JPS6264204A - Drive controller for motor driven vehicle - Google Patents
Drive controller for motor driven vehicleInfo
- Publication number
- JPS6264204A JPS6264204A JP60199607A JP19960785A JPS6264204A JP S6264204 A JPS6264204 A JP S6264204A JP 60199607 A JP60199607 A JP 60199607A JP 19960785 A JP19960785 A JP 19960785A JP S6264204 A JPS6264204 A JP S6264204A
- Authority
- JP
- Japan
- Prior art keywords
- speed
- vehicle
- curve
- electric vehicle
- set value
- 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
- IAZDPXIOMUYVGZ-UHFFFAOYSA-N Dimethylsulphoxide Chemical compound CS(C)=O IAZDPXIOMUYVGZ-UHFFFAOYSA-N 0.000 abstract 2
- 238000006073 displacement reaction Methods 0.000 abstract 2
- 230000001133 acceleration Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 230000006698 induction Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
Classifications
-
- 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
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
この発明は、予め定められた走行ルートを無人で走行す
る電動車両、特にその制御装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an electric vehicle that travels unmanned along a predetermined travel route, and particularly to a control device thereof.
＠２図は一般的な電動車両の一例を示す概要図で、（イ
）はその平面図、（ロ）は側面図である。Figure @2 is a schematic diagram showing an example of a general electric vehicle, in which (a) is a plan view and (b) is a side view.
同図において、１０は電動車両（台車）、１１は誘導コ
イル、１２は車輪、１３は誘導線である。In the figure, 10 is an electric vehicle (truck), 11 is an induction coil, 12 is a wheel, and 13 is a guide wire.
すなわち、誘導コイル１１および車輪１２については同
じ仕様のものが２個ずつ設けられ、電動車両１０の中心
軸に対して左右対称に配置されている。各ＭＬ輪１２は
それぞれ独立に制御可能な電動機を介して駆動され、２
つの車輪の平均速度によって電動車両の走行速度が決ま
り、２つの車輪の速度差によって電動車両のステアリン
グ（操舵）制御が行なわれる。なお、誘導線１３には所
定のＭ流が流され、これによって磁界が発生するので、
誘導コイル１１にはこの磁界に応じた電圧が誌起されて
位置検出が可能となる。That is, two induction coils 11 and two wheels 12 having the same specifications are provided, and they are arranged symmetrically with respect to the central axis of electric vehicle 10. Each ML wheel 12 is driven via an independently controllable electric motor,
The traveling speed of the electric vehicle is determined by the average speed of the two wheels, and the steering of the electric vehicle is controlled by the speed difference between the two wheels. Note that a predetermined M current is passed through the guide wire 13, which generates a magnetic field, so
A voltage corresponding to this magnetic field is generated in the induction coil 11, making it possible to detect the position.
第３図は電動車両用走行制御装置の従来例を示すブロッ
ク図である。同図において、］、ａ、ｌｂは’ｔｌｌｆ
ｍ 機、２ ａ、 、 ’ｌ ｂは速度検出器、３ ａ
＋ ３ ｂは速度Ｈ節器、４は極性反転器、５は位置
ｍ節器、６は位置偏差検出器、７は車両速度設定器、９
はカーブの直前に設置されてそのことを検知するための
カーブ検出器、１１は第２図で説明した誘導フィルであ
る。なお、各数字にサフィックスａまたはｂｔ−付して
左右の車輪駆動用電動機の制御系を区別しているが、そ
の機能は全く同じなので、以下の説明では特に必要のな
い限りサフィックスは省略する。FIG. 3 is a block diagram showing a conventional example of a travel control device for an electric vehicle. In the same figure, ], a, lb are 'tllf
m machine, 2 a, , 'l b is speed detector, 3 a
+ 3 b is a speed H moderator, 4 is a polarity inverter, 5 is a position m moderator, 6 is a position deviation detector, 7 is a vehicle speed setter, 9
1 is a curve detector installed just before the curve to detect it, and 11 is the induction fill explained in FIG. Note that the suffix a or bt- is attached to each number to distinguish the control systems of the left and right wheel drive electric motors, but since their functions are exactly the same, the suffix will be omitted in the following explanation unless particularly necessary.
すなわち、位置偏差検出器６の出力と位置偏差設定値Ｘ
とＯ差ΔＸは位置ｉ！Ｉ！節器５によって増幅され、
車輪駆動用電動ｍｌの速度補正信号ΔＮとなる。この補
正信号ΔＮは２つの電動機１ａｔｌｂの一方、例えば電
動機１ａに対しては増速指令となり、他方Ｏ％動機１ｂ
ｌＣ対しては減速指令となるよう、車両速度設定値Ｎｏ
（これは、２つの電動機の平均速度を指令すること
になる。）にそれぞれ加算または減算されて速度調節器
３の指令人簀 簀 養
力Ｎ （Ｎａ−Ｎｏ＋ΔＮ 、Ｎ１）−Ｎｏ−ΔＮ）
が形成される。ところで、位置調節器５や速度調節器３
には応答遅れがあること、増幅率には制御安定性の点か
ら制限があること、さらＫは電動機の上限速度にも制限
があることなどの理由から、車両速度が大きい（速い）
ときは、カーブ走行時には左右の車ｍＫ対しカーブを曲
がるに必要な速度偏差を生ぜしめることができず、この
ため車両が所定の走行軌道から逸脱する可能性がある。That is, the output of the position deviation detector 6 and the position deviation set value
and O difference ΔX is position i! I! Amplified by node 5,
This becomes the speed correction signal ΔN of the electric motor ml for driving the wheels. This correction signal ΔN serves as a speed increase command for one of the two electric motors 1atlb, for example electric motor 1a, and the other 0% motor 1b.
For IC, the vehicle speed setting value No. is set as a deceleration command.
(This commands the average speed of the two electric motors.) is added or subtracted from the speed regulator 3's command (Na-No+ΔN, N1)-No-ΔN).
is formed. By the way, the position adjuster 5 and the speed adjuster 3
There is a response delay in K, there is a limit on the amplification factor from the point of view of control stability, and there is also a limit on the upper limit speed of the electric motor in K, so the vehicle speed is high (fast).
In this case, when traveling on a curve, it is not possible to generate a speed deviation necessary for the vehicle mK on the left and right to take the curve, and therefore there is a possibility that the vehicle deviates from the predetermined traveling trajectory.
そこで、従来は図示の如きカーブ検出器９を設け、これ
により車両がカーブに近付いたことが検出されると、こ
の検出々力によって車両の速度指令値（Ｎｏ）’に下げ
るようにしている。Therefore, conventionally, a curve detector 9 as shown in the figure is provided, and when it is detected that the vehicle approaches a curve, the speed of the vehicle is lowered to the vehicle speed command value (No)' by the detection force.
しかしながら、このような方法ではカーブの近傍にカー
ブ検出器を設置しなければならないこと、また搬送効率
を上げるためにはカーブの曲率半径に応じて速度設定値
を変化させなければならず、このため速度設定器が複雑
になることなどから、システムコストが高くなると云う
問題がある。However, with this method, a curve detector must be installed near the curve, and in order to increase conveyance efficiency, the speed setting value must be changed according to the radius of curvature of the curve. There is a problem in that the system cost increases due to the complexity of the speed setting device.
したがって、この発明は車両のカーブ軌道からの逸脱を
簡単かつ安価に防止し得る走行制御装置を提供すること
を目的とする。Therefore, an object of the present invention is to provide a travel control device that can easily and inexpensively prevent a vehicle from deviating from a curved trajectory.
車両の走行ルートからのずれ量を検出する検出器の出力
に応じて、車両の速度制御系に対する速度設定値ｔｌ−
補正する補正回路を設け、検出々力に応じて電動車両の
速度を変化させる。The speed setting value tl- for the speed control system of the vehicle is determined according to the output of the detector that detects the amount of deviation from the vehicle's travel route.
A correction circuit is provided to change the speed of the electric vehicle according to the detected force.
カーブ走行時に車両が走行ルートからずれると位置検出
器の出力も増加するので、それに応じて車両の走行速度
を下げることにより、安定なカーブ走行特性が得られる
ようにする。つまり、カーブの曲がり具合に応じて速度
を変えることにより、車両のカーブからの逸脱を回避す
るものである。When the vehicle deviates from the traveling route when traveling on a curve, the output of the position detector also increases, so by lowering the traveling speed of the vehicle accordingly, stable curve traveling characteristics can be obtained. In other words, the vehicle avoids deviating from the curve by changing the speed depending on the curve of the curve.
第１図はこの発明の実施例を示すブロック図である。同
図において、８は絶対値演算器であり、その池は第２図
と同様である。FIG. 1 is a block diagram showing an embodiment of the invention. In the figure, 8 is an absolute value calculator, and its pond is the same as in FIG.
すなわち、この実施例は第２図の如きカーブ検出器９を
用いた車両速度設定値変更方式のかわりに、位置偏差信
号ΔＸの絶対値にもとづき車両速度設定器７に与えるべ
き補正量を演算する絶対値演算器８を設け、カーブ検出
器を不要にした点が特徴である。こうすることにより、
カーブ走行時に車両が走行ルートからずれて位置偏差が
増大すると、それに応じて車両速度設定値に自動的に減
速補正が入って車両は減速するので、カーブでも逸脱す
ることなく走行させることができる。That is, in this embodiment, instead of the method of changing the vehicle speed set value using the curve detector 9 as shown in FIG. 2, the amount of correction to be given to the vehicle speed setter 7 is calculated based on the absolute value of the position deviation signal ΔX. A feature is that an absolute value calculator 8 is provided, eliminating the need for a curve detector. By doing this,
When the vehicle deviates from the travel route when traveling on a curve and the positional deviation increases, a deceleration correction is automatically applied to the vehicle speed setting value accordingly and the vehicle decelerates, allowing the vehicle to travel on the curve without deviating.
なお、以上では電磁誘導を利用して電動車両の走行ルー
トからの位置偏差を検出するようにしたが、これに限定
されるものではなく、他の適宜な検出器を用いることが
できる。Note that although the positional deviation of the electric vehicle from the traveling route is detected using electromagnetic induction in the above example, the present invention is not limited to this, and other appropriate detectors may be used.
この発明によれば、車両が走行ルートからずれるとそれ
に応じて車両速度を自動的に下げるようＫしたので、従
来の如くカーブ近傍に検出器を設置しその検出々力によ
って車両速度を下げる方式に比べてシステムコスｌｔ−
下げることができるだけでなく、カーブの走行をスムー
ズになし得る利点がもたらされるものである。According to this invention, when the vehicle deviates from the driving route, the vehicle speed is automatically reduced accordingly, so instead of using the conventional method of installing a detector near the curve and using the detection force to reduce the vehicle speed. Compare system cost lt-
This has the advantage that not only can the vehicle be lowered, but also that it can run smoothly around curves.
第１図はこの発明の実施例を示すブロック図、第２図は
電動車両の一例を示す概要図、第３図は電動車両用制御
装置の従来例を示すブロック図である。
符号説明
ｌａ、ｌｂ・・・・・・電動機、２ａ、２ｂ・・・・・
・速度検出器、３ａ、３ｂ・・・・・・速度調節器、４
・・・・・・極性反転器、５・・・・・・位置調節器、
６・・・・・・位置偏差検出器、７・・・・・・車両速
度設定器、８・・・・・・絶対値演算器、９・・・・・
−カーブ検出器、１０・・・・・・電動車両、１１・・
・・・・誘導フィル、１２・・・・・・車輪、１３・・
・・・・誘導線。
代理人 弁理士 並 木 昭 夫
代理人 弁理士 松 崎 清
第１図
第２図
（イ）
１３プ蜂５Ｌ
第 ３ 図FIG. 1 is a block diagram showing an embodiment of the present invention, FIG. 2 is a schematic diagram showing an example of an electric vehicle, and FIG. 3 is a block diagram showing a conventional example of a control device for an electric vehicle. Code explanation la, lb...Electric motor, 2a, 2b...
・Speed detector, 3a, 3b...Speed regulator, 4
...Polarity inverter, 5...Position adjuster,
6...Position deviation detector, 7...Vehicle speed setting device, 8...Absolute value calculator, 9...
-Curve detector, 10...Electric vehicle, 11...
...Induction fill, 12...Wheel, 13...
...Guiding line. Agent Patent Attorney Akio Namiki Agent Patent Attorney Kiyoshi Matsuzaki Figure 1 Figure 2 (A) 13 Pubee 5L Figure 3
Claims (1)
、予め定められた走行ルートと直角方向の位置ずれを検
出する１対の検出器とを備えてなる無人運転の電動車両
に対し、両検出器からの偏差信号を零にすべく位置調整
を行なう位置調節器と、電動機設定速度に対し該位置調
節器出力を一方には加算し他方には減算して速度指令値
を形成し該速度指令値にもとづいて前記各電動機の速度
をそれぞれ調節する１対の速度調節器と、前記両検出器
からの偏差信号に応じて前記速度設定値を補正する補正
回路とを設け、該偏差信号に応じて電動車両の速度を変
化させることを特徴とする電動車両用走行制御装置。For an unmanned electric vehicle that is equipped with a pair of wheels each driven by two electric motors and a pair of detectors that detect positional deviation in a direction perpendicular to a predetermined travel route, A position adjuster that adjusts the position to make the deviation signal from the detector zero, and a position adjuster that adds the output of the position adjuster to one side and subtracts it to the other side with respect to the motor setting speed to form a speed command value. A pair of speed regulators each adjust the speed of each of the electric motors based on a command value, and a correction circuit that corrects the speed set value in accordance with the deviation signals from both of the detectors. A travel control device for an electric vehicle, characterized in that the speed of the electric vehicle is changed according to the speed of the electric vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60199607A JPS6264204A (en) | 1985-09-11 | 1985-09-11 | Drive controller for motor driven vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60199607A JPS6264204A (en) | 1985-09-11 | 1985-09-11 | Drive controller for motor driven vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6264204A true JPS6264204A (en) | 1987-03-23 |
Family
ID=16410673
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60199607A Pending JPS6264204A (en) | 1985-09-11 | 1985-09-11 | Drive controller for motor driven vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6264204A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01195511A (en) * | 1988-01-29 | 1989-08-07 | Shin Kobe Electric Mach Co Ltd | Speed control circuit for unmanned guide type cart |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS598016A (en) * | 1982-07-05 | 1984-01-17 | Murata Mach Ltd | Traveling controller of self-traveling dolly |
-
1985
- 1985-09-11 JP JP60199607A patent/JPS6264204A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS598016A (en) * | 1982-07-05 | 1984-01-17 | Murata Mach Ltd | Traveling controller of self-traveling dolly |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01195511A (en) * | 1988-01-29 | 1989-08-07 | Shin Kobe Electric Mach Co Ltd | Speed control circuit for unmanned guide type cart |
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