with the deceleration command 20 or acceleration command 21, the transport train runs at a higher speed than the set speed. 2 is decelerated, and the transport train 2 running at a lower speed than the set speed is accelerated. This acceleration/deceleration control causes the traveling speed of the transport train 2 to approach the set speed, and when the travel speed of the transport train 2 reaches the set speed and becomes f=f0, it becomes stable.

In other words, the medium speed compatible mark tape 16B
In the low-speed driving zone where the low-speed compatible mark tape 16A is affixed, the pitch of the detected portion 17a is smaller than that in the medium-speed driving zone where the medium-speed compatible mark tape 16B is affixed
In a high-speed running zone where f=f0 is lower than the stable running speed (set speed) where =f0, and the high-speed mark tape 16C is attached, where the high-speed mark tape 16C has a larger pitch of the detected portion 17a than the medium-speed mark tape 16B, f=f0 in the medium speed driving zone where the medium speed compatible mark tape 16B is attached
f = f at a higher speed than the stable running speed (set speed)
0, the transport train 2 runs stably at the set low speed corresponding to the pitch of the detected portion 17a of the mark tape 16A in the low-speed travel zone where the low-speed compatible mark tape 16A is affixed, and the medium-speed compatible mark In the medium-speed running zone to which the tape 16B is attached, the mark tape 16B runs stably at a set medium speed corresponding to the pitch of the detected portion 17a of the mark tape 16B, and in the high-speed running zone to which the high-speed compatible mark tape 16C is attached, the mark tape runs stably. Detected part 1 of 16C
This results in stable running at the set high speed corresponding to pitch 7a.

Furthermore, if it is possible to control the transport train 2 to run at a constant speed without using the running speed control according to the method of the present invention described above, it is also possible to combine running zones to which the mark tape 16 is not attached. I can do it. For example, the mark tape 16 may not be attached to the high-speed travel zone, and the transport train 2 may be controlled to run at a constant high speed when the mark tape 16 is no longer detected.

Furthermore, as shown in FIG. 3, the detection frequency f obtained by the frequency measurement function 19 is subtracted from the reference frequency f0 obtained by the reference frequency setting function 24.
Using the 0-f gate 25 and the speed command value correction function 28 that corrects the speed command value 27 using the ±correction value 26 obtained by the gate 25, the speed command value corrected by the speed command value correction function 28 is calculated. It is also possible to configure the motor controller 23 to be controlled by the motor controller 29.

[0015]

As described above, according to the present invention, in a traveling zone where detected parts are provided with mark tapes or the like, a transport train is run at a constant speed corresponding to the pitch of the detected parts. It can be controlled as follows. Moreover, there is no need to calculate the current speed of the transport train from the detection pulse of the detected part provided on the traveling route side, but simply compare the frequency of the detection pulse with a preset reference frequency and make sure that the two match. Since it is only necessary to control the speed so that

[Brief explanation of the drawing]

FIG. 1 is a side view showing an example of a transportation train.

FIG. 2 is a block diagram illustrating a mark tape attached to a guide rail and a control system of the method of the present invention.

FIG. 3 is a block diagram illustrating a control system in another embodiment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1...Guide rail, 2...Monorail type conveyance train, 3...Drive trolley, 4...Driven trolley, 5...Train body, 15...Control device, 16...Mark tape, 16A...Low speed compatible mark tape, 16B...Medium speed compatible Mark tape, 16C... High speed compatible mark tape, 17a... Detection area consisting of a light reflecting surface, 17b... Non-detection area filled in black, 18... Sensor using reflective photoelectric switch, 19... Frequency measurement function, 20... Deceleration command , 21...Acceleration command, 22...Comparison calculation function, 23...Motor controller, 25...f0-f gate, 28...Speed command value correction function.

Claims (2)

[Claims] Claim 1: Detected parts are provided at regular intervals along the travel route of the transport train, and the transport train is provided with a sensor for detecting the detected parts, and when the transport train runs, A method for controlling the speed of a transport train, characterized in that the traveling speed of the transport train is controlled so that the frequency of the detection pulse signal of the sensor substantially matches a preset reference frequency. 2. The detected portion is composed of a light reflecting surface divided by black non-detectable portions and displayed at equal intervals in the tape length direction on the tape, and the tape is attached to a guide rail of the transport train. 2. The method for detecting a speed abnormality in a transport train according to claim 1, wherein the sensor comprises a reflective photoelectric switch that is attached to a surface and detects the light reflecting surface.