JPS58212303A - Controlling method of travelling speed of linear motor driven truck - Google Patents

Abstract

PURPOSE:To enable to stably make a truck travel at a low speed by detecting the travelling speed of the truck by a photodetector, comparing the speed with a set speed, and controlling the supply voltage to the coil of the linear motor in response to the deceleration of the travelling speed. CONSTITUTION:A travelling speed detecting means A which detects the travelling speed of a truck 2 consists mainly of a detector 6 provided on the truck 2, speed detectors SW1, SW2... such as a plurality of photoelectric switches provided along an orbit 1 (which is hereinafter termed ''SW'') and a controller B connected to the detectors SW. The controller B compares a detection speed signal delivered from the detector SW with a reference speed signal, switches the applied voltage to motor coils LM1, LM2... to control the truck 2 to the reference speed to high or low voltage, applies it, and simultaneously switches the voltage applying time to the motor coils LM1, LM2. In this manner, since the speed can be controlled, the track may be travelled at the prescribed stable speed.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for controlling the traveling speed of a traveling truck using a linear motor.

Generally, the method of moving the trolley using a linear motor is as follows:
It is characterized by the fact that there is no need to supply power to the trolley, and there is no need for moving parts such as power supply cables, but although it is suitable for high-speed operation because the synchronous speed is usually fast, low-speed operation is difficult.
Not commonly used. Also, when using it for low speed operation, simply y = primary side of the amotor (stator coil side)
However, it is difficult to perform stable low-speed operation due to changes in the load loaded on the traveling platform, so 4S
It has drawbacks such as limited range of application.

The invention was made in view of this point, and the traveling speed of the traveling bogie is detected by a magneto-optical switch, etc., and compared with the set speed, the supply voltage to the linear motor coil is controlled depending on the slowing of the traveling speed. In particular, the purpose is to ensure stable low-speed running.

The following description will be made based on the embodiment shown in the misfire #4 plan drawing.

In the figure, a bogie 2 is mounted on the track 1 so as to be freely movable, and a first linear motor is installed along the track 1 between the two stations 85°4 and the two stations at both ends of the track 10.
．． Second. Third. Fourth motor coil LMI. LM2. L
M3. LM4 (the figure shows the case of four, hereinafter collectively referred to as simply LM) is deployed.

The trolley 2 has a length suitable for loading cargo, and has a Tft
lS&c is provided with a secondary conductor 5 of the near motor that extends approximately over the entire length of the truck 2. The respective installation intervals of the respective motor coils LM are arranged to be equal to or slightly smaller than the length of the secondary conductor 5,
The trolley 2 is made to travel back and forth along the track 1 by sequentially energizing the motor coil LM.
A plurality of M can be provided in parallel depending on the required thrust.

A is a running speed detection means for detecting the running speed of the trolley 2;
1st, 2nd, etc. speed detectors SW1, such as a detection body 6 provided on the trolley 2 and a plurality of photoelectric switches provided along the track 1. SW2... (The illustrated example shows a case where there are four, hereinafter simply referred to as SW when referring to the total control) and the control device B connected to the speed detector SW, and is constructed as a metal main body.

The detection body 6 has approximately the same length as the truck 2, is attached to the truck 2 in the traveling direction, and has cut grooves 7 at regular pitches on the lower surface.
is engraved, and as the trolley 20 travels, a speed detector SW such as a photoelectric switch emits a pulse number per unit time corresponding to the traveling speed of the trolley 20, that is, a frequency (hereinafter referred to as a detected speed signal). The speed detectors SW are arranged at short intervals as long as the length of the detection body 6. The control device B determines the amount of force for moving the truck 2 forward and backward, and controls the speed detector SW. Standard detection speed signal
The voltage applied to the motor coil LM is switched between high voltage and low voltage in order to regulate the bogie 2 to the standard speed by comparing with the speed signal, and at the same time, the voltage application timing to each motor coil LM is switched. It was made into
FIG. 4 shows its block circuit diagram.

That is, the Nf control device Bl: includes a forward/reverse command circuit 10 that determines the traveling direction of the truck 2, and a position detection circuit that detects the position of the truck 2 and selects a voltage to apply to the required motor coil LM. A switching circuit 12 and a speed detector 1 that compares the set speed and the bogie running speed and determines whether the applied voltage is high or low.
5 and a voltage setting device 120.

The figure shows an example in which two linear motor coils LM are arranged in parallel as a pair, and the linear motor coil LMI t;j: linear motor coil LMI1
．． LM12, linear motor coil LM2 and linear motor coil LM21. ．． LM22 (hereinafter the same J
Each linear motor coil and voltage setting device 20 are configured by forward/reverse switching switches MC1 and MC2.
, MC3, MC4 and other changeover switch groups MCt-mediated.
and are connected. However, MCFL, MCF2 ・
... are forward switching contacts, MCR1゜MCR2... are reverse switching contacts.

The forward/backward command circuit 10 includes a forward command means FC and a reverse command means RC, and each command signal is sent to each speed detector SW.
Different detection speed signals and AND circuits 11a, 11b...
11c... is applied to the position detection switching circuit 12.

The position detection switching circuit 12 includes the respective AND circuits 1
A forward position detecting element F1 detects the position and traveling direction of the bogie 2 by being printed through 1a, 11b, . . .
．． F2. F3. F4 and reverse position detection elements R1, R2,
R3, R4 and ilJ switching switches, a selection power source switching means 12af for selecting and switching the first group MCt are provided.

However, Fl is an n1J position detection element operated by the detected speed signal from the speed detector SW1 and a command signal from the forward command means FC of the forward/reverse command circuit 10, and the OR circuit 15
The detected speed signals from the speed detectors S and Wl are applied to the speed detector 15 through the speed detectors S and 14t, and the forward/reverse switches MC1, MC2, . . .・It is designed to be activated selectively.

Below is the forward position detection element F2. F3. The reverse position detecting elements R1, R2, .

Reference numeral 16b is an OR circuit which, together with the OR circuit 13M, is configured to preferentially pass a signal current applied later, for example, when a detected speed signal from the forward position detection element F1 is applied. , the detected speed signal from the forward position detecting element F2 applied later is passed with priority, and the detected speed signal from the forward position detecting element F1 applied first is prevented from passing. It is.

Further, the final forward position detection element F4 and the rearward position detection element R4 actuate the selection power supply switching means 128, and all the forward/reverse changeover switches MC1,
MC2... is opened.

Furthermore, in this embodiment, the selective power supply switching means 1
2ae Valley forward position detection element F1. F2..., reverse position detecting element RI, R2... are provided separately, but this is a group of forward/reverse changeover switches in the same manner for each of the forward position detecting element and reverse position detecting element. It is of course possible to have a switching hand for the MC [1-6,
The speed detector 15 compares the number of pulse signals per time of the photoelectric switch SW with the number of pulses per time corresponding to a predetermined speed set in advance, and detects the pulses of the detected speed signal applied. When the number/time is smaller than the set pulse number/time, the speed increase detection element H is activated, and when it is larger, the speed increase detection element H is activated, and each output signal is set to the voltage setting device 20. applied.

The voltage setting device 20 is an upper limit voltage setting means VRI.

A lower limit voltage setting means VR2 is provided, and the minimum low voltage for maintaining stable low-speed running of the bogie or the starting voltage of the bogie is set for each motor coil LM based on the output signal from the speed detector 15. It is a precaution to select and output a higher voltage than the above.

In the diagram, 16 is an OR circuit, 17 is a NOT circuit, and 18 is an A
It is an ND circuit.

Next, the operating procedure will be explained.

As shown in FIG. 1, when the trolley 2 stops at one stage sun part 3 and moves to the other stage λ, joint part 4gA. Bring it into operation and turn on the power switch MSW ft.

In this state, the first speed detector SWl is first selected and activated by an appropriate means, and together with the activation of the forward command means FC, the forward position detection element F1 of the position detection switching circuit 12 is activated. , motor coil LM1. Forward/reverse switching switch MC for LM2.

MC2 forward switching contact MCF1. Close MCFg. At the same time, a detected speed signal (speed is 0) is applied to the forward position detection element F1. This activates the speed reduction detection element, and the output signal activates the voltage setting device @20 to output a high voltage.
A voltage is applied to LM2, thereby starting the truck 2.

This voltage should be higher than the starting voltage of the bogie to start it at a predetermined speed, but it should not be too high.

When the truck 2 starts, the first speed detector SW1 detects the speed of the truck 2, and when the detected speed signal, that is, the number of pulses/time becomes larger than the set value of the speed increase detection element H of the speed detector 15, the first speed detector SW1 detects the speed of the truck 2. The detection element Hf'i output signal is applied to the voltage setting device 20, and the output of the voltage setting device 20 is switched to a low voltage and the first. Second motor coil LM1. Applied to LM2. This voltage is set to a low voltage within a range that does not cause the trolley 2 to speed up.

In this case, the voltage to may be used, but in order to obtain a stable low speed, it is better to apply a certain amount of full voltage.

Conversely, when the running speed of the bogie 2 becomes lower than the set speed by p', the speed drop detection element of the speed detector 15 is activated in the same manner as described above, and the voltage setting device 20 thereby sets the high voltage to the first level.
．． 2nd motor coil LMI.

Apply it to LM2 to increase the speed.

In this way, two-position control of high voltage and low voltage is performed,
Keeping the running speed of the trolley at a stable and predetermined low speed,
When reaches the next second speed detector SW2, the detected speed signal is applied from the speed detector SW2 to the second forward position detection element F2 of the position detection switching circuit 12, and the OR circuit 1
3a, the first forward position detection element F1t-
The detected speed signal yop of the first speed detector SWI via the first speed detector SWI is also applied to the speed detector 15 with priority. At the same time, the output signal of the forward position detection element F2 is applied to the selection power source switching means 12a, and the first forward/reverse switching switch Mc12 for the first motor coil LMI is opened, and the sixth motor coil LM
The forward switching contact MCF3t of the sixth forward/reverse switching switch MC3 with respect to 3 is closed, and the output voltage t of the voltage setting device [20] is set to 2nd. 6th motor coil LM2. A voltage is applied to LM3, and the bogie 2 is operated at a predetermined low speed by two-position control of a high voltage and a low voltage in accordance with the procedure described above.

When the trolley 2 reaches the third speed detector SWS,
Second forward/reverse changeover switch MC2 in changeover switch group MC
``Release to ', 3rd. fourth forward/reverse switch MC3;
Close the forward switching contacts MCF3 and MCF4 of MC4, and otherwise operate the bogie 2t in the same manner as above.

Next, the trolley 2 reaches the other stationary section 4, and the fourth
When the speed detector SW4 detects this, the 11□ fourth forward position detection element F4 of the position detection switching circuit 12 is activated, and the forward/reverse switching switch MC3 is activated.
, MC4 are released, and the truck 2 stops.

In this case, if necessary, the fourth forward position detection element F4 may actuate appropriate brake means for stopping the bogie (not shown) at the same time or with a slight delay.

The same applies to the case where the truck 2 travels in the opposite direction.

Although the above embodiment shows an example in which four motor coils LM and four speed detectors SW are provided, the present invention is not limited to this, and the kerf 7 is used as the speed detection means.
Although the combination of the detection body 6 provided with a photoelectric switch and a photoelectric switch has been exemplified, it is of course possible to replace it with other appropriate means.

As described above, according to the present invention, all speed control can be performed without applying any power to the trolley, so there is no need to provide a speed reducer or a drive motor on the trolley as in a normal electric trolley, and the cable winding There are no moving parts such as reels, so there is almost no need for maintenance.Furthermore, the running speed detection means detects the table speed and degree of rotation, and the voltage applied to the motor coil is determined by "coil". Il! Since the running speed of the bogie is reduced, it has the effect of being able to run at a predetermined low speed that is stable against load fluctuations.

[Brief explanation of the drawing]

The figures show the mode of implementation of the present invention; Fig. 1 is an overall explanatory diagram of the traveling speed control of a linear motor type traveling bogie; A front view of the body, FIG. 4 is a four-wheel circuit diagram of the control device.
. 1... Track 2... Bogie 5... Secondary conductor LMi to LM4... Motor coil A... Running speed detection means B... Control device SWI to SW4... Speed detector patent application Person Hitachi Kiden Kogyo Co., Ltd. Agent Hayashi
1 person outside Akira Wei

Claims (1)

[Claims] A linear motor coil is placed on the ground side, a secondary conductor is provided on the bogie side, and a speed detector such as a photoelectric switch is placed along the platform-traveling track on the near motor two traveling bogie to detect the bogie running speed. , the applied voltage ft to the linear motor coil is set to a low voltage if the running speed is greater than the set speed, and is set to a high voltage if it is smaller than the set speed to control the bogie running speed f: Characteristic running of the linear motor type running bogie Speed control method.