JPH0527842A - Coil car drive controller - Google Patents
Coil car drive controllerInfo
- Publication number
- JPH0527842A JPH0527842A JP3184698A JP18469891A JPH0527842A JP H0527842 A JPH0527842 A JP H0527842A JP 3184698 A JP3184698 A JP 3184698A JP 18469891 A JP18469891 A JP 18469891A JP H0527842 A JPH0527842 A JP H0527842A
- Authority
- JP
- Japan
- Prior art keywords
- coil car
- coil
- deceleration
- distance
- car
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000001133 acceleration Effects 0.000 claims abstract description 25
- 239000000463 material Substances 0.000 claims abstract description 23
- 238000001514 detection method Methods 0.000 claims description 9
- SAZUGELZHZOXHB-UHFFFAOYSA-N acecarbromal Chemical compound CCC(Br)(CC)C(=O)NC(=O)NC(C)=O SAZUGELZHZOXHB-UHFFFAOYSA-N 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 5
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000004804 winding Methods 0.000 description 1
Landscapes
- Control Of Conveyors (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Control Of Position Or Direction (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、鋼板を巻取って得られ
るコイル材の搬入および搬出をするコイルカー駆動制御
装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a coil car drive controller for loading and unloading a coil material obtained by winding a steel plate.
【０００２】[0002]
【従来の技術】コイルカーは、鉄鋼プロセスラインへの
コイル材の搬入、およびプロセスラインを経たコイル材
の搬出をする装置である。この場合、搬入および搬出の
両方に対して、同じ制御が行われるので、両者を合わせ
て搬送と呼ぶ。2. Description of the Related Art A coil car is an apparatus for carrying a coil material into and out of a steel process line and carrying out the coil material through the process line. In this case, the same control is performed for both loading and unloading, so both are collectively referred to as transport.
【０００３】コイルカー駆動制御装置による従来の制御
を、図２を参照して説明する。The conventional control by the coil car drive control device will be described with reference to FIG.
【０００４】コイル材２を積載したコイルカー１は、図
２(a) に示すように、地点Ａを出発して地点Ｄに停止す
る。このとき、コイルカー１の走行速度は、図２(b) に
示すように、地点Ａから地点Ｂまで速度直線ＡＰに従っ
て増大し、地点Ｂから地点Ｃまで速度直線ＰＱ上の値に
保持され、さらに、地点Ｃから地点Ｄまで速度直線ＱＤ
に従って減少する。しかして、地点Ａから地点Ｂまで等
加速度走行し、地点Ｂから地点Ｃまで等速度走行し、さ
らに、地点Ｃから地点Ｄまで等減速度走行する。このと
き、コイルカー駆動電動機の電流は、図２(c) に示すよ
うに、地点Ａから地点Ｂまでの等加速度走行期間の初期
に極大となり、さらに、地点Ｃから地点Ｄまでの等減速
度走行期間の初期に極小となる。これは加速開始および
減速開始に際して、極大および極小の負荷トルクを要す
ることを示している。The coil car 1 loaded with the coil material 2 starts at a point A and stops at a point D, as shown in FIG. 2 (a). At this time, the traveling speed of the coil car 1 increases from the point A to the point B according to the speed straight line AP as shown in FIG. 2 (b), and is maintained at the value on the speed straight line PQ from the point B to the point C. , Speed line QD from point C to point D
Decrease according to. Then, the vehicle travels at a constant acceleration from the point A to the point B, travels at a constant speed from the point B to the point C, and further travels at a constant deceleration from the point C to the point D. At this time, the current of the coil car drive motor becomes maximum at the beginning of the constant acceleration traveling period from the point A to the point B as shown in Fig. 2 (c), and further, the constant deceleration traveling from the point C to the point D is performed. It reaches a minimum at the beginning of the period. This indicates that maximum and minimum load torques are required at the start of acceleration and deceleration.
【０００５】[0005]
【発明が解決しようとする課題】上述した従来のコイル
カー駆動制御にあっては、コイルカー１の加速を終了す
る加速終了点Ｂと、コイルカー１の減速を開始する減速
開始点Ｃとが固定されており、加速するための距離Ａー
Ｂ、および、減速するための距離ＣーＤはコイル材の重
量に関係なく一定であった。In the conventional coil car drive control described above, the acceleration end point B at which the acceleration of the coil car 1 ends and the deceleration start point C at which the coil car 1 starts deceleration are fixed. The distance AB for acceleration and the distance CD for deceleration were constant regardless of the weight of the coil material.
【０００６】このため、コイル材の積載重量が標準より
大きいときに目標とする停止位置に停止させることがで
きないことがあった。Therefore, when the weight of the coil material loaded is larger than the standard, it may not be possible to stop at the target stop position.
【０００７】この発明は上記の問題点を解決するために
なされたもので、コイルカーの積載重量が標準より大き
い場合でも定位置に確実に停止させることのできるコイ
ルカー駆動制御装置を提供することを目的とする。The present invention has been made to solve the above problems, and an object of the present invention is to provide a coil car drive control device capable of reliably stopping the coil car at a fixed position even when the loaded weight of the coil car is larger than the standard. And
【０００８】[0008]
【課題を解決するための手段】本発明は、コイル材を搬
送するコイルカーを、等加速度走行させて一定の速度に
到達したときに等速度走行に移行させ、減速開始指令に
よって等速度走行から等減速度走行に移行させて所定の
停止位置に停止させるコイルカー駆動制御装置におい
て、等加速度走行時のコイルカー駆動電動機の電流を検
出する電流検出手段と、コイルカーの走行位置を検出す
る走行位置検出手段と、検出された電流に基いてコイル
材およびコイルカーの慣性モーメントを演算すると共
に、この慣性モーメントを用いてコイルカー駆動電動機
を定格運転したときにコイルカーが前記停止位置に停止
するような減速距離を演算する減速距離演算手段と、こ
の減速距離演算手段によって演算された減速距離と前記
走行位置検出手段によって検出されたコイルカーの走行
位置とに基づき、残余の走行距離が減速距離に一致した
とき減速開始指令を出力する減速開始位置検出手段とを
備えたものである。SUMMARY OF THE INVENTION According to the present invention, a coil car that conveys a coil material is made to travel at a constant speed when it travels at a constant speed and reaches a constant speed, and is started from a uniform speed when a deceleration start command is issued. In a coil car drive control device that shifts to deceleration running and stops at a predetermined stop position, a current detecting unit that detects a current of a coil car driving electric motor during uniform acceleration running, and a running position detecting unit that detects a running position of the coil car. , Calculates the moment of inertia of the coil material and the coil car based on the detected current, and also uses this moment of inertia to calculate the deceleration distance that causes the coil car to stop at the stop position when the coil car drive motor is operated at the rated speed. The deceleration distance calculation means, the deceleration distance calculated by the deceleration distance calculation means, and the traveling position detection means. Based on the travel position of the detected coil car Te, in which a deceleration start position detecting means for outputting a deceleration start command when the running distance of the remaining matches the deceleration distance.
【０００９】[0009]
【作用】この発明においては、等加速度走行時のコイル
カー駆動電動機の電流を検出する一方、コイルカーの走
行位置を全走行区間に亘って検出し、検出された電流に
基いてコイル材およびコイルカーの慣性モーメントを演
算すると共に、この慣性モーメントを用いてコイルカー
駆動電動機を定格運転したときにコイルカーが停止位置
に停止するような減速距離を演算し、検出されたコイル
カーの走行位置から決まる残余の走行距離が減速距離に
一致したとき減速開始指令を出力するようにしたので、
コイルカーの積載重量が標準より大きい場合でも定位置
に確実に停止させることができる。According to the present invention, while the current of the coil car drive motor is detected during traveling at constant acceleration, the traveling position of the coil car is detected over the entire traveling section, and the inertia of the coil material and the coil car is detected based on the detected current. In addition to calculating the moment, the inertia moment is used to calculate the deceleration distance that causes the coil car to stop at the stop position when the coil car drive motor is in rated operation, and the remaining travel distance determined from the detected traveling position of the coil car is calculated. Since the deceleration start command is output when it matches the deceleration distance,
Even if the load weight of the coil car is larger than the standard, it can be reliably stopped at a fixed position.
【００１０】[0010]
【実施例】以下、本発明を図面に示す実施例について詳
細に説明する。図１はこの発明の一実施例の構成を示す
ブロック図である。同図において、コイル材２を積載す
るコイルカー１は駆動電動機３を備えている。この駆動
電動機３は図示省略の速度制御装置によって駆動制御さ
れる。この速度制御装置は起動指令によって一定の加速
度で一定の時間だけ等加速度走行するように駆動電動機
３の電流を制御し、減速開始指令が与えられたとき定格
電流の範囲で等減速度走行するように駆動電動機３の電
流を制御するようになっている。本実施例はコイルカー
１の積載重量が変化したとしても、このコイルカー１を
所定の停止位置に確実に停止させるタイミングで減速開
始指令を出力するものである。Embodiments of the present invention will be described in detail below with reference to the drawings. FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention. In the figure, a coil car 1 on which a coil material 2 is loaded includes a drive motor 3. The drive motor 3 is drive-controlled by a speed control device (not shown). This speed control device controls the current of the drive motor 3 so that it runs at a constant acceleration and a constant acceleration for a certain time by a start command, and when a deceleration start command is given, it runs at a constant deceleration within the rated current range. Further, the current of the drive motor 3 is controlled. In this embodiment, even if the loaded weight of the coil car 1 changes, a deceleration start command is output at a timing at which the coil car 1 is reliably stopped at a predetermined stop position.
【００１１】そこで、駆動電動機３に走行位置検出手段
としてのパルス発生器４を結合してコイルカー１の走行
位置を全走行区間に亘って検出する一方、電流検出手段
５によって駆動電動機３の電流を検出する。また、コイ
ルカー１が等加速度走行する期間における電流検出手段
５の検出電流に基づき、減速距離演算手段６がコイル材
２およびこれを積載するコイルカー１の慣性モーメント
を演算し、続いて、この慣性モーメントの大きさに従っ
て減速時間、すなわち、減速動作開始から停止完了まで
の時間を演算し、さらに、この減速時間に従って減速距
離、すなわち、減速動作開始点から停止位置までの距離
を演算するようになっている。さらに、減速開始位置検
出手段７が、パルス発生器４から発信されるパルスを計
数して得られるコイルカーの走行位置から、残余の走行
距離が減速距離に一致したとき減速開始指令を出力する
構成になっている。Therefore, a pulse generator 4 as a traveling position detecting means is coupled to the drive motor 3 to detect the traveling position of the coil car 1 over the entire traveling section, while a current detecting means 5 detects the current of the drive motor 3. To detect. Further, the deceleration distance calculating means 6 calculates the moment of inertia of the coil material 2 and the coil car 1 on which the coil material 2 is loaded, based on the detected current of the current detecting means 5 during the period when the coil car 1 travels at a constant acceleration. The deceleration time, that is, the time from the start of the deceleration operation to the completion of the stop is calculated according to the magnitude of, and the deceleration distance, that is, the distance from the deceleration operation start point to the stop position is calculated according to this deceleration time. There is. Further, the deceleration start position detection means 7 outputs a deceleration start command when the remaining traveling distance matches the deceleration distance from the traveling position of the coil car obtained by counting the pulses transmitted from the pulse generator 4. Is becoming
【００１２】上記のように構成された本実施例の動作
を、図２(b) の速度パターン図、および、図２(c) の電
流パターン図を用いて説明する。The operation of this embodiment configured as described above will be described with reference to the velocity pattern diagram of FIG. 2 (b) and the current pattern diagram of FIG. 2 (c).
【００１３】先ず、コイル材２の搬送に当たり、コイル
カー１は地点Ａより一定加速時間で一定速度まで加速さ
れ、地点Ｂから等速走行に入る。この加速開始から等速
走行に入るまで、駆動電動機３の出力、加速時間および
ギアリングスピードの間に次式の関係が成立する。First, when the coil material 2 is conveyed, the coil car 1 is accelerated from a point A to a constant speed in a constant acceleration time, and starts traveling at a constant speed from the point B. From the start of acceleration to the constant speed running, the relationship of the following equation holds between the output of the drive motor 3, the acceleration time and the gearing speed.
【００１４】[0014]
【数１】 ただし、 ａ ：加減速補償係数 ＧＤ2 ：コイルカーおよびコイル材の慣性モーメント Ｎ ：ギヤリングスピード ｔ ：加速時間（一定） Ｐ ：駆動電動機出力 Ｖ ：駆動電動機の定格電圧 Ｉ ：加速電流 である。[Equation 1] However, a: acceleration / deceleration compensation coefficient GD 2 : moment of inertia of coil car and coil material N: gearing speed t: acceleration time (constant) P: drive motor output V: drive motor rated voltage I: acceleration current.
【００１５】ここで、加速電流Ｉは図２(c) の地点Ａか
ら地点Ｂまで図示したように変動する電流である。Here, the acceleration current I is a current that fluctuates from point A to point B in FIG. 2 (c) as shown in the figure.
【００１６】電流検出手段５はこの加速電流Ｉを検出し
て減速距離演算手段６に与える。減速距離演算手段６は
この加速電流Ｉを上記(2) 式に代入して駆動電動機出力
Ｐを求め、この駆動電動機出力Ｐを(1) 式に代入してコ
イルカーおよびコイル材の慣性モーメントＧＤ2 を演算
する。また、減速距離演算手段６はこの慣性モーメント
ＧＤ2 と、駆動電動機３の定格出力Ｐnom とを(1) 式に
代入して減速時間ｔ′を演算し、さらに、減速距離を演
算する。つまり、減速距離演算手段６は電流検出手段５
で検出された加速電流に基いて、図２(b) に示す減速距
離Ｃ′ーＤを演算する。減速開始位置検出手段７はパル
ス発生器４の発信パルスを計数して走行距離を演算する
と共に、予め定められた地点Ａと地点Ｄ間の距離（一定
値）から走行距離を減算して残余の走行距離を求め、こ
の残余の走行距離と演算によって求められた減速距離と
が等しくなった時点で減速開始指令を出力する。The current detection means 5 detects the acceleration current I and supplies it to the deceleration distance calculation means 6. The deceleration distance calculating means 6 substitutes this acceleration current I into the above equation (2) to obtain the drive motor output P, substitutes this drive motor output P into the equation (1), and the inertia moment GD 2 of the coil car and the coil material. Is calculated. Further, the deceleration distance calculation means 6 substitutes the inertia moment GD 2 and the rated output P nom of the drive motor 3 into the equation (1) to calculate the deceleration time t ′, and further calculates the deceleration distance. That is, the deceleration distance calculating means 6 is the current detecting means 5
The deceleration distance C'-D shown in FIG. 2 (b) is calculated based on the acceleration current detected in (2). The deceleration start position detecting means 7 calculates the traveling distance by counting the pulses transmitted from the pulse generator 4, and subtracts the traveling distance from the predetermined distance (constant value) between the point A and the point D to determine the remaining distance. The travel distance is obtained, and when the remaining travel distance becomes equal to the deceleration distance obtained by the calculation, the deceleration start command is output.
【００１７】したがって、コイルカー１は地点Ｂから地
点Ｃ′まで等速度走行し、時点Ｃ′から地点Ｄまで、速
度直線Ｑ′Ｄに従って等減速度走行して、地点Ｄに停止
する。Therefore, the coil car 1 travels at a constant speed from the point B to the point C ', travels at a constant deceleration from the time C'to the point D according to the speed straight line Q'D, and stops at the point D.
【００１８】[0018]
【発明の効果】以上の説明によって明らかなように本発
明によれば、コイルカー上のコイル材積載重量の変化を
加速電流の変化として検出し、この加速電流に応じてコ
イルカーの減速開始位置を調整するようにしたので、コ
イルカーの積載重量が標準より大きい場合でも定位置に
確実に停止させることができる。As is apparent from the above description, according to the present invention, a change in the coil material loading weight on the coil car is detected as a change in the acceleration current, and the deceleration start position of the coil car is adjusted according to the acceleration current. Therefore, even when the loaded weight of the coil car is larger than the standard, the coil car can be reliably stopped at the fixed position.
【００１９】また、本発明によれば、コイル材の重量に
応じてコイルカーの減速開始位置が調整されるので、コ
イル材の重量が標準重量より小さくなるほど、減速距離
および減速時間が短縮され、従来のコイルカー駆動制御
よりも搬送時間を短縮することができ、これによって作
業効率を向上させることができる。Further, according to the present invention, since the deceleration start position of the coil car is adjusted according to the weight of the coil material, the deceleration distance and deceleration time are shortened as the weight of the coil material becomes smaller than the standard weight. The transfer time can be shortened as compared with the coil car drive control described in (1) above, and thus the work efficiency can be improved.
【図１】本発明の一実施例の構成を示すブロック図。FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention.
【図２】本発明の一実施例の動作を、従来のコイルカー
駆動制御と比較して示す速度および電流のパターン図。FIG. 2 is a speed and current pattern diagram showing the operation of the embodiment of the present invention in comparison with the conventional coil car drive control.
１ コイルカー ２ コイル材 ３ 駆動電動機 ４ パルス発生器 ５ 電流検出手段 ６ 減速距離演算手段 ７ 減速開始位置検出手段 DESCRIPTION OF SYMBOLS 1 coil car 2 coil material 3 drive motor 4 pulse generator 5 current detection means 6 deceleration distance calculation means 7 deceleration start position detection means
Claims (1)
度走行にさせて一定の速度に到達したときに等速度走行
に移行させ、減速開始指令によって等速度走行から等減
速度走行に移行させて所定の停止位置に停止させるコイ
ルカー駆動制御装置において、等加速度走行時のコイル
カー駆動電動機の電流を検出する電流検出手段と、コイ
ルカーの走行位置を検出する走行位置検出手段と、検出
された電流に基いてコイル材およびコイルカーの慣性モ
ーメントを演算すると共に、この慣性モーメントを用い
てコイルカー駆動電動機を定格運転したときにコイルカ
ーが前記停止位置に停止するような減速距離を演算する
減速距離演算手段と、この減速距離演算手段によって演
算された減速距離と前記走行位置検出手段によって検出
されたコイルカーの走行位置とに基づき、残余の走行距
離が減速距離に一致したとき減速開始指令を出力する減
速開始位置検出手段とを備えたことを特徴とするコイル
カー駆動制御装置。Claim: What is claimed is: 1. A coil car that conveys coil material is made to travel at a constant speed when it reaches a certain speed and is moved to a uniform speed. In a coil car drive control device for shifting to speed traveling and stopping at a predetermined stop position, current detection means for detecting the current of the coil car drive motor during uniform acceleration traveling, traveling position detection means for detecting the traveling position of the coil car, Deceleration that calculates the moment of inertia of the coil material and coil car based on the detected current, and also calculates the deceleration distance that causes the coil car to stop at the stop position when the coil car drive motor is operated at the rated speed using this moment of inertia The distance calculation means, the deceleration distance calculated by the deceleration distance calculation means, and the traveling position detection means detect the deceleration distance. A coil car drive control device comprising: a deceleration start position detection unit that outputs a deceleration start command when the remaining travel distance matches the deceleration distance based on the traveled position of the coil car.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3184698A JPH0527842A (en) | 1991-07-24 | 1991-07-24 | Coil car drive controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3184698A JPH0527842A (en) | 1991-07-24 | 1991-07-24 | Coil car drive controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0527842A true JPH0527842A (en) | 1993-02-05 |
Family
ID=16157819
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3184698A Pending JPH0527842A (en) | 1991-07-24 | 1991-07-24 | Coil car drive controller |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0527842A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20180072388A (en) * | 2016-12-21 | 2018-06-29 | 주식회사 포스코 | Roller tabel transfer apparatus and its control method |
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- 1991-07-24 JP JP3184698A patent/JPH0527842A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20180072388A (en) * | 2016-12-21 | 2018-06-29 | 주식회사 포스코 | Roller tabel transfer apparatus and its control method |
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