JPS5642808A - Control system for shift velocity pattern of cargo-handling machine - Google Patents

Abstract

PURPOSE: To ensure a control to give a stoppage to the machine at the desired position in the shortest distance of run and in the lowest speed, by calculating both the deceleration position and the error of stoppage which are used in the t-1st shift and then giving a correction to the t-th deceleration position.

CONSTITUTION: The shift velocity pattern deciding part 68 gives a decision to the plus or minus of the data Nk(t)-Nj(t) of the lowest velocity shift distance memory part 66. And in the case of the plus, a comparison is given between the pulse number to the absolute value and the fluctuation set value E₂ and the count error sum Ne₂ equivalent to one pulse which is generated necessarily. And in case when the error is larger, the one-preceding pulse Ni(t-1) is used as it is for the pulse number Ni(t) up to the deceleration position. While in case when the error is smaller, the Ni(t) is decided by a calculation. And in the case of the minus or zero, the Ni(t) decided through a calculation is adopted as the deceleration position. As shown in the figure B, in case when the position is run over again to be stopped owing to an over-correction, an automatic positioning is given at the desired position in the lowest speed by the control of the running shift control part 71.

COPYRIGHT: (C)1981,JPO&Japio