JPS60109783A - Acceleration/deceleration limiting circuit - Google Patents

Abstract

PURPOSE:To provide rational acceleration/deceleration characteristics matched to the driving feeling by forcibly altering the deceleration rate when a reverse notch operation is judged from the polarity of a normal/reverse operation command signal and a speed reference rate output signal. CONSTITUTION:When a controller is operated at reverse drive side in a normal rotation state, the polarity of a speed reference input Sr1 is inverted to negative, and a normal operation command FC is simultaneously inverted to ''0'', and a reverse operation command RC is inverted to ''1''. At this time, since the speed reference rate output Sr2 is still positive polarity, the output signal FD of a reverse notch detector 5 is inverted from ''0'' to ''1'', and a switch 16 becomes ON. Accordingly, a forcible deceleration rate is added to the normal positive side deceleration rate, and the speed reference rate output Sr2 is abruptly decreased. When the Sr2 becomes negative polarity, the logic signal FP of the output of the polarity detector 4 is inverted to ''0'', and the RP is inverted to ''1'', and the output signal FD of the reverse notch detector 5 is returned to ''0''.

Description

[Detailed Description of the Invention] [Technical Field of the Invention] The present invention relates to an acceleration/deceleration limiting circuit, and in particular, in speed control of variable speed cranes, etc., the deceleration rate is automatically changed by operating a controller in a reverse notch. However, the acceleration/deceleration limiting circuit that performs sudden deceleration is provided.

[Technical background of the invention and its problems] Cranes have conventionally been controlled using a winding induction 1R motive with secondary resistance control. However, in recent years, AC 1! Speed control using plow machines has become popular, and speed y4 is also used to control cranes. There are many cases where lil control is performed. In such cases, there is a problem in that the conventional acceleration/deceleration limiting circuit makes it difficult to perform driving operations.

In other words, in conventional crane operation, a winding type conductive motor is used, and especially in the 1'iQ row motion or traveling motion of an overhead crane, it is not equipped with a 9-way brake (4-way is often used, and the crane In order to stop the motor quickly, the controller is set to the reverse notch and a sudden stop is performed using reverse phase braking. -Using a brake can cause abrasion of the brake lining and wear of the brake drum, so as with the case without the mechanical brake described above, use a reverse notch controller and use reverse phase braking to brake, After decelerating, a mechanical brake is applied to perform a stop operation.This operating method is suitable for cranes and the like.

On the other hand, the conventional acceleration/deceleration limiting circuit is shown in Figure 81!1.
The circuit of construction is well known. In FIG. 1, 1 is a resistor for adjusting the forward acceleration or reverse deceleration rate.

2 + 1111 indicates a resistor for adjusting the deceleration or front acceleration rate. This circuit uses the rate adjustment resistors 1 and 2 above.
It is a circuit that outputs a signal with a predetermined acceleration rate or deceleration rate in response to a speed-based step input (2).

When controlling the speed of a crane using such a conventional acceleration/deceleration limiting circuit, the following problems arise. In other words, forward rotation′
Alternatively, when the notch of the controller is operated to the reverse or forward rotation side during reverse operation, the deceleration rate of the crane is reduced at a predetermined rate f' set in advance by the rate training resistor 2 or 1.

This rate is the same as the acceleration rate, and it is impossible to suddenly decelerate as in reverse phase braking using conventional crane control.

Another problem is that it does not match the operating feel of conventional cranes.

[Object of the Invention] In order to solve the above-mentioned problems, the present invention is based on the polarity of the forward/reverse operation command No. 16 and the speed (-)-2 semi-rate output signal by operating the controller to operate the %L notch. A sudden deceleration command detection circuit is provided to determine whether the system is operating properly, and the output signal of this circuit is used to strongly control the deceleration rate to enable rapid deceleration, thereby improving the operating feel of a conventional crane control system. The purpose is to provide a rational acceleration/deceleration limiting circuit that meets the following.

[Summary of the Invention] In order to achieve the above object, the present invention provides a first speed reference signal that changes in the forward and reverse directions from the operating section and when the set value changes, F]tf nτ In an acceleration/deceleration limiting circuit that outputs a second speed reference number I-r that changes depending on the setting value, the first speed i, il is controlled from the operation section.
4. A polarity detection circuit that receives a forward/reverse driving command signal corresponding to the forward/reverse of the iei signal and outputs a polarity discrimination signal according to the polarity of the second speed reference signal; A reverse notch detection circuit detects a reverse notch command from positive to reverse or vice versa from the polarity discrimination signal, and the second speed reference 18 is determined based on the output signal of the reverse notch detection circuit.
This is an acceleration/deceleration limiting circuit that allows sudden deceleration to be achieved by operating the controller in the opposite direction, making it possible to operate in the same way as conventional driving techniques. .

[Actual Example of the Invention] An embodiment of the acceleration/deceleration limiting circuit of the present invention is shown in two diagrams. In Fig. 2, 1 is a resistor for adjusting the positive acceleration or reverse deceleration rate, 2 is a resistor for adjusting the positive deceleration or front acceleration rate, and 3 is a resistor for adjusting the forced positive deceleration or forced reverse deceleration rate. Resistor, 4 is 11 depending on the positive or negative polarity of the speed reference rate output
', 10' polarity detection circuit that outputs logic signals FP, RP, forward/reverse operation command signals PC, RC by operation of the 5-digit controller, and logic signals FP, B of polarity detection circuit 4.
A reverse notch detection circuit that detects a sudden deceleration command from P is shown.

6 to 81- are operational amplifiers, 9 is a voltage limiting circuit, 1 is an integrating capacitor, 11 to 16 are switches that open and close according to logic signals, and 7 to 22 are diodes and 23 to 33 resistors. Upper N When 1.!Jt is in normal rotation, the speed reference rate output of the acceleration/deceleration limiting circuit (second continuous failure reference signal) is set to normal rotation when it is positive. The logic signal FP for determining the polarity of the output of the detection circuit 4 is set to 11', and the logic signal 10) is set to 10'. Therefore, switch 1] and switch 121-, j
It is in the on state, and the switch I3 and the switch 14 are in the off state. On the other hand, since the controller is operated to the forward rotation side, the stop rotation operation command FC is °1',
The reverse operation command RC is in the state of IOH, and the output signal FD of the reverse notch detection circuit 5 is both in the state of IO.

Therefore, the switch 15 is in the OFF state and the switch j6 is in the OFF state. From this state, when the controller is operated to the reverse operation side, the polarity of the speed reference force Sr is reversed to negative, and at the same time, the reverse rotation command RC is changed to the forward rotation operation command FC and '0'. 11' respectively. At this time, since the speed reference relay) IJj force SrB is still of positive polarity, the output state of the logic signals FP and RP of the output of the polarity detection circuit 4 remains the same as before operating the controller in the reverse notch. Output signal FD of tear notch detection circuit 5
is inverted from 10'' to 1', and the switch 16 is turned on. Also, at this point, the output voltage of the operational amplifier 6 changes to positive polarity (E), so the set 1 voltage of the rate A utilization resistors 2 and 3 is applied to the operational amplifier 7 via the switches 12 and 16. Therefore, the forced hot water speed rate is added to the normal positive deceleration rate, and the speed reference rate output Srz rapidly decreases. When Sra becomes negative polarity, the logic signal FP output from the polarity detection circuit 4 becomes IO" RP is inverted to 11' and the output signal FD of the reverse notch detection circuit 5 returns to 10'. Therefore, the set voltage of the rate adjustment resistor 52 is input to the operational amplifier 7 via the switch 14, and the acceleration after reversal is The rate is determined only by the rate adjustment resistor 7.

Figure 3 shows the forward and reverse rotation speed characteristics, and the direct @
A shows the deceleration characteristic according to the present invention, and the broken line 13 id shows the conventional acupuncture speed characteristic.

[Effect of the invention] As explained above, by operating the controller roller in the reverse notch position, the Kinoe 1Kanyo 1L can perform faster deceleration than the normal deceleration rate, even when speed control is performed. Adjustment with acceleration/deceleration characteristics equivalent to the conventional driving feeling (1-4 Ill limit circuit can be 1M).

[Brief explanation of the drawing]

FIG. 1 is a conventional acceleration/deceleration limiting circuit diagram, FIG. 2 is an acceleration/deceleration limiting circuit diagram showing an embodiment of the present invention, and FIG. 3 is a +j! , 1zoj. l...Companding 1 acceleration or reverse flll reduction i - to connecting j+lk J, i''L device 2...Resistor 3 for adjusting positive side deceleration or reverse side acceleration rate Forced pressure side deceleration or forced reverse side Deceleration rate adjustment resistor 4...Polarity detection circuit 5...Reverse notch detection circuit 6-8
...Operation amplifier 9...'I, pressure limiting circuit lO...
Capacitors 11-16...Switches 17-22...Diodes 23-. (3...Resistance benefits - Agent Patent attorney Nori Chika Sosuke (and 1 other person) Figure 1

Claims (1)

[Claims] A first speed reference signal that changes forward or backward from the operating unit (an acceleration/deceleration limiter that outputs a second speed reference signal that changes to the set value at a predetermined rate of change when the set value changes when number i is input) In the circuit, a polarity detection circuit receives a forward/reverse operation command signal corresponding to the forward or reverse direction of the first speed reference signal from the operation section and outputs a polarity discrimination signal according to the polarity of the second speed reference signal. and a reverse notch detection circuit that detects a reverse notch command from normal to reverse or from reverse to positive from the forward/reverse operation command signal and the polarity discrimination signal, and the second speed reference is determined by the output signal of the reverse notch detection circuit. An acceleration/deceleration limiting circuit comprising a forced deceleration rate adjustment circuit that adjusts the rate of change of a signal.