SU1376103A1 - Device for controlling the positioning of vehicle - Google Patents

Abstract

The invention relates to automation and computer technology and can be used in warehouses equipped with stacker cranes. The purpose of the invention is to increase the performance of the control object by changing the speed of its movement in proportion to the difference between the specified and current addresses. To this end, the device containing the address setting block 1, the current address sensor 2, counter 6, groups of 8.9 elements AND, elements OR 10, 11, and block 14 of switching on the relay, introduced frequency dividers 4.5, counter 7, group 12 the elements OR, the register 13 and the generator of 3 clock pulses with the corresponding connections. 1 Il. (Ls

Description

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The invention relates to automation and computing and can be used in warehouses equipped with stacker cranes.

The purpose of the invention is to improve the performance of the control object by changing the speed of its movement in proportion to the difference between the specified and current addresses.

The drawing shows a diagram of the device.

The device contains an address setting unit 1, a current address sensor 2, a clock pulse generator 3, frequency dividers 4 and 5, counters 6 and 7, groups 8 and 9 of the AND elements, OR elements 10 and 11, a group of 12 OR elements, register 13, block 14 turning on the drive relay, electric drive 15, braking unit 16.

The device works as follows.

Using the address setting block G, the address of the desired position of the transport object is set, the code of the desired address is generated at the output of block 1, the output sensor 2 generates the code of the current address of the vehicle. Generator 3 generates a pulse with a constant frequency. Under the action of the code from the output of block 1 by the divider 4, the frequency of the pulse at its output decreases in proportion to the code of block 1. Under the action of the code from the output of sensor 2 by the divider 5, the frequency of the pulses at its output decreases in proportion to the code of counter 2. Counter 6 pulses from the output of divider 4 are summed, and counter 7 summarizes the pulses from the output of the divider 5. Upon reaching the contents of one of the counters 6 or 7, at which a high potential is established at the output of the (n-1) -th bit, the leading edge of the high potential pulse from the output (nl) -ro counts When 6 or 7 through the element OR 10, the register 13 is nullified, and upon reaching the contents of one of the counters 6 or 7, at which a high potential is set at the output of the n-th digit, the sign of the direction of movement of the object is recorded at the input of the sign of the deviation in the register 13 , opens one of the groups 9 or 8 of the elements And, respectively, and the contents of the counter 7 or 6, in addition, the contents

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which is smaller, through a group of 9 or 8 elements AND, and through a group of 12 elements OR is fed to the inputs of the input of the register deflection module 13. Then the pulse from the output of the n-th bit through the element OR 11 counters 6 and 7 nullify and repeat the process of counting pulses arriving at. counting inputs.

The contents of register 13 are fed to the inputs of block 14, which functions as a code-analog converter. If there are inequalities in the countable counters, at the moment of high potential at the output of the nth digit, one of the inputs of the input of the sign of the deviation of the register 13 will have a high potential, and the other will have a low one. Ana, a logical picture is also observed at the outputs of the register, and at the inputs the input of the module of deviation of the register 13 will be the code of the module of the deviation of the current address of the object from the desired address. This code, fixed in register 13, is fed to block 14. The sign code is converted in block 14 to the polarity of the output voltage or current, and the code of the module to its analogue equivalent.

The motor 15, in accordance with the polarity and amplitude of the output signal from block 14, develops a torque in the direction determined by polarity and in magnitude proportional to the amplitude of the input signal, the signal at the input of block 16 is absent. When the modulus of deflection decreases, t. e. when the difference between the specified address and its current value is reduced, the module code decreases, and hence the speed. the rotational speed of the motor shaft 15 decreases. When the object reaches the specified address, the high potential of the counters 6 and 7 simultaneously sets at the outputs of the engine, then the modulus of the signal at the input of the engine 15 is zero and at the input of the braking unit 16 it turns out to be high. the action of high potential unit 16 is triggered and stops the object at a given position at a point with a given address.

Claims (1)

5 claims A device for controlling the positioning of a vehicle containing an address setting unit, dat5 0 five 0 the current address, the first counter is two groups of elements AND, two elements OR, a switch on the drive relay, the output of which is the output of the device, characterized in that, in order to improve the performance of the control object by changing the speed of its movement is proportional to the difference between and current addresses, two frequency dividers are entered into it, the second counter, a group of elements OR, a register and a clock pulse generator whose output is connected to the information inputs of the first and second frequency dividers, outputs b address setting lock Connected respectively to the installation inputs of the first frequency divider, the output of which is connected to the counting input of the first counter, the output of the sensor of the address address is connected to the installation inputs of the second frequency divider, the output of which is connected to the counting input of the second counter, the first inputs of the OR elements of the group are connected with the outputs of the elements of the first group, the second inputs of the elements of the OR group are connected to the outputs of the elements AND of the second group, the outputs of the elements of the OR group are connected to the information inputs of the regis The trap, whose output is connected to the input block of the drive relay, the bit outputs of the first counter are connected to the first inputs of elements AND of the first group, the bits of the second counter are connected to the first inputs of elements AND of the second group, the outputs of the penultimate bits of the first and second counters are connected to the first and second inputs of the first element OR, respectively, the output of which is connected to the register setup input, the outputs of the last bits of the first and second counters are connected to the inputs of the More and Less register signs tra and to the inputs of the second element OR, respectively, the output of which is connected to the installation inputs of the first and second counters, the output of the last discharge of the first counter is connected to the second inputs of the AND elements of the second group, the output of the last discharge of the second counter is connected to the second inputs of the AND elements of the first group .