JPS58163296A - Mutual operating device for plurality of direct current motors - Google Patents

Abstract

PURPOSE:To decrease the number of controlling parts, and to simplify constitution by sharing one part of chopper controllers for a plurality of the DC motors. CONSTITUTION:One terminal of the field coil F1 of the motor M1 is connected to a positive line 7 and the other terminal to a negative line 8, and one terminal of the field coil F2 of the motor M2 is connected to the positive line 7 and the other terminal to the negative line 8. A common arm A2 constituted by transistors TM1, TM2 is an arm determining the directions of rotation of the motors M1, M2, an arm A1 constituted by transistors T1, T2 determines the direction of rotation of the motor M1 while being worked as a chopper when the motors are turned mutually, and an arm A3 consisting of transistors T3, T4 decides the direction of rotation of the motor M2 while being worked as a chopper when the motors are turned in the opposite direction. The transistors TM1, TM2 and diodes DM1, DM2 are shared by the motors M1, M2.

Description

[Detailed Description of the Invention] The present invention relates to a storm filter electric excitation ridge O-phase jLJw control device for a ground mobile vehicle such as a single-person railway transport vehicle using a direct-coupled electric motor system of HIRO-WR. Ru0 In general, people who use batteries as electric power*! The console is equipped with one or more DC motors as its main source, but one
In the case of one DC motor, the speed of the left and right running wheels is controlled independently, which makes the power transmission device complicated and expensive.Also, when driving multiple DC motors with tire control, the number of O-chips equal to the number of motors is required. The P1 control device, which requires a large number of control parts and has a large number of control parts, is complex and has maintenance problems.◎ The present invention is useful when controlling multiple DC motors in a ground moving vehicle such as an automatic guided vehicle. By sharing some O-control m circuits, the number of parts can be reduced, and it can also be used for multiple purposes. I11
The present invention provides an efficient and economical mutual operation device for multiple DC motors.

An embodiment of the present invention #1 will be described based on Figure El.

In Fig. 1, 1 is the body of an automatic guided vehicle, which is equipped with one driven wheel 2 that can freely turn and two running wheels 3.4, and each running wheel is equipped with a separate DC electric motor (hereinafter simply referred to as an electric motor) Ml, MJ.
It is driven by I via p-reduction devices 5 and 6.

In the embodiment shown in FIG. 2, 7 and 8 are positive and negative electrical circuits connected to the battery 1, and one terminal a1 of the motor MIO11 magnetic coil 11 is connected to the positive electrical circuit 7, and the other terminal bl is connected to the positive electrical circuit 7. One terminal am of the field coil 1 of the motor M corridor is connected to the positive current path 7, and the other terminal bg is connected to the negative current path 8.
Connect to A1. Lazy.

8 has S arms and each arm has a power)? /X#Tl and Tg, 'f'Ml t'l'Mj and TJ
I and T4 are connected in series, and both ends of each arm 1 to arm So are connected to a positive and negative electric circuit 7.8. Dl and D death, DMI and 11
and D3 and D4 are diodes, diodes Dl, D
M1. Connect D3 to the positive current path 7 and the midpoint 0 of each transistor arm O.
1. ox and os respectively in antiparallel, and diodes DJ1. DMjl.

D4, negative current path 8, and the midpoint of each transistor arm 01.0
g, OHK are connected in antiparallel to each other, and the electric motor Ml and terminal A1 of the electric motor 1 are connected between the transistor arm O middle point O1 and the middle point O1 and between the middle point 0 and aS, respectively. p
Connect l to terminals p, g, and j of the armature of motor MR.

One embodiment of the present invention has the above-described configuration 9, performs the following operations, and operates the electric motor M1. Controls the speed, rotation direction, torque, etc. of Mli1.

Transistor τM1. The common arm 1 p*s4 by TM5B is the electric motor M1. 31. An arm that determines the direction of rotation of Ml. ) transistor T1. T! The idle arm consisting of the motor M1 determines the direction of rotation of the electric motor M1, and when it reverses itself, it is used as an adventure, and the transistor T8. The arm M1 consisting of T4 determines the direction of rotation of the electric motor M1, and when the motor M1 rotates in opposite directions, the tortoise splatters.

(1) When driving two electric motors in normal rotation, transistor T
Turn on MI and turn on transistors T1 and τJ$0 each
120 signals of varying pulse width and period are applied individually between the vines and the vines, and the electric motor M1.M
The speed of motor R is controlled individually◎In this case, motor M1. M
The electric currents z and xtt flowing through jlK follow the path shown by the arrow in Fig. S. If the signals applied to transistors Tl and TJI are of the same value, the automatic guided vehicle moves straight.

Unmanned forging vehicle t'flf always transfers 1gr to the right or left IgIp
In this case, the transistor τ1. Ti! By applying a signal according to the rotation speed of the wheel to the motor MI and controlling the
O rotation electric motor M80 rotation & (right side p)#
) # (Turn to the left) You can cut the curve gently and slowly 〇 Transistor T1
．． It is also possible to use a rat switch and activate the transistor TMgf.

(2) Transistor T when driving two motors in reverse
Turn on MI, control the motor M1 and T4 in the same manner as described above, and turn on motor M1 in the same manner as in the case of forward rotation.
And MffiO speed is 11! control each part. Figure 4 shows OX flow 1° and 2 in the case of reverse rotation. Note that the transistor T
ffi, a T4f switch, and the transistor TMI can be operated as a chip.

(5) When one electric motor is rotated in the forward direction and the other is rotated in the reverse direction, the transistor JIIT1. T4t attack control and 5th
As shown in the figure, the electric motor 41M1 suddenly rotates in the forward direction, the electric motor MR rotates in the reverse direction, spins around, and runs at right angles, causing heat. Similarly to the transistor mentioned above.

If you hit T4, it will spin and turn in the opposite direction.

(4) When driving one motor and braking the other 01 When motor M is rotated in the normal direction and motor Ml is to be braked from normal rotation, the transistor T1 is turned off from the circuit shown in Fig. 6, and τ1 is When turned on, the power #IIMj is turned on as shown in Figure 6.
The electric current 2 flows in the driving state, and it is electric! IMIC) The armature circuit becomes a short circuit and the current ML flows, and during the period when the transistor T1 is on, dynamic braking is performed and Jl,) During the period when the rungis 11 is off, TM is idle → M l − $ D The current xM1' is passed through the circuit l-*B, and regenerative braking is applied to the electric motor.

In addition to the Drum K1mg light, it is possible to operate in other modes with each 'jlio combination.

In each of the above cases (1) to (4), the diode D1
~ D4, DMl, and DMg create a circuit that releases the energy stored in the armature coil at the moment the transistor is turned off. They smooth the p1 current and serve as elements of the discharge circuit during dynamic braking. p1 It becomes an element of the regenerative power return circuit during regenerative braking.

The above describes one embodiment of the present invention regarding an automatic guided vehicle; however, the present invention is not limited to this embodiment, and may be modified by design changes within the gist of the invention. According to the present invention, I is a part of a drive control device for a plurality of DC motors, and in this embodiment, transistors TM1. TMJi
l and diode DM1. Since the DMR is shared by each electric motor, the number of control parts is small), so the configuration is simple, the maintenance is easy, and it is possible to provide a multi-purpose and economical interoperating device.

[Brief explanation of drawings]

Figure 1 is a plan view of an automatic guided vehicle, Figure 2 is a diagram showing an embodiment of the present invention, and Figure 2 is a diagram showing an embodiment of the present invention. Figures i to 7 are theory #1 diagrams for four operating modes. 7 is the positive current path, 8 is the negative current path, 1 is the battery, and Ml and M
l is a DC motor, 11 and IR are its field coils, and mu1~
3 is the transistor arm, 01~Qs is its midpoint T
INT 4 and TMl, TMJI line transistor, 131
~D4, DMI, and DMg are diodes0 Patent applicant Hitachi Kiden Kogyo Co., Ltd. Kinsha Patent applicant
Yoshihisa Hirane II Evening Map IIIA Figure 5'' Figure 1811g Showa, Gun year 0 month?Japanese Patent Application 1972-2 2, Title of invention 3, Relationship with amended person's case Patent applicant Name Hi Tadeki Den Hitachi Kiden Kogyo Co., Ltd. (1 other person) 4. Agent 1. Showa year, month, day 6. Number of inventions increased due to amendment 1. Corrected as "TaJThrTδ" in line 5 of Akira M Sai 6 Tei O zn￥1 page 17th line “Tag −+J To h t
rDMg-J To Correction Suゐ04 Same No. 8 Tei 1st line says ``Figures 5-7'' t ``3-6''
"Fig." is corrected. 4 Drawing middle part 6 @ is corrected as shown in the attached sheet.

Claims (1)

[Claims] 2il transistor connected to the battery!
Connect 5 transistors arranged in series by 1, and connect 31i to 14KIiI with a diode at the positive and negative 01 and a diode at the midpoint of each transistor arm! Next, one of the five O transistor arms is used as a common arm, and its O middle point is connected to the other 02 arm O middle point O threshold KIIC RYUDENTO-otm child, and the common arm OF transistor 01 is used as a base. The device was installed on the 411f soul 4 of the customary Menjo Densakurei, which slowly slows down the 龜處电JIIIO raising coil so that the two 0tILIIL electric machines turn in the same direction.