JPH1118204A - Method and device for controlling traveling device using non-contacting feeding system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make a traveling body maintain its operations by quickly correcting a voltage drop, even when a voltage drop is caused by an overload, etc. SOLUTION: A motor 9 which is mounted on a carrying truck as a drive source is controlled by means of a motor control means 20. The control means 20 is provided with a power-receiving and rectifying means 21, a voltage- detecting means 22, a rotating speed computing means 23, a motor-driving means 24, and a present speed calculating means 25 and a pickup coil 12, the motor 9, and an encoder 9a are respectively connected to the means 21, 24, and 25. When the detected voltage value of the motor 9 becomes an appropriate voltage value while the motor 9 is operated at a specific rotating speed, the rotating speed computing means 23 finds the ratio of the detected voltage value of the motor 9 with respect to an appropriate voltage value, computes a corrected rotating speed which is lower than the specific rotating speed according to the ratio found, and outputs a control signal to the motor drive means 24 so as to operate the motor 9 at the corrected rotating speed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving apparatus, such as a monorail type conveying apparatus, which moves a moving body along a track by driving a motor. The present invention relates to a method for controlling a mobile device using a non-contact type power supply system and a device therefor.

[0002]

2. Description of the Related Art Conventionally, there have been known various types of monorail-type transfer apparatuses that allow a transfer trolley to travel while supplying electric power from the outside to a transfer trolley (moving body) for transporting articles running along an elevated monorail. In recent years, a method has been proposed in which power can be supplied to a transfer device in a non-contact manner as a device that can prevent dust or sparks from being generated due to wear at a sliding contact portion. I have.

In this device, a power transmission line is arranged along a rail track on which a moving body travels, and the transmission line is connected to a power supply so that a high-frequency current flows through the transmission line. A pickup unit having a power receiving coil,
A rectifier connected to the coil, a power converter connected to the rectifier and adjusting the output to a predetermined voltage, and the like are provided, and a dielectric electromotive force corresponding to a high-frequency current flowing through the transmission line is generated in the pickup coil. Thus, the power is supplied to the driving motor via the rectifier and the power converter.

[0004]

By the way, in this type of monorail type transfer apparatus which supplies power to the transfer apparatus in a non-contact manner, there is a limit to the power supplied to the power receiving side determined by the capacity of the pickup coil. Therefore, it has the following problems to be solved.

[0005] That is, in this type of monorail type transport device, a handling device for holding luggage is mounted on a transport trolley so as to be able to move up and down, and this is operated by a motor drive. When the handling device is moved up or down or the transporting trolley is moved while holding the load, an overload occurs, which may consume more power than the power supplied to the transporting trolley and cause a voltage drop. At this time, the control power may be cut off to reset the operation control of the transport vehicle. In such a case, the transport operation is interrupted and the transport operation is hindered.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problem. In a moving apparatus which supplies electric power to a moving body operated by a motor as a driving source in a non-contact manner, the present invention provides It is an object of the present invention to provide a control method of a mobile device using a non-contact type power supply system and a device capable of continuing the operation of the mobile body by quickly correcting the voltage drop even if the voltage drop occurs, and an object thereof.

[0007]

According to a first aspect of the present invention, there is provided a control method, wherein a high-frequency current is caused to flow through a transmission line arranged along a track so that a movable body moving along the track is induced by a dielectric force. In a moving device that generates electric power and adjusts the voltage to a predetermined voltage to operate a driving motor of a moving body, a voltage value output to the driving motor is detected, and the detected voltage value and the appropriate voltage value are detected. Are compared, and when the detected voltage value is lower than the appropriate voltage value, the motor is controlled so as to decrease the rotation speed of the drive motor.

According to this method, when the ratio of the detected voltage value to the proper voltage value decreases, that is, when a voltage drop occurs, the voltage drop is suppressed by lowering the rotation speed of the drive motor to reduce power consumption. Is done. Therefore, when a voltage drop occurs due to an overload or the like, it is possible to effectively avoid occurrence of a situation in which the power supply is cut off and the operation of the moving body is interrupted. In this case, the power consumption depends on the torque and the rotation speed of the motor, but by reducing the rotation speed, the power consumption can be reduced without reducing the torque.

In this method, it is preferable that the rotational speed of the drive motor is reduced according to the ratio of the detected voltage value to the appropriate voltage value.

When the rotational speed of the drive motor is reduced as described above, the operating speed of the moving body is reduced. However, if the rotational speed is reduced in accordance with the above ratio, power interruption is prevented. The movement of the moving body can be performed at as high a speed as possible.

According to a third aspect of the present invention, a transmission line for flowing a high-frequency current is arranged along a track, and a moving body moving on the track generates an induced electromotive force by the high-frequency current. In a moving device including a power receiving device that adjusts an output to a predetermined voltage and a drive motor connected to an output side of the power receiving device, a voltage detecting unit that detects a value of a voltage output from the power receiving device; Comparing the appropriate voltage value with the detected voltage value, and when the detected voltage value is lower than the appropriate voltage value, correcting the rotation speed to be lower than a specified rotation speed according to a ratio of the detected voltage value to the appropriate voltage value. It comprises a rotation speed calculating means for calculating a rotation speed, and a motor drive means for controlling the drive motor to operate the drive motor at the determined corrected rotation speed.

According to this device, the method according to claim 1 or 2 can be performed.

In this apparatus, the rotation speed calculating means may calculate the corrected rotation speed by further taking into account a safety factor for lowering the rotation speed of the drive motor at a constant rate when calculating the corrected rotation speed. It is preferable that it is comprised (claim 4).

According to this device, since the rotation speed of the drive motor can be reduced to a speed having a sufficient margin, the interruption of the operation of the moving body due to the power interruption can be more reliably prevented.

[0015]

Embodiments of the present invention will be described with reference to the drawings.

FIGS. 1 and 2 schematically show a monorail type transfer device as a moving device according to the present invention.
In these figures, reference numeral 1 denotes a monorail, which is disposed in an elevated state in a factory or the like and supported on a ceiling portion via a bracket 2.

A transmission line 4 is arranged on one side of the monorail 1. The transmission line 4 is connected to the power supply device 5 at one end of the monorail 1 and is attached to the side surface of the monorail 1 via a hanger 1a in a state of being folded at the other end of the monorail 1 to form a loop.

On the monorail 1, a carrier 3 is movably supported. The transport vehicle 3 includes a traveling wheel 6 that rolls on the monorail 1, guide rollers 7 that abut on upper side surfaces, lower side surfaces and a lower surface of the monorail 1.
8 and a motor 9 for driving the running wheels 6 and the like, and a power receiving device 30 to which power is supplied from the transmission line 4 by electromagnetic induction. The power receiving device 30 includes a core member 11 made of a magnetic material and having an E-shaped cross section, and a pickup coil 12 wound around a central protruding portion 11a of the core member 11, and is disposed on the monorail 1. It is provided so as to correspond to the transmission line 4. When an alternating current flows through the transmission line 4, the core member 11
Is generated as a magnetic path, and an electromotive force due to electromagnetic induction is generated in the pickup coil 12, and this is generated by the power receiving device 3.
0 is supplied to the motor 9 via a power receiving unit 31 and a cart control unit 32.

The carriage 3 is further provided with a handling device 14 for holding various kinds of luggage, which is connected to the carriage 3 via a belt 15 in a suspended state. The belt 15 is wound around a drum 16, and the handling device 14 is moved up and down in response to the belt 15 being led out and wound up by the rotation of the drum 16. Although illustration is omitted, the drum 16
It is connected to the motor 9 via a clutch means including a belt transmission mechanism and the like and an electromagnetic clutch and the like, and a state in which a rotational force is transmitted to the drum 16 in accordance with on / off switching of the clutch means, and a state in which the drum 16 is disconnected. It can be switched to.

The running wheels 6 are also connected to the motor 9 via clutch means such as an electromagnetic clutch, and torque is transmitted to the running wheels 6 in accordance with the on / off switching of the clutch means. It can be switched between a state and a state to be shut off. Further, a braking means (not shown) such as an electromagnetic brake is provided for the drum 16 and the traveling wheels 6.

FIG. 3 is a block diagram showing a control system of the motor 9.

As shown in FIG. 1, the carriage 3 is provided with a motor control means 20. The motor control means 20 includes a pickup coil 12, a motor 9, and an encoder 9a provided integrally with the motor 9. Etc. are connected.

The motor control means 20 is provided with a power receiving / rectifying means 21, a voltage detecting means 22, a rotational speed calculating means 23, and a motor driving means 24, which are connected to one another in this order, Means 25 is provided, which is connected to the rotational speed calculating means 23. The pickup coil 12, the motor 9, and the encoder 9a are connected to the power receiving / rectifying unit 21, the motor driving unit 24, and the current speed calculating unit 25, respectively.

The power receiving / rectifying means 21 rectifies the electromotive force generated by the electromagnetic induction generated in the pickup coil 12 and adjusts and outputs the voltage to a predetermined DC voltage. The voltage value output from the means 21 is detected and output to the rotation speed calculating means 23. The current speed calculating means 25 calculates the rotational speed of the motor 9 based on the encoder pulse output from the encoder 9a, and outputs the calculated rotational speed to the rotational speed calculating means 23.

The rotation speed calculating means 23 normally sets the rotation speed based on a preset control pattern, and on the other hand, an appropriate voltage value (a voltage value which should normally be output from the power receiving / rectifying means 21). V ₀ ) and the voltage detecting means 2
Compared detected voltage value by 2 and (V _1), if the detected voltage value than the appropriate voltage value (V ₀₎ (V ₁₎ is lower,
The correction rotational speed N of the motor 9 is calculated to correct the imbalance between the supply power and the power consumption.

Specifically, assuming that the specified rotational speed of the motor 9 is N ₀ and the safety factor is K based on a preset control pattern, the detected voltage value (V ₁ ) is appropriate. if it becomes lower than the voltage value (V _0), the ratio of the proper voltage value detected voltage value with respect to _{(V 0) (V 1)} X
According to (V ₁ / V ₀ ), the corrected rotation speed N is calculated based on the following equation.

[0027]

N = (X−K) N ₀ Note that the safety factor K is a constant for reducing the rotation speed of the motor 9 at a constant rate.

The motor driving means 24 directly controls the driving of the motor 9 by controlling the current and the voltage supplied to the motor 9. When the corrected rotation speed is obtained by the rotation speed calculating means 23, , The drive of the motor 9 is controlled to operate at this rotational speed.

FIG. 4 shows a specific circuit configuration of the power receiving device 30. As shown in FIG.
A power receiving unit 31 that rectifies the induced electromotive force generated in the pickup coil 12, adjusts the voltage to a predetermined voltage, and outputs the rectified voltage, and a trolley control unit 32 that controls the transport trolley 3 are provided.

The power receiving unit 31 includes the power receiving / rectifying means 21.
Power receiving circuit 35 and rectifying circuit 36, voltage detecting circuit 37 as voltage detecting means 22 and A / D converter 3
8, a CPU 39 for generally controlling the power receiving unit 31 and the like are included. The pickup coil 12 is connected to the power receiving circuit 35, and the induced electromotive force generated in the pickup coil 12 is rectified and adjusted to a predetermined voltage, and the voltage detection circuit is configured to input a signal indicating the voltage value to the CPU 39. 37 are connected to each other.

The carriage control unit 32 includes a transport carriage 3
, And an amplifier 41 and an inverter 42 serving as the motor driving means 24. The CPU 40 controls the CPU 39 of the power receiving unit 31.
And the inverter 9 is connected to the motor 9. And CP
By controlling the inverter 42 by the U 40, the current and voltage supplied to the motor 9 are controlled, and the output current and the like from the inverter 42 and the command value from the CPU 40 are compared to output current and the like from the inverter 42. Feedback control.

In the CPU 40, the power receiving unit 3
Information about the voltage value input to the first CPU 39 and C
The above-described voltage drop is detected from the information on the appropriate voltage value stored in the PU 40. If the voltage drop has occurred, the voltage drop is detected based on the specified rotation speed of the motor 9 and the information on each of the voltage values. A command value for motor control is corrected and output. That is, these CPs
The rotational speed calculating means 23 and the current speed calculating means 25 are constituted by U39 and U40.

Next, an example of the drive control of the motor 9 in the carrier 3 will be described with reference to the flowchart of FIG.

For example, while the transport vehicle 3 is running or the handling device 14 is moved up and down, the rotation speed calculating means 23 is used.
In the detected voltage value (V ₁₎ it is determined whether the proper voltage value (V ₀₎ above, when more than the detected voltage value (V ₁₎ proper voltage value (V ₀₎ is based on the control pattern defined by the rotational speed N ₀ outputs a command signal for driving the motor 9 (step S1, S9).

[0035] If NO in step S1, that is, when the detected voltage value (V ₁₎ proper voltage value (V ₀₎ is lower than the detected voltage value to the proper voltage (V ₀₎ of (V ₁₎ The ratio X is calculated, and the detected voltage value (V ₁ ) becomes the proper voltage value (V ₀ )
It is determined whether or not it is in the range of 90% or more and less than 100% (step S2). If it is within this range, the specified rotation speed N is set as the rotation speed in consideration of the safety factor K.
_The rotational speed is corrected to drive the motor 9 at a rotational speed of 80% of ₀ , a command signal is output, and the process returns to step S1. (Step S10).

If NO in step S2, that is, if the detected voltage value (V ₁ ) is 90% or more of the proper voltage value (V ₀ ) 100
%, The detection voltage value (V
It is determined whether or not ₁ ) is in the range of 80% or more and less than 90% of the appropriate voltage value (V ₀ ), and if it is within this range, the rotation speed is calculated as the rotation speed in consideration of the safety factor K. outputs a command signal to drive the motor 9 in 70% of the rotational speed of N _0, the process returns to step S1 (step S
3, S11).

Similarly, if NO in step S3,
Further, the detected voltage value (V ₁ ) is set to 70% of the appropriate voltage value (V ₀ ).
It is determined whether or not the motor speed is in the range of not less than 80% and less than 80%, and if it is within this range, the motor 9 is controlled at a rotation speed of 60% of the specified rotation speed N ₀ as a rotation speed in consideration of the safety factor K. A command signal is output to drive, and the process returns to step S1 (steps S4, S12).

If the answer is NO in step S4,
Assuming that the voltage required to operate the motor 9 is substantially insufficient, the driving of the motor 9 is stopped, and the transport vehicle 3 is set in the vehicle lock mode, for example, the traveling brake and the lifting / lowering of the handling device 14 in the transport vehicle 3 are performed. A mode for operating the brake is set, and an abnormal state mode is set, for example, such as stopping the carrier 3 approaching the carrier 3 (steps S5 to S7). And
LEDs on the control panel of the monorail transport device
Is turned on or the like to notify the operator of the abnormality (step S8), and the flow chart ends.

As described above, in the monorail type transport apparatus, the detected voltage value (V ₁ ) is compared with the appropriate voltage value (V ₀ ), and the detected voltage value (V ₁ ) is adjusted to the appropriate voltage value (V _0). ), That is, when a voltage drop occurs, the rotation speed of the motor 9 is reduced according to the ratio of the detected voltage value (V ₁ ) to the appropriate voltage value (V ₀ ). Accordingly, it is possible to effectively prevent the power supply itself from being cut off, and thereby resetting the operation control of the transport vehicle 3.

That is, the power consumption of the entire carrier is:

[0041]

## EQU2 ## VI = TN + V'I'V; supply voltage I; current consumption of the entire carriage T; rotation force (torque) of motor 9; motor rotation speed V '; control voltage I'; current consumption for control Here, the power consumption for control (V'I ') is sufficiently smaller than the power consumption (VI) of the entire transport vehicle and can be ignored. Therefore, the power consumption of the entire transport vehicle is

[0042]

## EQU00003 ## It is possible to set VI = TN.

Here, since the current consumption I of the entire carriage is proportional to the rotational force T of the motor 9, when a voltage drop occurs, the rotational speed N of the motor 9 is reduced to reduce the voltage drop. Can be corrected.

Therefore, according to the above-mentioned monorail type transfer apparatus, even if a voltage drop occurs due to an overload of the motor 9 or the like, this can be quickly corrected, and as a result, the traveling of the transfer carriage 3 Although the speed or the elevating speed of the handling device 14 is slightly reduced, it is possible to effectively avoid occurrence of a situation in which the power is cut off and the work is interrupted.

In controlling the motor 9 as described above, as shown in the above equation ( ₁ ), the corrected rotation speed N is adjusted according to the ratio X of the detected voltage value (V ₁ ) to the appropriate voltage value (V ₀ ). Although the calculation is performed, for example, the ratio X
Irrespective of this, the rotation speed of the motor 9 may be reduced by a fixed speed. However, in this case, it is conceivable that the traveling speed or the like of the transport trolley 3 may be reduced more than necessary. Therefore, when the transport efficiency and the like are considered, the corrected rotation speed N is calculated according to the ratio X as described above. However, it is desirable that the reduction of the traveling speed of the transport vehicle 3 or the like is thereby minimized.

[0046]

As described above, according to the present invention, a high-frequency current is caused to flow through a power transmission line disposed along a track to cause a moving body moving along the track to generate a dielectric electromotive force. In a moving device that adjusts the voltage to a predetermined voltage to operate the driving motor of the moving body, a voltage value output to the driving motor is detected, and the detected voltage value is compared with an appropriate voltage value to perform detection. Since the motor is controlled so as to reduce the rotation speed of the drive motor when the voltage value is lower than the appropriate voltage value, even if a voltage drop occurs due to an overload or the like, this can be quickly corrected. Therefore, it is possible to effectively avoid occurrence of a situation in which the power supply is cut off and the operation of the moving object is interrupted.

In particular, if the rotation speed of the drive motor is reduced in accordance with the ratio of the detected voltage value to the appropriate voltage value, the moving body operates at as high a speed as possible within a range where the power supply can be prevented from being shut off. Can be performed.

[Brief description of the drawings]

FIG. 1 is a schematic diagram showing an example of a moving device (monorail type transport device) using a non-contact type power supply system to which the present invention is applied.

FIG. 2 is a sectional view of a main part of the moving device (monorail type transport device).

FIG. 3 is a block diagram showing a control system of the transport vehicle.

FIG. 4 is a circuit diagram showing a specific configuration of a power receiving device mounted on a transport trolley.

FIG. 5 is a flowchart illustrating an example of motor control in the transport vehicle.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Monorail 3 Carriage 6 Running wheel 9 Motor 9a Encoder 12 Pickup coil 20 Motor control means 21 Power receiving / rectifying means 22 Voltage detection means 23 Rotation speed calculation means 24 Motor drive means 25 Current speed calculation means

Claims (4)

[Claims] 1. A high-frequency current is applied to a transmission line arranged along a track to generate a dielectric electromotive force in a moving body moving along the track, and the dielectric electromotive force is adjusted to a predetermined voltage so as to adjust the moving body. In the moving device that operates the drive motor, the voltage value output to the drive motor is detected, and the detected voltage value is compared with the appropriate voltage value. When the detected voltage value is lower than the appropriate voltage value, A method for controlling a mobile device using a non-contact power supply system, wherein the motor is controlled so as to reduce the rotation speed of a drive motor. 2. The method according to claim 1, wherein the rotation speed of the drive motor is reduced according to a ratio of the detected voltage value to the appropriate voltage value. 3. A power receiving device for arranging a transmission line through which a high-frequency current flows along a track, and causing a moving body moving on the track to generate an induced electromotive force by the high-frequency current to adjust the output to a predetermined voltage. And, in a moving device including a drive motor connected to the output side of the power receiving device, voltage detecting means for detecting a value of a voltage output from the power receiving device;
Comparing the appropriate voltage value of the output voltage with the detection voltage value,
A rotation speed calculating means for calculating a corrected rotation speed lower than a prescribed rotation speed in accordance with a ratio of the detected voltage value to the appropriate voltage value when the detected voltage value is lower than the appropriate voltage value; A control device for a mobile device using a non-contact type power supply system, comprising: a motor driving means for controlling the driving motor to operate the driving motor at a rotation speed. 4. The rotation speed calculating means is configured to calculate the corrected rotation speed in consideration of a safety factor for lowering the rotation speed of the drive motor at a constant rate when calculating the corrected rotation speed. A control device for a mobile device using the non-contact power supply system according to claim 3.