JPS62162118A - Steering control device for traveling body - Google Patents

Abstract

PURPOSE:To prevent running with a meandering motion even when difference is produced in diameter of left and right driving wheels by correcting and controlling independently the value of rotational speed command to left and right driving wheels based on obtained diameter ratio data. CONSTITUTION:An arithmetic control unit 25 estimates and calculates the diameter ratio of left and right driving wheels based on the variation DELTAx, DELTAtheta of amount of positional deviation (x) and its deviation angle theta at every time interval DELTAt, and sets a speed correcting value that makes, for instance, the running speed of the left driving wheel sufficiently higher than the right driving wheel, and supplies to speed command signal correcting signals 21R, 21L. Thereby, locus of traveling of the body 11 of a crane is reversed to right turn movement of radius R2 around a point O2. Then, the amount of positional deviation (x) and deviation angle theta of the body 11 of the crane are converged gradually to zero, and when the locus of traveling coincides with a reference line L, deviation data '0' is detected by a detecting device 22. The arithmetic control unit 25 calculates the value of speed command for each wheel independently that makes substantial traveling speed of each wheel equal based on the diameter ratio of left and right driving wheels calculated at the time of sampling of steering data, and gives to speed command signal correcting sections 21R, 21L.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to transfer cranes, trolleys, and straddles used for transporting equipment from a predetermined location to a remote location, for example in various factories. The present invention relates to a vehicle direction control device that controls the steering state of each trackless vehicle such as a carrier.

[Conventional technology] In recent years, various production factories have attempted to automate all production processes to save labor, and recently, not only production machines but also transfer cranes are used to transport equipment between each process. Automatic steering b\ is displayed. In other words, a crane equipped with this self-steering device detects a base line laid along a predetermined trajectory and controls its steering so as not to deviate from this base*a. . FIG. 3 shows a control block of a conventional steering control device, in which the positional deviation (X) and deviation angle dθ of the crane body 11 from the reference line (see FIG. 4) are measured by the positional deviation detection device 12 and the deviation angle dθ, respectively. The deviation angle is detected by the deviation angle detection device 13, and the two detected deviation data are transmitted to the corresponding multiplication device 12a,
It is multiplied by a constant via 13a. Then, by feeding back the deviation data multiplied by a constant to the control device 14, the input drive wheel speed command value Vn is corrected,
The trajectory of the crane body 11 is being corrected. Therefore, this steering control device is a device that controls so that when the crane main body 11 deviates from a predetermined trajectory due to a temporary disturbance, the deviation data with respect to the reference line becomes zero.

Here, two speed control methods for the left and right drive wheels in the crane main body 11 are generally used: continuous and intermittent.

[Problems to be Solved by the Invention] However, as mentioned above, the control system that only corrects positional deviations caused by temporary disturbances (2Il equipment has problems with cranes, such as differences in the diameters of the left and right drive wheels, etc.) If there is a cause of positional deviation on the side, even if the positional deviation data is once focused to zero and the crane is corrected by φ) 1 way on the reference line, at that point the speed command (direction correction control υ0ffi is also Therefore, a positional shift occurs again due to the difference in the diameter of the drive wheels.As a result, the crane travels along a predetermined trajectory while meandering.

This invention was made in view of the problems mentioned above.
Even if there is a difference in the diameters of the left and right protrusions, the base I11 is always maintained without meandering and as long as there is no temporary or sudden disturbance. It is an object of the present invention to provide a vehicle direction control device that makes it possible to maintain a travel trajectory on a line.

[Means for Solving the Problems] That is, the vehicle direction control device according to the present invention can calculate the rotational speed commanded in advance for the left and right drive wheels, and the actual positional deviation and deviation angle j71 with respect to the reference line. , are detected at fixed time intervals △, the diameter ratio of the left and right drive wheels is determined based on the time series data obtained, and the rotational speed command value for the left and right drive wheels is determined based on the determined diameter ratio data. By performing correction control at 9J4, the above-mentioned positional deviations are focused to zero, and at the same time, the substantial running speeds of the left and right drive wheels are equally controlled, and at the time when 1 is corrected to the reference line. It is constructed so that it can run in a straight line.

[Effect 1 Movement (For the deviation of one body itself, first of all, the amount of positional deviation x and the deviation color interval θ as shown in Fig. 4 are important, but such deviation is As shown in the figure, the apparent appearance of the left and right drive wheels is caused by the turning motion caused by the diameter difference above.In other words, the above deviation angle θ is determined by the traveling speeds Vl and V2 of the left and right drive wheels Vl and V2, and the drive wheel spacing e. This occurs due to the relationship shown in the following equation.

Eight V/c! , = (V2-Vt)/ff1=dθ/dt
= θHere, R in the same figure is the travel (the turning outer diameter of one body, r
is the turning inner diameter.

In other words, from the viewpoint of the turning movement of the traveling body, the displacement is made to be zero.

[Example] An embodiment of the present invention will be described below with reference to the drawings.

Fig. 1 shows the control block. In the figure, 11 is the crane main body, and for this crane main body 11, a right drive shaft speed command signal vl and a left vJ wheel speed command signal ■2 are sent. , are supplied via the corresponding speed command signal correction units 21R and 21L, respectively. Further, the speed command signal V1. V2 is the crane body 1゛1
along with the displacement signal relative to the reference line from the detector @2.
2. This detection device 22 detects a command value from an input speed command signal, and a positional deviation pl of the crane body 11 from a positional deviation signal.
A separate detection unit for detecting x and a deviation color interval θ is provided.
This detection device operates in synchronization with timing pulses at fixed time intervals Δt set by the clock 23.
The steering data of the crane main body 11 detected by the controller 22 is stored in the storage device 24 at every predetermined time interval Δ. The eight steering data of the crane main body 11 stored in this storage device 24 are read out to the control device 25 in synchronization with timing pulses from the clock 23 as needed. The automatic Ti device 25 first calculates the apparent diameter ratio of the left and right drive wheels in the crane body 11 based on each of the detected steering angles read above. Then, a speed correction value is given to the speed command signal correction section 21R221 so that the current direction of displacement of the crane is reversed. Also, this performance i flil
After the reversal correction control of the crane displacement direction, the control unit 25 performs the pre-calculated calculation at the time when the positional displacement ffi× and the displacement angle amount θ with respect to the reference line detected by the detection device 22 become zero. Based on the diameter ratio of the left and right drive shafts, one speed correction is applied independently to each wheel to the speed command signal correction sections 21R and 21L so that the substantial running speeds of each drive wheel are equal.

Next, the steering control IvJ operation in the vehicle direction control device configured as described above will be explained.

That is, in order to zero out the deviation of the crane main body 11 from the reference line, which occurs due to an actual diameter difference between the left and right drive wheels, for example, as shown in FIG. The control start point S is defined as the point in time when the preset initial positional deviation ff1x and initial deviation angle amount θ of the crane main body 11 are detected. At this control starting point S, it can be assumed that the crane main body 11 is making a turning motion a with a radius R1 around the point 01. Here, a case will be described in which the diameter of the right drive shaft is larger than that of the left drive wheel, and a positional shift occurs in the right direction from the reference ML.

From the control starting point S, the detection device 22 detects the speed command value V1 for the left drive shaft as well. V2 and crane body 1
The actual positional deviation stitch x and deviation angle amount θ with respect to the reference lQL of 1 are detected at regular time intervals Δ, and stored in the storage device 24.
stored moment by moment. Here, the 1 m $IJ tll device 25 calculates the steering data of the crane body 11 stored as time series data in the storage device 24, especially the positional deviation X and its deviation angle jθ at fixed time intervals △. Change Δ×,
The diameter ratio of the left and right drive wheels is estimated based on Δθ. Then, after a certain period of time has elapsed from the control start point corresponding to the control start point S, a speed correction value is set such that the running speed of the left drive wheel is sufficiently higher than that of the right drive VJ wheel, and the correction signal is By supplying the command signal to the correction unit 21R121L, the traveling locus of the crane main body 11 can be changed from a left turning movement with a radius R1 centered on the point 01 to a point 0.
2 to a right turning motion of radius R2. The point at which the travel trajectory of the crane main body 11 is reversed is defined as a turning direction switching point T.

After this, the positional deviation Jlx and the deviation angle θ of the crane body 11 gradually converge to zero, and when the traveling locus coincides with the reference line, the deviation data ``zero'' is detected by the detection 8@22. The performance control I device 25 uses this reference line -
Several points are set as the control completion point U, and at this point, each wheel is independent to equalize the actual running speed of each drive wheel, based on the diameter ratio of the left and right drive wheels calculated from the sampling of the above steering data. The detected speed command value is output and the difference between it and the current speed command value detected by the detection device 22 is given as a correction value to the speed command signal correction unit 21R021L.

Therefore, according to the vehicle direction control system d configured as described above, the diameter ratio of the left and right drive wheels is calculated, and the speed command signal V input in advance is input so that the traveling speeds thereof are equal.
s and V2 are corrected, so the crane main body 11 can be run in a straight line when the traveling trajectory is corrected to the reference line, and once the positional deviation control is completed, it will not be subjected to any disturbance thereafter. The crane can be maintained on a predetermined travel trajectory for as long as possible.

[Effect of the Invention J As described above, according to the present invention, the rotational speed commanded in advance for the left and right drive wheels, and the actual positional deviation and deviation angle amount with respect to the lj single line are each set at a fixed time interval Δ. The diameter ratio of the left and right drive wheels is determined based on the time series data obtained by detecting each time, and the rotation speed command value for the left and right drive fa is independently corrected and controlled based on the determined diameter ratio data. At the same time as converging the above-mentioned positional deviation and deviation angle to zero, the actual running speed of the left and right drive wheels is equally controlled, so that the vehicle can travel in a straight line when the trajectory is corrected to the reference line. Since I configured it,
Even if there is a difference in the diameter of the left and right drive wheels, it is suitable for driving exercises that makes it possible to maintain the running trajectory on the reference line at all times without causing any temporary or sudden disturbances. One control device can be installed.

[Brief explanation of drawings]

FIG. 1 shows the running direction i+I according to an embodiment of the present invention.
I! I] A configuration diagram showing the control circle block of the device, FIG. 2 is a diagram showing the state of trajectory correction of the traveling body by the above-mentioned traveling vehicle direction control device, and FIG. 3 is a configuration diagram showing the 1ill control block of the conventional steering control device. FIG. 4 is a diagram showing the relationship between the deviation value and the deviation angle amount with respect to the reference line, and FIG. 5 is a diagram showing the turning movement due to the diameter difference between the left and right drive wheels of the traveling body. 11... Crane body, 21R, 21L... Speed command signal correction section, 22... Detection device, 23... Clock,
24... Storage device, 25... Arithmetic control unit, Vl. 2...Speed command signal, X...Position shift city, θ...
deviation angle, S... control start point, T... turning direction switching point, U... deviation control completion point. Applicant Sub-Agent Patent Attorney Takehiko Suzue Figure 3 Figure 4 Figure 5

Claims (1)

[Claims] In a vehicle direction control device that steers a vehicle having left and right wheels along a reference line on a travel path, the speed command value for each of the left and right wheels and the amount of positional deviation and deviation angle with respect to the reference line are kept constant. Steering state detection means for detecting at each time interval, steering data storage means for storing each detected data detected by this steering state detection means, and each detected steering stored by this steering data storage means. Based on the data, the apparent diameter ratio of the left and right wheels is calculated, and the speed command value of each wheel is corrected and controlled so that the direction of deviation of the traveling object is switched, and then detected by the steering state detection means. Steering data calculation control means that further corrects and controls the speed command value so that the running speeds of the wheels are equal based on the diameter ratio of the left and right wheels calculated above when the positional deviation amount and deviation angle amount become zero. A traveling direction control device characterized by comprising: