JPH082686A - Transfer quantity controller for transfer machine - Google Patents

Abstract

PURPOSE:To provide the transfer quantity controller for a transfer machine which can maintain the actual transfer quantity for a set transfer quantity, with high precision. CONSTITUTION:A transfer quantity controller is equipped with a setting machine 12 for setting the little movement quantity (d) of a transfer machine, and a memory 14 which previously memorizes the function representing the relation between the little movement quantity of the transfer machine and the inertial traveling quantity among the little movement quantity, and the actual little movement quantity of the transfer machine is measured, and the little movement quantity in the inertial traveling of the transfer machine is calculated by a calculator 28 on the basis of this measured little movement quantity. Further, the function memorized in the memory 14 is varied by a varying device 30 according to the little movement quantity calculated by the calculator 28.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving machine for controlling a moving amount which represents a moving distance or a rotating distance of a moving machine such as a stacker for depositing a raw material in a raw material yard or a reclaimer for cutting the accumulated raw material from the raw material yard. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a machine movement amount control device and control method, and more particularly to a movement amount control device and control method for a mobile machine suitable for moving (swinging) a short distance.

[0002]

2. Description of the Related Art For example, in order to efficiently cut out raw materials with a reclaimer, it is necessary to accurately rotate a boom of the reclaimer for a predetermined distance and scoop the raw material with a basket at the tip thereof. For this reason, it is important to accurately move the boom of the reclaimer. Further, in order to bring the moving carriage closer to the moving object and stop the moving carriage accurately, it is important to move the moving carriage accurately.

Therefore, conventionally, there has been proposed an inching amount control technique for controlling the distance (inching amount) by which the mobile machine is moved. As this conventional technology, there is a technology of driving a traveling motor for running a mobile machine for a predetermined time to move a predetermined distance, or a distance to move by inertia (coasting amount) is made constant in advance and a set inching amount is set. A technique is known in which the traveling motor is driven for a distance obtained by subtracting the coasting amount from.

[0004]

However, the above-mentioned conventional technique has a problem in that it is not possible to obtain an accurate actual inching amount for a plurality of different inching amounts. In addition, there is also a problem that the accuracy of the inching amount is reduced due to a change in mechanical characteristics such as a traveling brake or unevenness of a rail on which a mobile machine travels.

In view of the above circumstances, it is an object of the present invention to provide a movement amount control device and control method for a mobile machine, which can maintain the actual movement amount actually moved with respect to the set movement amount with high accuracy.

[0006]

A movement amount control device for a mobile machine according to the present invention for achieving the above object shows the relationship between the movement amount of the mobile machine and the coasting amount of the movement amount which is moved by inertia. A storage unit that stores the function to be expressed in advance, a setting unit that sets the moving amount of the mobile machine, and a distance corresponding to the difference between the moving amount set by the setting unit and the coasting amount based on the function. A drive means for driving the mobile machine, a computing means for computing a coasting amount of the mobile machine based on a distance traveled by the drive machine by the drive means and a distance corresponding to the difference; And a changing unit that changes the function stored in the storage unit according to the coasting amount calculated by the unit.

Here, the distance traveled by the mobile machine can be measured by a position detector using Celsin, PLG, or a range finder using laser, infrared rays, or ultrasonic waves. It may be provided in the control device. Further, a movement amount control method for a mobile machine according to the present invention for achieving the above object stores in advance a function representing a relationship between a movement amount of the mobile machine and a coasting amount of the movement amount which is moved by inertia. Every time, the movement amount of the mobile machine is set, the distance corresponding to the difference between the set movement amount and the coasting amount based on the function is driven, the mobile machine is driven, and the distance traveled by the mobile machine is measured. Then, the coasting amount of the mobile machine is calculated based on the difference between the measured distance and the difference, and the function is changed according to the calculated coasting amount.

[0008]

According to the present invention, a function representing the relationship between the moving amount and the coasting amount is stored in advance, and the moving machine is driven by the moving amount obtained by subtracting the coasting amount corresponding to the moving amount based on this function. Therefore, it is possible to obtain an accurate movement amount even for a plurality of different movement amounts. In addition, the function is changed by finding the actual coasting amount actually coasted from the actual traveling amount actually moved, so the coasting due to changes in mechanical characteristics such as the traveling brake and unevenness of the rail track on which the mobile machine travels. The change in the running amount is reflected in the function, so that the accuracy of the moving amount can be prevented from lowering.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing an embodiment of a movement amount control device of the present invention. Here, an example applied to a movement amount control device for moving a moving machine is shown. The inching amount control device 10 includes a setting machine (setting means) 12 for setting an inching amount d of the moving machine,
A memory (storing means) 14 for pre-storing a function representing the relationship between the amount of jogging of the mobile machine and the amount of coasting that moves due to inertia in the amount of jogging is provided. Further, a driving machine (driving means) 16 for driving the moving machine is provided by a distance corresponding to the difference between the inching amount set by the setting machine 12 and the coasting amount based on the relationship stored in the memory 14. There is. The driving machine 16 includes the inching amount and the memory 1 set by the setting machine 12.
4, a calculator 18 that calculates a distance corresponding to the difference from the coasting amount based on the relationship stored in FIG. 4, a motor 20 that drives the mobile machine based on the calculation result, and a traveling motor control that controls the motor 20. And a circuit 22 and further includes a distance meter 2 for measuring a distance actually traveled by the mobile machine.
4 are provided. In addition, instead of the range finder 24,
A distance meter 26 separate from the inching control device 10 may be provided. These distance meters 24 and 26 include Celsin, PL
A position detector using G, or a known rangefinder using laser, infrared rays, ultrasonic waves, or the like can be used. Further, in the inching amount control device 10, the inching amount corresponding to the difference between the inching amount set by the setting machine 12 and the coasting amount based on the relationship stored in the memory 14, and the moving machine actually inching. A calculator (calculation means) 28 for calculating the amount of jerking of the mobile machine based on the actual amount of jerking is provided. Further, a changer (changer) that changes the function stored in the memory 14 according to the inching amount calculated by the calculator 28.
30 are provided.

Next, a procedure for controlling the amount of movement of the moving machine using the above-described amount of movement control device 10 will be described with reference to FIG. First, the memory 14 (see FIG. 1) stores in advance a function representing the relationship between the amount of inching of the moving machine and the amount of coasting that moves due to inertia in this amount of inching (100). Next, the inching amount of the mobile machine is set (102), and the moving machine is driven and moved by a distance corresponding to the difference between the set inching amount and the coasting amount based on the function stored in the memory 14. (10
4). After the moving machine stops, measure the amount of inching (1
06), the distance over which the mobile machine actually coasts is calculated based on the difference between the measured inching amount and the set inching amount (10
8). The magnitude of the actual coasting amount L ′ obtained by this calculation is compared with the predetermined values α ₁ and α ₂ (110), and when the coasting amount L ′ is within the range of α ₁ and α ₂ , This flow ends. If the coasting amount L'is outside the range of α ₁ and α ₂ , it is determined whether or not the coasting amount L'exceeds α ₁ (11
2). When the coasting amount L'exceeds α ₁ , the function stored in the memory 14 is changed to another predetermined function (a ₁ · f
(D) + b ₁ ) is changed (114). When the coasting amount L ′ is less than α ₁ (that is, the coasting amount L ′ is less than α ₂ ), the function stored in the memory 14 is replaced with another predetermined function (a ₂ · f (d ) + B ₂ ) (116),
End the flow.

Next, in order to confirm the effect of the present invention, the result of the inching experiment in the stack reclaimer will be described. FIG. 3 is a graph showing the correlation between the set amount of movement and the actual amount of movement. Since the set inching amount is made into a function and the optimum travel motor drive distance is obtained, compared to the conventional method,
The error between the target amount of movement and the actual amount of movement decreased over a wide range. Further, FIG. 4 shows a change in the actual inching amount when the inching is repeatedly performed at a constant set inching amount. In the conventional method, the actual travel amount greatly changes because the coasting amount fluctuates due to the unevenness of the rail, whereas in the present invention, the actual coasting amount is obtained from the actual travel amount, and the function is changed (corrected). Since it was added, good results were obtained in which the actual inching amount was almost constant.

Although the stack reclaimer has been described in the above embodiment, the present invention is not limited to this, and can be applied to control of the movement amount of the reclaimer, the stacker, the unloader, and the moving carriage.

[0013]

As described above, according to the present invention, the correlation between the movement amount and the coasting amount is obtained and made into a function, and the actual coasting amount actually coasted is obtained from the actual movement amount actually moved. Since the function is changed, it is possible to maintain a high movement amount accuracy even with respect to a plurality of movement amount settings, changes in mechanical characteristics such as traveling brakes, and unevenness of the rail on which the mobile machine travels.
Further, since the accuracy of the movement amount is high, it is possible to reduce disturbance to the fixed amount dispensing control in the dispensing automatic operation, for example. Furthermore, since the function is automatically changed, the maintenance load can be reduced.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of a movement amount control device of the present invention.

FIG. 2 is a flow chart showing a procedure for controlling the amount of movement of a mobile machine using the amount of movement control device of FIG.

FIG. 3 is a graph showing a correlation between a set amount of movement and an actual amount of movement.

FIG. 4 is a graph showing the relationship between the actual amount of inching when the inching is repeated.

[Explanation of symbols]

 10 Jogging amount control device 12 Setting machine (setting means) 14 Memory (storage means) 16 Driving machine (driving means) 18, 28 Computing device 20 Motor 22 Traveling motor control circuit 24, 26 Distance meter 30 Change device (changing device)

Claims (2)

[Claims] 1. A storage unit that stores in advance a function that represents a relationship between a movement amount of a mobile machine and a coasting amount of the movement amount that is moved by inertia, and a setting unit that sets the movement amount of the mobile machine. And driving means for driving the mobile machine by a distance corresponding to the difference between the travel distance set by the setting means and the coasting distance based on the function, and the distance traveled by the drive machine by the drive means. And a calculation unit that calculates the coasting amount of the mobile machine based on the distance corresponding to the difference, and the function stored in the storage unit is changed according to the coasting amount calculated by the calculation unit. And a moving amount control device for a mobile machine. 2. A function that represents the relationship between the movement amount of the mobile machine and the coasting amount of the movement amount that is moved by inertia is stored in advance, the movement amount of the mobile machine is set, and the set movement amount is set. And a distance corresponding to the difference between the coasting amount based on the function, driving the mobile machine, measuring the distance traveled by the mobile machine, and moving based on the difference between the measured distance and the difference. A movement amount control method for a mobile machine, which comprises calculating a coasting amount of a machine and changing the function according to the calculated coasting amount.