KR19990040601A - Operation Speed Control Circuit and Method of Carrier - Google Patents

Abstract

The present invention relates to a driving speed control circuit and a method of a conveying apparatus suitable for a planar reciprocating mechanical parking facility. In the related art, it is inconvenient to accurately input a traveling distance in advance, and to detect a traveling address when a photoelectric sensor fails. In case of incorrect or unevenly arranged storage room, it may cause confusion in driving distance calculation and it is necessary to secure a slow driving section too long in order to solve this problem, and the encoder is attached to the driven wheel to output the driving motor. There is a problem in that it is difficult to control the complete zero speed and the exact position during stop due to the difference between the feedback speed used in the torque control system. Therefore, according to the present invention, the conveying apparatus is moved along the running rail at a constant measuring speed before performing normal driving, and then the speed and the mileage storage encoder 10 are used to park the driving distance of the conveying apparatus. According to the layout of the room, the left and right columns are memorized, and when the speed control curve occurs, the time required to accelerate and reach the high speed and the stop progress distance, deceleration progress distance, and low speed progress distance from the acceleration progress distance are automatically By calculating, the time required for deceleration progress section can be minimized even when the load and speed arrival time change.

Description

Operation Speed Control Circuit and Method of Carrier

The present invention relates to a driving speed control circuit and a method of a conveying apparatus for controlling a speed according to a traveling distance of a conveying apparatus in a planar reciprocating mechanical parking facility, and in particular, safe operation can be performed even when a photoelectric sensor in the conveying apparatus fails. The present invention relates to a driving speed control circuit and a method of a conveying apparatus that can be stopped at a precise position.

In the conventional planar reciprocating mechanical parking facility, as illustrated in FIG. 1, a transport device 7 for transporting a car to be parked to a desired place and a travel that enables the transport device 7 to be moved are possible. A storage compartment 9 for storing a rail 6, a vehicle transported through the conveying apparatus 7, a storage plate 13 for fixing the vehicle to the bottom of the storage compartment 9, and It is composed of a wheel 8 attached to the bottom of the conveying device 7 so as to travel along the rail 6.

And, the structure of the speed control circuit of the conventional conveying apparatus is, as shown in Fig. 5, the sequencer 2 for outputting a command for adjusting the speed of the conveying apparatus, and the speed output from the sequencer 2; An output card 12 for outputting a command, an inverter 3 for controlling the travel motor 4 at a speed corresponding to the command output through the output card 12, and an output of the travel motor 4; A drive shaft wheel 8a driven along and moving along the travel rail, a driven shaft wheel 8b engaged with and driven by the drive shaft wheel 8a, and an encoder attached to the driven shaft wheel 8b to find the current position. (1), a dog plate (15) attached to the circumference of the rail to check the position of each compartment (9), and each compartment installed on the conveying device and passing through the dog plate (15). It consists of a photoelectric sensor (5) to find out the address of.

Looking at the prior art configured as described above is as follows.

A plurality of parking compartments 9 are uniformly arranged left and right as shown in FIG. 2 or unevenly arranged left and right as shown in FIG. 3 along the parking rail 6.

In order to park the vehicle in the storage compartment 9 thus arranged, a conveying apparatus 7 configured as shown in FIG. 4 is used, and the conveying apparatus 7 used in this way carries each of the compartments 9 with a running rail 6. Will drive along.

The process of controlling the speed of the conveying apparatus 7 traveling along the travel rail 6 will be described based on FIGS. 5 to 7 as follows.

First, when the sequencer 2 outputs an acceleration command for accelerating the conveying device 7 to the inverter 3 via the output card 12, the inverter 3 drives the traveling motor 4.

When the traveling motor 4 is driven, the drive output is transmitted to the drive shaft wheel 8b of the transport apparatus 7.

Accordingly, the drive shaft wheels 8a are driven, and the driven shaft wheels 8b connected to the drive shaft wheels 8a driven in this way are driven together.

In this way, the drive shaft wheel 8a and the driven shaft wheel 8b are driven to travel the travel rail 6.

When the conveying device 7 is moved by the wheels 8a and 8b to the traveling rail 6, the encoder 1 installed on the driven shaft wheel 8b side enters the current position of the input card 12. To the sequencer (2).

The sequencer 2 then determines the speed of the conveying device 7 according to the current position.

The sequencer 2 determines the speed of the conveying device 7 as high speed, medium speed, or low speed, and outputs the determined speed command to the inverter 3 via the output card 11.

Accordingly, when the driving motor 4 and the wheel 8 are driven to adjust the speed of the conveying device 7 and move by the speed, and reach the deceleration starting position, the sequencer 2 again decelerates and decelerates so as to decelerate. do.

When decelerating and reaching the stop position again, the stop command is issued to control the transport device 7 to stop.

The speed control of the said conveying apparatus 7 is set as shown in FIG. 6, and deceleration starts in the position of (c) at the time of high speed travel, and the position of (b) at the time of medium speed travel, and the position of predetermined (d) is carried out. Continue at low speed at, and stop at the position of (ㅁ).

And around the running rail 6, the dog board 15 for checking the position of each storage compartment 9 is divided into row addresses A, B, C, D, E, F, and G, respectively, and is conveyed The absolute position of the row addresses A to G, from which the current position of the device 7 is determined, is determined in advance, and the distance obtained by subtracting the current position a from the absolute position ㅁ of the target row address G is the travel distance ( l).

If the distance obtained by subtracting the current position from the absolute position of the target row address is positive (+), it is determined to go forward and (-) backward.

Referring to FIG. 7 regarding the speed control of the conveying apparatus 7 as described above, the sequencer 2 first sets the target address (S1) and then the motor to the inverter 3 to operate the conveying apparatus 7. Give the drive command.

Then, the inverter 3 operates to drive the driving motor 4, and as the driving motor 4 drives, the driving shaft wheel 8a rotates, and the driven shaft wheel 8b together with the driving shaft wheel 8a. It is also driven to drive along the travel rail (6).

At this time, if the encoder 1 detects and transmits the current position, the sequencer 2 subtracts the current position from the absolute position of the target (S2).

If the value subtracted in step S2 is a positive value, it is determined that the target address has not been reached yet, and it is moved forward. If the subtracted value is a negative value, it is determined that it has exceeded the target address and returns to the target address. Command the inverter 3 through the output card 12 so as to back up to come.

Then, the inverter 3 drives the driving motor 4 so that the drive shaft wheel 8a continues to operate in the same direction in the forward direction, and the drive shaft wheel 8a operates in the reverse direction in the reverse direction. The driving motor 4 is driven.

Then, the sequencer 2 checks the distance L to the target (S3).

As a result of the check, if the distance L to the target is greater than or equal to 35000, the sequencer 2 issues the high speed command to the inverter 3 in order to move the transfer device 7 at high speed VH. (S4)

If the distance L to the target is greater than or equal to 5300 and smaller than 35000, the sequencer 2 issues the intermediate speed command to the inverter 3 to move the transport device 7 to the medium speed VM. (S5)

If the distance L to the target is smaller than 5300, the sequencer 2 issues the low speed command to the inverter 3 in order to move the transport device 7 at low speed VL. (S6)

When the transfer device 7 is moved by giving the same command as described above, the photoelectric sensor 5 on the transfer device 7 reads the row address provided in front of each storage room along the travel rails 6. When passed to the sequencer 2, the sequencer 2 recognizes its location.

The sequencer 2 recognizes the position of the conveying apparatus 7, but when the conveying apparatus 7 moves at a high speed, the deceleration command is issued to the inverter 3 when the deceleration position SH is reached during high-speed driving. In addition, when the conveying device 7 moves at the medium speed, the deceleration command is issued to the inverter 3 when the deceleration position SM is reached during the medium speed driving. (S7)

In the case of the high speed and the medium speed, the deceleration operation is at the stop position after the deceleration command, or at the low speed, the low speed operation is reached and the stop position is reached (S8). The sequencer 2 stops the stop command to stop at the stop position. Output to inverter 3 (S9).

In this way, the inverter 3 stops the traveling motor 4, and the driving shaft wheel 8a and the driven shaft wheel 8b do not move as the driving motor 4 stops.

The speed of the conveying apparatus 7 is controlled in the same manner as described above, and the vehicle is placed on the storage plate of the storage compartment of the corresponding address by using the conveying apparatus 7 moving as the speed controlled in this manner to park.

However, in the prior art as described above, it is inconvenient to accurately input the mileage in advance, and when the photoelectric sensor fails, it is confusing to calculate the mileage when the travel address detection is incorrect or the storage compartment is arranged unevenly. In order to solve this problem, there is a problem that the low-speed progression section must be secured too long, and an encoder is attached to the driven shaft wheel, and a difference with the return speed used in the output torque control system of the traveling motor occurs, which results in a complete zero speed and static Position control is difficult.

Therefore, an object of the present invention for solving the conventional problems as described above is to provide a driving speed control circuit and method for the safe operation even when the photoelectric sensor failure in the transfer device.

It is another object of the present invention to provide a driving speed control circuit and a method of a conveying apparatus such that there is no speed deviation generated between a feedback speed used for output torque control and an encoder attached to a driven shaft wheel.

1 is a planar reciprocating mechanical parking facility configuration.

2 is a layout view of a compartment in which the compartments are conventionally arranged left and right.

3 is a layout diagram of a compartment in which a compartment is ununiformly arranged in a conventional left and right side.

4 is a schematic configuration diagram of a conventional conveying apparatus.

5 is a configuration diagram of a control circuit of a conventional conveying apparatus.

Figure 6 is a characteristic diagram showing a speed control curve according to the travel distance of the transport apparatus.

7 is an operation process diagram for a speed control method of a conventional transport apparatus.

8 is a configuration diagram of a driving speed control circuit of the transport apparatus of the present invention.

9 is a layout view of a compartment showing an example in which the compartments are arranged unevenly in the present invention.

10 is a table showing the present invention mileage measurement table.

11 is a characteristic diagram showing a mileage measurement speed curve of the present invention.

12 is a speed control characteristic diagram according to the mileage of the transport apparatus of the present invention.

13 is an operation process diagram for a driving speed control method of the transport apparatus of the present invention.

*** Explanation of symbols for main parts of drawing ***

1: Address recognition encoder 2: Sequencer

3: inverter 4: driving motor

5 photoelectric sensor 6 running rail

7: conveying apparatus 8: wheel

9: Storage Room 10: Encoder for Speed and Mileage Calculation

11: input card 12: output card

13: containment plate

The present invention for achieving the above object is a sequencer for outputting a command for controlling the driving speed of the conveying apparatus through an output card, an inverter for controlling the speed of the traveling motor in accordance with the command, and a direct connection to the traveling motor A speed and travel distance encoder for controlling the inverter by calculating a speed of the motor and calculating a position, a drive shaft and a driven shaft wheel for moving the conveying device according to the output of the travel motor, and attached to the driven shaft wheel. And an encoder for reading a driving address and outputting it to the sequencer.

In addition, the present invention is the first step of loading the corresponding data by checking whether the storage room to be parked is the left column or the right column, and the second step of checking the traveling direction of the conveying device after entering the target position to proceed in the corresponding direction And a third step of advancing in the corresponding direction and calculating a target position, a stop command position, a low speed start position, a deceleration start position, and a travel distance, and after calculating the respective positions and travel distances, And a fifth step of driving at a speed and a fifth step of driving at a speed according to the travel distance calculated in the third step and stopping when the target position is reached.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

FIG. 13 is a flowchart illustrating a method for controlling a driving speed of a transport apparatus according to the present invention. As shown in FIG. 13, a first step of loading corresponding data by checking whether a storage space to be parked is a left column or a right column is performed. After inputting the position, the second step of checking the traveling direction of the conveying device and proceeding in the corresponding direction, and proceeding to the corresponding direction from the above, and calculates the target position, stop command position, low speed start position, deceleration start position and travel distance In the third step, the fourth step of driving the conveying apparatus at high speed after calculating the respective position and the driving distance in the above, and the operation at the speed according to the driving distance calculated in the third step to reach the target position The fifth step is to stop.

As shown in FIG. 8, the driving speed control circuit of the present invention for carrying out the method comprising the steps described above outputs a command for controlling the driving speed of the carrying device through the output card 11. The sequencer 2, the inverter 3 for controlling the speed of the traveling motor 4 according to the command, and the driving motor 4 are directly connected to obtain the speed of the motor 4, calculate the position and An encoder 10 for calculating the speed and travel distance for controlling the inverter 3, drive shafts and driven shaft wheels 8a, 8b for moving the conveying device 7 according to the output of the travel motor 4, and And an encoder (1) attached to the driven shaft wheel (8b) to read a driving address and output it to the sequencer (2).

Referring to the operation and effect of the present invention configured as described in detail as follows.

In order to perform the measurement operation, the sequencer 2 outputs a speed command having a constant speed as shown in FIG. 11 to the inverter 3 through the output card 11.

Then, the inverter 3 is operated to drive the driving motor 4 to have a constant speed.

As the driving motor 4 is driven, the driving shaft wheel 8a is moved and moved. When the driving shaft wheel 8a is operated, the driven shaft wheel 8b connected to the shaft is operated together to operate the conveying device 7. Move it.

The conveying device 7 then moves along the running rail 6 as shown in FIG. 9.

At this time, the speed of the motor directly connected to the driving motor 4 and the driving distance calculation encoder 10 calculates the speed of the motor to control the inverter 3, and measures the driving distance during driving to control the sequencer through the input card 12. Output to (2).

Accordingly, the sequencer 2 stores the travel distance measured as shown in FIG. 10 for each of the left row 1L and the right row 1R in the case of the storage arrangement layout shown in FIG. 9.

In this way, even when the left and right arrangements of the storage rooms are uneven, the traveling distance to each storage room is automatically calculated based on the measured value in the traveling distance measurement driving mode.

In addition, the speed control curve in the normal operation is shown in FIG. 12, in which S0 is the acceleration progress distance, S1 is the stop progress distance, S2 is the deceleration progress distance, S3 is the slow progress distance, PS900 is the target position, PS800 is the stop command position, PS700 is the low speed start position, PS600 is the deceleration start position, PS500 is the travel distance, VL is the low speed, VH is the high speed, and α is the acceleration.

As described above, a method of operating the conveying apparatus using the driving distance stored in the sequencer 2 and the driving speed control curve of the conveying apparatus shown in FIG. 12 will be described with reference to FIG.

It recognizes which row in the left and right columns is the driving target position, and reads the stored travel distance measurement data. (S11) (S12)

Then, the speed command is outputted to the inverter 3 through the output card 12 in order to move the conveying device 7, and the drive motor 4 and the drive shaft wheel 8a and the driven shaft are driven by the inverter 3. The wheel 8b is driven to be movable.

Then, the speed and travel distance encoder 10 directly connected to the driving motor 4 detects the speed of the motor and controls the inverter 3 according to the detected speed.

At this time, the sequencer 2 receives the current position through the input card 11 by the encoder 1 attached to the driven shaft wheel 8b, and the photoelectric sensor on the conveying device passes through the dog plate 15. Each time you pass the distance of each row.

The sequencer 2 then subtracts the current position of the conveying device 7 from the target position. (S13)

If the value subtracted in step S13 is a positive value, the conveying device has not yet reached the target position. Therefore, the apparatus continues to move forward (S14). If the subtracted value is a negative value, the conveying device is the target position. Since it transcends to proceed backward (S15).

After the conveying device is advanced in the forward or reverse direction, the total driving distance is set at the target position (PS900), and the time required for accelerating with acceleration to reach the high speed (VH) and the acceleration progress distance (SO) Deceleration progress distance S2, stop progress distance S1, and low speed progress distance S3 are automatically calculated.

The target position PS900, the stop command position PS800, the low speed start position PS700, the deceleration start position PS600, and the travel distance PS500 are respectively calculated using the automatically calculated distance.

That is, the target position PS900 is a value obtained by taking an absolute value to the value of (target position-current position of the transport apparatus), and the stop command position PS800 is subtracted from the target position PS900 by the stop traveling distance S1. The low speed start position PS700 is obtained by subtracting the low speed progress distance S3 from the stop command position PS800, and the deceleration start position PS600 is the deceleration progress distance (S700) at the low speed start position PS700. S2) is obtained by subtracting the value, and the travel distance PS500 is obtained by taking the absolute value of the value of (current position-starting position).

As described above, after the respective positions and travel distances are obtained, the conveying apparatus 7 is driven at a high speed VH and an acceleration of? 0.

After driving at the same speed as above and checking the traveling distance PS500 to reach the deceleration starting position PS600, the driving speed is driven at a low speed VL and an acceleration of -α0, and the deceleration starting position PS600 If it is not reached, the process proceeds to step S16 to obtain the mileage and each position.

Then, when the traveling distance travel distance PS500 of the conveying device reaches the low speed start position PS700, the driving speed is driven at a low speed VL and an acceleration of -α0 to reach the deceleration start position PS600. If not, continue driving at low speed. (S18)

When the traveling distance PS500 of the transport device reaches the stop command position PS800, the driving speed is driven at 0 speed VL and an acceleration of 0. If the stop distance PS500 does not reach the stop command position PS800, the driving speed PS500 continues. To operate at 0 speed. (S19)

In addition, when the mileage travel distance PS500 of the transport device reaches the target position PS900, the final target position is reached and the vehicle stops. If the vehicle does not reach the target position PS900, the vehicle continues to operate at zero speed. (S20)

As described above, before the normal driving is performed, the conveying apparatus is moved along the running rail at a constant measuring speed, and then the parking distance of the conveying apparatus is parked by using the encoder for speed and mileage calculation. The left and right columns are stored according to the layout of the compartments.

Then, by using the photoelectric sensor and encoder in the conveying device to recognize the mileage according to the traveling address, the conveying device is operated by adjusting the speed and acceleration according to the recognized mileage.

At this time, if the photoelectric sensor 5 fails, the driving address is recognized using the encoder 1, the driving distance measured in advance according to the recognized driving address is read, and the speed and acceleration are controlled according to the driving distance. Run the conveying device.

Therefore, the present invention is to move the conveying device along the running rail at a constant measuring speed before performing normal driving, and then to use the encoder for speed and mileage calculation to calculate the driving distance of the storage device for parking the car. By memorizing the left and right columns according to the layout, it accelerates when the speed control curve occurs and automatically calculates the stop travel distance, deceleration travel distance, and low speed travel distance from the time required to accelerate to the high speed and the acceleration travel distance. Even when the load and speed attainment time fluctuate, the driving time can be minimized.

Claims (3)

The sequencer outputs a command for controlling the operation speed of the conveying apparatus through an output card, an inverter that controls the speed of the traveling motor according to the command, and is directly connected to the traveling motor to calculate the speed of the motor and calculate a position. An encoder for controlling the inverter to drive the inverter, a driving shaft and a driven shaft wheel for moving the conveying device according to the output of the traveling motor, and a driving address attached to the driven shaft wheel to read the driving address. An operating speed control circuit for a conveying apparatus, characterized by comprising an encoder for outputting. A first step of loading the corresponding data by checking whether the storage room to be parked is the left column or the right column; and a second step of checking the traveling direction of the conveying apparatus after entering the target position and proceeding in the corresponding direction; A third step of advancing in the corresponding direction and calculating the target position, the stop command position, the low speed start position, the deceleration start position, and the travel distance; And a fifth step of driving at a speed corresponding to the travel distance calculated in the third step to stop when the target position is reached. The method of claim 2, further comprising: a first process of driving at low speed if the mileage is greater than or equal to the deceleration start position or a low speed start position; and a second process of driving at zero speed if the mileage is greater than or equal to the stop command position; And a third process of continuously driving at zero speed if the mileage is not equal to a target position and terminating if the mileage is not equal to a target position.