JPS60194701A - Travel controller of operatorless carriage vehicle - Google Patents
Travel controller of operatorless carriage vehicleInfo
- Publication number
- JPS60194701A JPS60194701A JP59046905A JP4690584A JPS60194701A JP S60194701 A JPS60194701 A JP S60194701A JP 59046905 A JP59046905 A JP 59046905A JP 4690584 A JP4690584 A JP 4690584A JP S60194701 A JPS60194701 A JP S60194701A
- Authority
- JP
- Japan
- Prior art keywords
- speed
- gain
- control
- drive
- drive wheels
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000010586 diagram Methods 0.000 description 7
- 238000001514 detection method Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は左右の駆動輪を各々独立に駆動制御して走行す
る無人搬送車の走行制御装置に関する。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a travel control device for an automatic guided vehicle that travels by controlling left and right drive wheels independently.
（従来技術とその問題点）
左右の駆動輪を各々独立に駆動制御して走行する無人搬
送車では、その駆動輪の制御装置は一般に第１図のよう
に構成されている。すなわち図示しない制御装置、例え
ばマイクロコンビーータ等から与えられ、車体の走行速
度を指示する速度指令信号１と、規定された走行経路か
らの車体のずれを検出する検出手段（図示せず）からの
位置信号２ａ 、２ｂとから左右釜々の駆動輪３，３の
駆動速度４ａ、４ｂを決定し、例えばタコジェネレータ
等の速度検出手段５，５により検出した左右の駆動輪３
，３の速度６ａ、６ｂが前記の駆動速度４ａ、４ｂにな
るように駆動制御装置７，７および増幅装置２０ 、２
０により例えばモータ等の左右の原動機８，８を速度制
御することによって、車体が規定された走行経路に沿っ
て走行するように直進または左右への操舵を行う。左右
の駆動輪３゜３の速度を上記の駆動速度４ａ 、４ｂに
正しく追従させるためには、上記駆動制御装置７，７の
速度制御ゲインを制御系の解析あるいは実際の走行実験
などによって最適な値に設定しなければならない。しか
しながら、上記駆動制御装置７，７が各々制御する駆動
輪（以下当該駆動輪と言う）３の速度と他方の駆動輪３
の速度との大小関係によって当該駆動輪３の負荷が大幅
に変化し、例えば他方の駆動輪３の速度が当該駆動輪３
の速度より大きい時は当該駆動輪３に対して加速する方
向の負荷が加わり、逆に他方の駆動輪３の速度が当該駆
動輪３の速度より小さい時には減速しようとする負荷が
加わる。従って当該駆動輪３の速度と他方の駆動輪３の
速度とがほぼ等しい時と両者の差が大きい時とでは最適
な速度制御ゲイン設定値が大幅に異なり、駆動制御装置
７，７の速度制御ゲインを最適に設定することが困難で
あった。(Prior art and its problems) In an automatic guided vehicle that travels by controlling the left and right drive wheels independently, a control device for the drive wheels is generally configured as shown in FIG. That is, a speed command signal 1 that is given from a control device (not shown), such as a microconbeater, and instructs the running speed of the vehicle body, and a detection means (not shown) that detects a deviation of the vehicle body from a prescribed running route. The drive speeds 4a, 4b of the drive wheels 3, 3 of the left and right pots are determined from the position signals 2a, 2b, and the drive speeds 4a, 4b of the left and right drive wheels 3, 3 detected by speed detection means 5, 5 such as a tacho generator, for example, are determined.
, 3 so that the speeds 6a, 6b of the drive controllers 7, 7 and amplifiers 20, 2 become the driving speeds 4a, 4b.
By controlling the speed of the left and right prime movers 8, 8, such as motors, for example, by using 0, the vehicle body is steered straight or left or right so that it travels along a prescribed travel route. In order to make the speeds of the left and right drive wheels 3.3 accurately follow the above drive speeds 4a and 4b, the speed control gains of the drive control devices 7 and 7 should be optimized by analysis of the control system or actual driving experiments. Must be set to a value. However, the speed of the drive wheels 3 controlled by the drive control devices 7, 7 (hereinafter referred to as the drive wheels) and the other drive wheel 3 are different from each other.
The load on the driving wheel 3 changes significantly depending on the magnitude relationship with the speed of the other driving wheel 3. For example, if the speed of the other driving wheel 3
When the speed of the other drive wheel 3 is higher than the speed of the other drive wheel 3, a load is applied to the drive wheel 3 in the direction of acceleration, and conversely, when the speed of the other drive wheel 3 is smaller than the speed of the drive wheel 3, a load is applied to the drive wheel 3 to decelerate it. Therefore, when the speed of the drive wheel 3 and the speed of the other drive wheel 3 are almost equal and when the difference between the two is large, the optimum speed control gain setting value is significantly different, and the speed control of the drive control devices 7, 7 It was difficult to set the gain optimally.
（発明の目的）
本発明の目的は、上記のような従来の問題点を解決し、
当該駆動輪と他方の駆動輪との速度差にかかわらず常に
、予め設定された最適な速度制御ゲインにより当該駆動
輪を駆動制御することが可能な無人搬送車の走行制御装
置を提供することにある。(Object of the invention) The object of the present invention is to solve the conventional problems as described above,
To provide a travel control device for an automatic guided vehicle that can always control the drive wheel using a preset optimal speed control gain regardless of the speed difference between the drive wheel and the other drive wheel. be.
（発明の構成）一
本発明によれば、左右の駆動輪を各々左右の駆動制御装
置で独立に駆動制御して走行する無人搬送車の走行制御
装置において、前記左右の駆動輪の速度差を検出してゲ
イン制御信号を出力する速度比較手段を設けるとともに
上記左右の駆動制御装置の速度制御ゲインを可変となし
、前記ゲイン制御信号により上記左右の駆動制御装置の
速度制御ゲインを変化させ、上記速度差が小さい時には
前記速度制御ゲインを小さくし、また上記速度差が大き
い時には前記速度制御ゲインを大きくして、上記左右の
駆動輪の速度制御を行うことを特徴とする無人搬送車の
走行制御装置が得られる。(Structure of the Invention) According to the present invention, in the travel control device for an automatic guided vehicle that travels by controlling the left and right drive wheels independently by the left and right drive control devices, the speed difference between the left and right drive wheels is A speed comparison means for detecting and outputting a gain control signal is provided, and the speed control gains of the left and right drive control devices are made variable, and the speed control gains of the left and right drive control devices are varied by the gain control signal, Travel control for an automatic guided vehicle, characterized in that when the speed difference is small, the speed control gain is made small, and when the speed difference is large, the speed control gain is made large to control the speed of the left and right drive wheels. A device is obtained.
（構成の詳細な説明）
本発明では、上述のように左右の駆動輪の速度差により
駆動制御装置の速度制御ゲインを変化させることによっ
て従来技術の問題点を解決した。(Detailed Description of Configuration) The present invention solves the problems of the prior art by changing the speed control gain of the drive control device depending on the speed difference between the left and right drive wheels as described above.
速度比較手段により左右釜々の駆動輪に対して他方の駆
動輪が与える影響の大きさを判定してゲイン制御信号を
出力し、上記駆動制御装置は上記ゲイン制御信号によっ
て上記速度制御ゲインをそれぞれ連続的もしくは段階的
に変化させる。これにより、各々の駆動制御装置が制御
する当該駆動輪と他方の駆動輪との速度差が小さく、当
該駆動輪に対する他方の駆動輪の影響が小さい時には前
記駆動制御装置の速度制御ゲインを小さくし、前記速度
差が大きく他方の駆動輪の影響が大きい時には前記速度
制御ゲインを大きくして速度制御を行うことができ、前
記速度差が大幅に変化しても当該駆動輪を常に予め設定
された最適な制御特性で駆動することが可能になる。The speed comparison means determines the magnitude of the influence that the other drive wheel has on the left and right drive wheels and outputs a gain control signal, and the drive control device adjusts the speed control gain using the gain control signal. Change continuously or stepwise. As a result, when the speed difference between the drive wheel controlled by each drive control device and the other drive wheel is small, and the influence of the other drive wheel on the drive wheel is small, the speed control gain of the drive control device is reduced. , when the speed difference is large and the influence of the other drive wheel is large, the speed control gain can be increased to perform speed control, and even if the speed difference changes significantly, the drive wheel is always set in advance. It becomes possible to drive with optimal control characteristics.
（実施例〕
以下、本発明の実施例について図面により詳細に説明す
る。(Example) Hereinafter, an example of the present invention will be described in detail with reference to the drawings.
第２図は本発明の一実施例を示す構成図で、図中１ない
し６、および８は第１図と同様であり、図中７’、７’
で示す駆動制御装置には新たに速度制御ゲインを変化さ
せるための入力を設け、ゲイン制御信号９ａ、９ｂが接
続されている。速度比較手段１０は駆動輪３，３の速度
を示す速度信号６ａ、６ｂを入力して比較し、その差Δ
Ｖの大きさによりゲイン制御信号９ａ、９ｂを出力して
駆動制御装置７，７の速度制御ゲインを変化させる。FIG. 2 is a block diagram showing an embodiment of the present invention, in which numerals 1 to 6 and 8 are the same as in FIG. 1, and 7' and 7' in the figure.
The drive control device shown by is newly provided with an input for changing the speed control gain, and gain control signals 9a and 9b are connected thereto. The speed comparison means 10 inputs and compares speed signals 6a and 6b indicating the speeds of the drive wheels 3 and 3, and calculates the difference Δ.
Depending on the magnitude of V, gain control signals 9a and 9b are output to change the speed control gain of the drive control devices 7 and 7.
ここでゲイン制御信号９ａ、９ｂは例えばΔ■の絶対値
に比例するようにしてもよいし、ΔＶの絶対値に対して
非直線的に変化させてもよい。速度比較手段１０は例え
ば第３図のように構成出来る。Here, the gain control signals 9a and 9b may be made to be proportional to the absolute value of Δ■, for example, or may be changed non-linearly with respect to the absolute value of ΔV. The speed comparison means 10 can be configured as shown in FIG. 3, for example.
同図では減算器１１により左右の速度信号５ａ。In the figure, a subtracter 11 generates left and right speed signals 5a.
６ｂの差１２をめ、さらに絶対値回路１３によってその
絶対値をめてゲイン制御信号９ａ 、９ｂとして駆動制
御装置７，７に入力する。一方、駆動制御装置７，７は
ゲイン制御信号９ａ、９ｂによりその速度制御ゲインを
第４図または第５図のように変化させる。両図において
横軸は駆動制御装置７．７の制御入力すなわち第２図に
おける速度誤差信号１４ａ、１４ｂを表し、縦軸は駆動
制御装置７，７の制御出力１５ａ、１５ｂを表わす。第
４図はゲイン制御信号９ａ、９ｂにより速度制御ゲイン
をＬｌからＬｎｉで段階的に変化させる例を示し。6b is determined, and the absolute value thereof is determined by the absolute value circuit 13 and inputted to the drive control devices 7, 7 as gain control signals 9a, 9b. On the other hand, the drive control devices 7, 7 change their speed control gains as shown in FIG. 4 or 5 using gain control signals 9a, 9b. In both figures, the horizontal axis represents the control input of the drive control device 7.7, ie the speed error signals 14a, 14b in FIG. 2, and the vertical axis represents the control outputs 15a, 15b of the drive control device 7, 7. FIG. 4 shows an example in which the speed control gain is changed stepwise from Ll to Lni using the gain control signals 9a and 9b.
第５図は速度制御ゲインをＬｍｉｎからＬｍａｘまで連
続的に変化させる例を示す。第６図および第７図は駆動
制御装置７，７の速度制御ゲインを可変にする一例を示
す図である。第６図は第４図のように速度制御ゲインを
段階的に変化させる例であり、速度誤差信号増幅器■６
のゲインを決定するフィードバック抵抗ｉ１７ 、１７
’ 、 １７“、・・ のように複数個設けて適宜の切
り替え手段１８に接続し、ゲイン制御信号９ａまたは９
ｂにより、それらを切り替えることによって速度誤差信
号１４ａまたは１４ｂの増幅率を段階的に変化させてい
る。第７図は第５図のように速度制御ゲインを連続的に
変化させる例であり、フィードバック抵抗を電圧制御型
あるいは電流制御型等の可変抵抗素子１９としてその抵
抗値をゲイン制御信号９ａまたは９ｂにより連続的に変
化させている。FIG. 5 shows an example in which the speed control gain is continuously changed from Lmin to Lmax. FIGS. 6 and 7 are diagrams showing an example in which the speed control gains of the drive control devices 7, 7 are made variable. Figure 6 is an example of changing the speed control gain in stages as shown in Figure 4, and the speed error signal amplifier ■6
Feedback resistor i17, 17 that determines the gain of
', 17'', . . . are provided and connected to the appropriate switching means 18, and the gain control signal 9a or 9 is connected to the appropriate switching means 18.
By switching between them, the amplification factor of the speed error signal 14a or 14b is changed stepwise. FIG. 7 shows an example in which the speed control gain is continuously changed as shown in FIG. It is continuously changed by
なお、本発明は速度比較手段１０におけるゲイン制御信
号の生成方法、あるいは駆動制御装置７゜７の速度制御
ゲインを変化させる方法について上述の回路構成に限定
されるものではなく、左右の駆動輪の速度差により駆動
制御装置７，７の速度制御ゲインを変化させるという本
発明の主旨の範囲内で種々変形可能である。Note that the present invention is not limited to the above circuit configuration with respect to the method of generating the gain control signal in the speed comparison means 10 or the method of changing the speed control gain of the drive control device 7. Various modifications can be made within the scope of the present invention, which is to change the speed control gain of the drive control devices 7, 7 depending on the speed difference.
（発明の効果）
本発明によれば、駆動輪の速度制御を行う駆動制御装置
の速度制御ゲインを当該駆動輪と他方の駆動輪との速度
差により可変としたため、速度差が小さく、尚該駆動輪
に対する他方の駆動輪の駆動速度の影響が比較的小さい
時、および速度差が大きく、当該駆動輪に対する他方の
駆動輪の駆動速度の影響が大きい時などにおいて、速度
制御ゲインが予め設定された最適な値に自動的に変更さ
れ、常に最適な速度制御特性が得られる。従って無人搬
送車の走行特性を向上させることが可能となる。(Effects of the Invention) According to the present invention, the speed control gain of the drive control device that controls the speed of the drive wheel is made variable depending on the speed difference between the drive wheel and the other drive wheel. The speed control gain is set in advance when the influence of the drive speed of the other drive wheel on the drive wheel is relatively small, or when the speed difference is large and the influence of the drive speed of the other drive wheel on the drive wheel is large. The speed is automatically changed to the optimum value, ensuring optimum speed control characteristics at all times. Therefore, it becomes possible to improve the running characteristics of the automatic guided vehicle.
第１図は従来の走行制御装置の構成を示すブロック図、
第２図は本発明の走行制御装置の構成を示すブロック図
、第３図は本発明における速度比較手段の一例を示すブ
ロック図、第４図および第５図は駆動制御装置の速度制
御ゲインの変化を示す説明図、第６図および第７図は速
度制御ゲインを可変にするための回路例を示す図である
。
図において、
３・・・駆動輪、７・・・駆動制御装置、８・・・原動
機、１０・・・速度比較手段、１１・・・減算機、１３
・・・絶対値回路、１６・・・速度誤差信号増幅器、１
８・・・切り替え手段、１９・・・可変抵抗素子。
硝１図
第２図FIG. 1 is a block diagram showing the configuration of a conventional travel control device.
FIG. 2 is a block diagram showing the configuration of the travel control device of the present invention, FIG. 3 is a block diagram showing an example of speed comparison means in the present invention, and FIGS. 4 and 5 show the speed control gain of the drive control device. Explanatory diagrams showing the changes, FIGS. 6 and 7 are diagrams showing an example of a circuit for making the speed control gain variable. In the figure, 3... Drive wheel, 7... Drive control device, 8... Prime mover, 10... Speed comparison means, 11... Subtractor, 13
... Absolute value circuit, 16 ... Speed error signal amplifier, 1
8... Switching means, 19... Variable resistance element. Figure 1 Figure 2
Claims (1)
御して走行する無人搬送車の走行制御装置において、前
記左右の駆動輪の速度差を検出してゲイン制御信号を出
力する速度比較手段を設けるとともに上記左右の駆動制
御装置の速度制御ゲインを前記ゲイン制御信号゛により
可変となし、上記速度比較手段により検出された上記速
度差が小さい時には前記左右の駆動制御装置の速度制御
ゲインを小さくし、上記速度差が大きい時には前記速度
制御ゲインを大きくするように、上記ゲイン制御信号に
より上記左右の駆動制御装置の速度制御ゲインを変化さ
せて上記左右の駆動輪を駆動制御することを特徴とした
無人搬送車の走行制御装置。In a travel control device for an automatic guided vehicle in which the left and right drive wheels are independently drive-controlled by left and right drive control devices to travel, a speed comparison unit detects a speed difference between the left and right drive wheels and outputs a gain control signal. and the speed control gains of the left and right drive control devices are made variable by the gain control signal, and when the speed difference detected by the speed comparison means is small, the speed control gains of the left and right drive control devices are made small. and controlling the drive of the left and right drive wheels by changing the speed control gain of the left and right drive control devices using the gain control signal so as to increase the speed control gain when the speed difference is large. A travel control device for automated guided vehicles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59046905A JPS60194701A (en) | 1984-03-12 | 1984-03-12 | Travel controller of operatorless carriage vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59046905A JPS60194701A (en) | 1984-03-12 | 1984-03-12 | Travel controller of operatorless carriage vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS60194701A true JPS60194701A (en) | 1985-10-03 |
Family
ID=12760367
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59046905A Pending JPS60194701A (en) | 1984-03-12 | 1984-03-12 | Travel controller of operatorless carriage vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60194701A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019111672A1 (en) * | 2017-12-05 | 2019-06-13 | 日本電産株式会社 | Mobile body and conveyance robot |
| WO2019111671A1 (en) * | 2017-12-05 | 2019-06-13 | 日本電産株式会社 | Rotation control device, mobile body and conveyance robot |
| WO2019111670A1 (en) * | 2017-12-05 | 2019-06-13 | 日本電産株式会社 | Rotation control device, mobile body and conveyance robot |
-
1984
- 1984-03-12 JP JP59046905A patent/JPS60194701A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019111672A1 (en) * | 2017-12-05 | 2019-06-13 | 日本電産株式会社 | Mobile body and conveyance robot |
| WO2019111671A1 (en) * | 2017-12-05 | 2019-06-13 | 日本電産株式会社 | Rotation control device, mobile body and conveyance robot |
| WO2019111670A1 (en) * | 2017-12-05 | 2019-06-13 | 日本電産株式会社 | Rotation control device, mobile body and conveyance robot |
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