JPH07106003B2 - Linear motor speed control method - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a speed control method for a linear motor car, and more particularly to a speed control method for a linear motor car capable of performing speed setting corresponding to various rail shapes.

[Conventional technology]

In recent years, various offices have developed a technology for processing documents at high speed by using a linear motor car to convey documents, slips, etc. As a circuit for controlling the speed of such a linear motor car, for example, see FIG. There is something like the one shown. In this figure, 1 is a system controller, 2 is a linear motor controller, and reference characters A, AB1, AB2, AB3,
B is a station provided along the track or rail 5. Reference numeral 3 is a stator controller, and 4 is a stator. Reference numeral 6 is a carrier that travels on the rail 5, that is, a carrier.

The system controller 1 controls the entire system based on a transportation request from a related device, and the linear motor controller 2 gives a control instruction of a traveling speed and mechanical operation to each station according to a command of the system controller 1. The stations A, AB1, AB2, AB3, B are arranged at predetermined positions in the transport section, and a rail 5 is laid on the stator 4 which is a component of the stations, and a carrier 6 containing a secondary conductor is built on the rail 5. Travels under the driving force induced by the excitation. Carrier 6 as shown in FIG.
When A runs from station A to station B, A starts, B stops, and AB1, AB2,
AB3 performs acceleration / deceleration operation. The stator controller 3 that controls each station is provided for each stator 4, and automatically controls the stator 4 according to an instruction from the linear motor controller 2 to control the speed of the carrier 6. In the figure, the stator controller 3 is shown.
Symbols A, B, AB attached to STC and STR representing the stator 4
1 to AB3 indicate respective devices corresponding to the stations A, B and AB1 to AB3, respectively. The speed control of the transfer system using such a linear motor car is performed by the stator controller 3 controlling the stator 4 based on an instruction from the linear motor controller 2. As shown in FIG. There is a speed setting according to the rail shape before and after the station (for example, curve, ascent, descent, etc.). As an example of a conventional technique for setting the speed according to the rail shape, there is one according to the data shown in FIG. 10, for example.

This determines, for each rail shape, the maximum speed and the minimum speed of the carrier 6 passing through the portion of the rail 5 of that shape,
It is a table structure. This table is stored in the linear motor controller 2. On the other hand, the linear motor controller 2 instructs each stator controller 3 to a standard speed assigned by back calculation with the speed of the station B (stop point) as 0 (zero), and the stator controllers 3 relate to the front and rear rail shapes, respectively. Holds data in code number or other form. When the linear motor controller 2 outputs all the data including the correspondence data of the rail shape and the speed and the data for matching the rail shape of each rail portion to each stator controller 3 during the traveling of the carrier, each stator is output. The controller 3 extracts speed data corresponding to the rail shape of the controller 3 from all the above data and monitors the speed of the carrier 6. Then, each stator controller 3 has a carrier 6 within its own monitoring area.
When the speed of the carrier 6 is lower than the minimum speed set in the monitoring area, the excitation for acceleration is performed, while the speed of the carrier 6 is higher than the maximum speed set above. In this case, excitation for deceleration is performed so that the carrier 6 always runs within a predetermined speed range.

For example, in a speed control system for a linear motor car equipped with a speed control table 7 as shown in FIG. 10, the stator controller 3 whose front and rear rail shapes are 90 ° curves has the above rail shape data. There is. When all the data in the table 7 is output from the linear motor controller 2 to each stator controller 3 in the linear motor car traveling control, the stator controller determines that the rail shape data owned by itself and the shape data in the table 7 match. The data of the maximum speed 6m / s and the minimum speed 4m / s is taken out as the speed control range, and the speed of the carrier 6 is controlled within this range.

[Problems to be solved by the invention]

However, in such a conventional speed control system, there are various rail shapes and there are almost infinite types. On the other hand, it is almost impossible to individually set the speed corresponding to the rail shape as in the conventional case, because it takes a lot of labor and time. Also, each time a rail is added, the shape condition of the rail increases and the speed data must increase accordingly. With such a method, the memory held by the linear motor controller is increased. There is a fear that the capacity will be limited. In addition, when changing the traveling route, it is necessary to change the combination of memories, and the calculation speeds eventually overlap depending on the rail conditions, which is inconvenient and uneconomical.

The present invention has been made in view of such conventional problems, and an object thereof is to easily set a speed for control and to reduce a memory capacity for storing speed data. It is to provide a control method of a possible linear motor car.

[Means for solving problems]

A linear motor car control method of the present invention, in order to achieve the above object, a rail laid with a predetermined shape,
A carrier set on the rail and traveling along the rail, a plurality of stations provided along the rail and a stator that is a constituent element of the station, and a stator that is provided for each station and controls the stator. In a linear motor car that has a controller and a linear motor controller that performs operation instruction control for each stator controller, a plurality of speed data used for controlling the traveling of the carrier are prepared in advance in the linear motor controller, and the operation starts. Sometimes
The speed data prepared for the linear motor controller is downloaded to the stator controller, and at the time of driving, the stator controller selects necessary control speed data from the plurality of downloaded speed data according to each rail shape. It is possible to set by setting.

[Action]

The linear motor controller holds speed data that may be used in correspondence with the rail shape in a table configuration with a reference numeral attached. This speed data is
It is downloaded to each stator controller by the initialization operation or other control speed setting operation. On the other hand, the stator controller predetermines what kind of speed control should be performed according to the shape of the rail of that part, and inputs designated data (code number etc.) for selecting the control speed for that purpose. There is. For this reason,
Each stator controller compares its designated data with the heading code from the speed table transferred from the linear motor controller, and if there is a match, loads the specific speed data with the heading code. Then, it is stored in the control memory as data for its own control.
Then, while the linear motor car is traveling, the control data stored in each of the stator controllers is read out and the speed of the carrier is detected, and the carrier is accelerated and decelerated based on the detection result. Thereby, the speed of the carrier is properly controlled.

〔Example〕

1 to 3 are diagrams showing a speed control system for a linear motor car according to an embodiment of the present invention. In the figure, 4 is a stator, 103 and 104 are linear motor guide plates, and 1
05a is the upper guide roller, 105b is the lower guide roller, 105
Reference numeral c is a horizontal guide roller, 107 is a comb-shaped light shielding plate for speed detection, and 120 and 121 are rails mounted parallel to each other. The carrier 6 is mounted on the rails 120 and 121 so as to be movable. The linear motor is composed of a stator 4 as a primary side stator and a movable part secondary conductor provided at the bottom of the carrier 6, and both have a predetermined gap by upper and lower guide rollers. Therefore, when an alternating current flows through the coil of the stator 4, the coil is excited and a propulsive force in a certain direction is generated between the coil and the secondary conductor based on the electrical principle. The carrier 6 receives this propulsive force and is guided by the guide rollers 105a and 105b and the horizontal guide roller that maintains the left-right direction, and travels on the rail. Further, since the propulsive force depends on the magnitude of the magnetic flux generated by the strength of the electric current, the traveling speed can be changed and adjusted under this principle. This is the principle of sequential conveyance when using a linear motor.

The speed detecting device consists of sensors S1, S2, S3, S4 and a comb-shaped shading plate 1
07 and the sensors S1, S2, S3, S4 (assuming an optical sensor is used here) are fixed at the position corresponding to the stator 4 (on the rail 120 in the figure). The light blocking plate 107 is attached to the linear motor guide plate 103 that is integral with the carrier 6, and blocks or passes the light rays of the sensors S1, S2, S3, and S4 as the carrier 6 travels. The linear motor controller 2 for controlling the speed of the linear motor car is a weekday to be assigned to each station AB3, AB2, AB1 up to the station A (starting point) sequentially by back calculation with the speed at the station B (stop point) as 0. We have a standard speed curve converted to a straight line as data,
This is instructed to the stator controller 3 together with the respective operation modes. As for the operation mode, the linear motor at the starting point is instructed in the start mode, the linear motor in the stopping point is in the stop mode, and the linear motor in the middle point is instructing the acceleration / deceleration mode. Further, the sensors S1 and S4 recognize the traveling direction of the carrier 6, sequentially move the speed detection sensor, and give an instruction based on the fed back information. Further, the linear motor controller 2 holds preset speed data according to the rail shape, and uniformly instructs each stator controller 3 to select and apply the speed data according to each rail shape. .

FIG. 4 is a block diagram showing a circuit configuration of the stator controller 3 incorporated in the above embodiment. This circuit
Basically, a motor control (that is, a CPU) 31 that performs speed detection and speed control for the stator 4, and a mechanical control unit that is provided only in a specific stator controller 3 to manage evacuation and entry of a carrier from a rail, It is composed of a main control (station) processor, that is, a station CPU 30, which collectively controls both of them and exchanges commands with the linear motor controller 2. Station CPU
Reference numeral 30 has a memory 30a therein, exchanges data and commands with the linear motor controller 2 (FIG. 8) via a cable 40, and also has a motor control CPU 31 and a mechanical control CPU.
It exchanges flags and data with 38, and mainly works as a relay processor. The motor control CPU 31 controls the excitation of the stator 4 in response to an instruction from the station CPU 30, and has a carrier speed measurement counter 31a and a memory 31b therein. A multiplexer (MPX) 32 selects the outputs of the sensors S1 to S4 that detect the slit portion of the light shielding plate 107 according to the selection signal SEL of the motor control CPU 31, and outputs them to the motor control CPU 31. 33 is a maximum / minimum speed setting switch, and at that time, the speed is set based on factors such as the rail shape according to the time. Reference numeral 34 denotes a coil driving driver, each of which is composed of a solid state relay. The driver 34a AC-drives the AC coil 114b for acceleration / deceleration of the stator 4 according to the direction (right or left) instruction from the motor control CPU 31. The driver 34b drives the positioning single-phase coil 114a of the stator 4 to the motor control CPU 31.
The driver 34c drives the positioning damping coil 114C of the stator 4 by the damping command SCMD from the motor control CPU 31. 3
Reference numeral 5 denotes an interface circuit, which is a station CPU 30 for main control and flag portions 35a and 35b for transmitting and receiving flags.
And station CPU30, register 35c, 35d for transmitting and receiving command data. 36 is the first bus, the station CPU 30 and the interface circuit 3
It is for exchanging flags, data, and commands with 5. 37 is a second bus, which is an interface circuit 39 of the station CPU 30 and the mechanical control unit MCC.
And for exchanging flags, data, and commands. The interface circuit 39, like the interface circuit 35, has flags 39a, 39b, registers 39c, 39.
have d.

FIG. 5 shows a table of speed data prepared in advance as a basis for setting speed data for control corresponding to the rail shape in the linear motor controller 2 of the present embodiment. This table 17 assumes the rail shape to be used and, on the other hand, determines a plurality of speeds corresponding to the rail shape based on theoretically calculated values and empirically obtained values (experimental values, etc.). , A speed data storage area 17b, and a number storage area 17 for storing a data read number assigned to each speed data (having a role as address data)
Composed of a and. Since a plurality of types (8 types in the example of FIG. 5) of speed data are prepared by the theoretical or empirical method as described above, the speed data for control for any rail shape are all speeds in this table 17. It can be covered by data. And the linear motor controller 2
By comparing the numbers with the stator controller 3, the control speed data corresponding to the rail shape of each station (here, the rail portion where the stator controller 3 is arranged) can be set. For example, the rail shape at a certain station is a 90 ° curve, and the maximum speed is 6 m / se for this rail shape.
c. If it is known that the minimum speed is 4 m / sec., the number No. 6 for instructing this speed to the speed setting switch 33 in each stator controller is set.
And No. 3 are set. Then, in the initial operation accompanying the start of operation of the control device including the system controller 1, the linear motor controller 2, and the stator controller 3, the linear motor controller 2 sends all the information in the table 17 toward each stator controller 3 all at once. Or, it is output sequentially. On the side of the stator controller 3, the number written in advance in its own register is collated with the number in the table information, and the speed data of the matched number is loaded into the register and written as control speed data.
In the above case, since the No. 3 and No. 6 are collated, the control speed data having the maximum speed of 6 m / sec. And the minimum speed of 4 m / sec. Is set in the register.

FIG. 6 is a diagram showing a flow of a speed instruction command corresponding to the rail shape between the linear motor controller 2, the stator controller 3, and the motor control CPU 31 in the stator controller 3. As shown in this figure, in the step, the linear motor controller 2 downloads the speed control data for each number to the motor control CPU 31 via the stator controller 3 by the initial operation when the power is turned on.

In step 1, the motor control CPU 31 reads the maximum and minimum speed setting numbers from the switch 33, extracts speed data matching the numbers from the table designated by the linear motor controller, and stores the speed data in the memory 31b.

In the step of, the linear motor controller 2 instructs the operation mode (for example, the acceleration / deceleration mode) via the stator controller 3.

In step 1, the motor control CPU 31 controls the stator excitation circuit based on the stored rail shape control data.

In the step, when the traveling is completed, the linear motor controller 2 is notified of the completion of traveling through the stator controller 3.

FIG. 7 shows the motor control CPU 31 of the stator controller 3.
3 is a flowchart for setting a control data set in FIG. When the speed instruction and mode instruction from the linear motor controller are transmitted, the motor control CPU31
Receives all traveling control data in step ST1. Next, in step ST2, the maximum and minimum data numbers of the set speed in each direction are stored.
Then, in step ST3, the data of that number is selected from the received data and set in the register.

In this way, the carrier of the linear motor car is speed-controlled between the maximum speed and the minimum speed by each stator controller during its traveling.

〔The invention's effect〕

As described above, according to the present invention, in the speed control of the linear motor car, when setting the speed,
A plurality of speed data used for controlling the traveling of the carrier are prepared in advance in the linear motor controller. When the operation is started, the speed data prepared in the linear motor controller is downloaded to the stator controller. Since the control speed data required for each rail shape can be selected from the downloaded speed data and set, speed control for each rail shape can be performed even if the number of rail shape types increases. Eliminates the need to hold data and speed setting work becomes easier. Further, since the speed data is downloaded from the linear motor controller at the start of the operation, there is an effect that the content of the speed data can be managed only by the linear motor controller. Also, the maximum in each moving direction of the linear motor car,
The minimum speed can be set with various combinations, and the memory for storing speed data can be effectively used.
Various effects can be obtained.

[Brief description of drawings]

FIG. 1 is a side view showing the structure of a linear motor car to which the present invention is applied, FIG. 2 is a front view showing the structure of a linear motor car to which the present invention is applied, and FIG.
2 is a perspective view of the linear motor car shown in FIG. 2, FIG. 4 is a block diagram of a constituent circuit of a stator controller used for executing the present invention, and FIG. 5 is a control speed for realizing the speed control of the present invention. FIG. 6 is a diagram showing the structure of a table, FIG. 6 is a diagram showing the flow of control commands between various controllers for speed control, FIG. 7 is a flow chart of the speed control data set in the motor controller of the stator controller, and FIG. FIG. 9 is a block diagram showing a general example of a transportation system of a motor car, FIG. 9 is a diagram showing an example of a rail shape in which a transportation system of a linear motor car is constructed,
FIG. 10 is a diagram showing a configuration of a control speed table used in a conventional linear motor car. 1 …… System controller 2 …… Linear motor controller 3 …… Stator controller 4 …… Stator 5 …… Rail 6 …… Carrier 7 …… Speed control table 30 …… Station CPU 31 …… Motor control CPU 32 …… Multiplexer

Front page continuation (72) Inventor Akihiro Nakamura 1015 Kamiodanaka, Nakahara-ku, Kawasaki-shi, Kanagawa Fujitsu Limited (56) References JP-A-60-187206 (JP, A)

Claims (1)

[Claims] 1. A rail laid in a predetermined shape, a carrier set on the rail and traveling along the rail, a plurality of stations provided along the rail, and a stator which is a constituent element of the station. And a linear motor controller that is provided for each station and that controls the stator, and a linear motor controller that performs operation instruction control for each stator controller, and drives the carrier by controlling the drive of the linear motor. In the linear motor car that controls, the speed data used for controlling the traveling of the carrier is prepared in advance in the linear motor controller, and at the start of operation, the speed data prepared in the linear motor controller is downloaded to the stator controller. Then drive A speed control method for a linear motor car, wherein the stator controller can sometimes select and set necessary control speed data from among the plurality of downloaded speed data according to each rail shape.