TWI395077B - Walking trolley and walking trolley system - Google Patents

Walking trolley and walking trolley system Download PDF

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TWI395077B
TWI395077B TW096132893A TW96132893A TWI395077B TW I395077 B TWI395077 B TW I395077B TW 096132893 A TW096132893 A TW 096132893A TW 96132893 A TW96132893 A TW 96132893A TW I395077 B TWI395077 B TW I395077B
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Taiwan
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torque
traveling trolley
acceleration
absolute position
driving wheels
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TW096132893A
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English (en)
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TW200825646A (en
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Hideki Kubo
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Murata Machinery Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/26—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels
    • B60T8/28—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels responsive to deceleration
    • 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
    • B60K23/08—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles
    • B60K23/0808—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles for varying torque distribution between driven axles, e.g. by transfer clutch
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/10—Indicating wheel slip ; Correction of wheel slip
    • B60L3/102—Indicating wheel slip ; Correction of wheel slip of individual wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B13/00—Other railway systems
    • 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/14—Acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/463—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/465—Slip
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/26—Wheel slip
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/10—Change speed gearings
    • B60W2710/105—Output torque
    • B60W2710/1055—Output torque change rate
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/10—Road Vehicles
    • B60Y2200/14—Trucks; Load vehicles, Busses
    • G—PHYSICS
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    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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    • 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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • 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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • 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
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
    • 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
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    • Y02T10/64—Electric machine technologies in electromobility
    • 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

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  • Engineering & Computer Science (AREA)
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  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Sustainable Development (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)
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Description

行走台車及行走台車系統
本發明是有關減少行走台車之滑動的發明。
在具有前後複數個驅動輪的行走台車中，藉由將朝前後驅動輪之扭矩分配最佳化的方式，可減少滑動，並能以更高速的加速度行走。就該點而言，專利文獻1中揭示：在加速時與減速時，變更扭矩朝前輪與後輪的分配比率；及根據前輪/後輪之旋轉數的比例來偵測滑動，並變更扭矩分配。話雖如此，在專利文獻1中，是對應於加速時或者減速時來變更扭矩分配，在扭矩控制中並未此用實際的加速度。因此扭矩分配的最佳化有其極限。
〔專利文獻1〕日本特開2005－41383號公報
本發明的課題為：藉由將對複數個驅動輪的扭矩分配最佳化，減少行走台車的滑動，且能以高速的加減速行走。請求項2之發明所追加的課題為：實施反饋控制以消除驅動輪的滑動。請求項3之發明的課題為提供一種：可將行走台車對複數個驅動輪的扭矩分配最佳化，可實施反饋控制以消除驅動輪的滑動，並以滑動偵測作為基礎而正確且迅速地偵測行走台車之絶對位置的系統。
本發明的行走台車，是在前後具備複數個驅動輪，且對應於加速度來變更朝前述各驅動輪之扭矩分配的行走台車，其特徵為設有：用來測量前述行走台車的加速度的感知器；和用來對應於前述所求得的加速度，而決定對前述各驅動輪之扭矩分配率的手段；及用來根據前述所求得的分配率，而變更前述各驅動輪的驅動扭矩，並控制驅動馬達的手段。最好是設有：用來偵測前述行走台車之絶對位置的手段；和用來偵測前述各驅動輪之旋轉量的手段；和用來對每單位時間之前述絶對位置的變化、與前述驅動輪於每單位時間的旋轉量進行比較，以求出每個前述驅動輪是否有滑動的手段；及用來消除滑動以便於修正前述所求得之驅動扭矩的手段。
此外，本發明的行走台車系統，是沿著行走台車的移動通路且保持間隔地設有至少配置成2列的標誌，並具有行走台車，該行走台車於前後具備複數個驅動輪，並且具備：用來測量前述行走台車的加速度的感知器；和用來對應於所求得之加速度而決定對各驅動輪之扭矩分配率的手段；和用來根據所求得之分配率而變更前述各驅動輪之驅動扭矩的手段；和用來偵測前述至少2列的標誌的至少2個線性感知器；和用來根據前述至少2個線性感知器的訊號來偵測前述行走台車之絶對位置的手段；和用來偵測前述各驅動輪之旋轉量的手段；和用來對每單位時間之前述絶對位置的變化、與前述驅動輪於每單位時間的旋轉量進行比較，以求出每個前述驅動輪是否有滑動的手段；及用來修正所求得之驅動扭矩以便於消除滑動的手段。在本案的說明書中，有關於行走台車的記載可直接適用於行走台車系統。
在本發明的行走台車或行走台車系統中，能以加速度感知器測量行走中的實際加速度，而對扭矩分配最佳化。此外，一旦對行走台車之絶對位置每單位時間的變化、與各驅動輪之每單位時間的旋轉量進行比較，便可求出每個驅動輪是否具有滑動，並消除滑動以修正驅動扭矩。不僅如此，針對滑動，由於不是變更扭矩分配率，而是修正驅動扭矩，故即使是各驅動輪均產生滑動的場合也同樣能對應。此外，在本發明的行走台車系統中，由於能藉由線性感知器以快速回應且連續性的方式偵測絶對位置，故可正確地測量滑動。
 〔實施型態〕
以下，是用來實施本發明的最佳實施例。
〔實施例〕
第1圖~第7圖中是顯示實施例的行走台車系統。在各圖面中，2代表行走台車，可以是堆高式起重機、或是利用有軌道或者無軌道的方式在地面上行走的台車、或者是高架行走車等。4為行走通路，行走台車2可沿著行走通路4而巡迴或者往復移動，且前後譬如具備一對行走馬達6、7。8、9為前、後的驅動輪，前方的驅動輪8稱為前輪，後方的驅動輪9稱為後輪。驅動輪8、9分別是由左右各1輪或者2輪的車輪所形成，在稱為驅動輪的場合中，是指不區分左右車輪，而由相同驅動軸所驅動的複數個車輪。
10、11為編碼器，是分別用來偵測驅動輪8、9的旋轉角，並將編碼器10、11的輸出值(編碼器值)反饋至伺服機構12、13，進而控制行走馬達6、7。14為控制部，是用來控制伺服機構12、13。16為加速度感知器，用來偵測譬如因速度而使隔片所產生的撓曲，並偵測行走台車2的加速度。17、18為線性感知器，在行走台車2至少設有2個線性感知器17、18，在本實施例中是設於行走台車2的左右。沿著行走通路4設置磁性標誌R1~R4、L1~L4等，並由線性感知器17來偵測磁性標誌L1~L4等，由線性感知器18來偵測磁性標誌R1~R4等，再利用來處理線性感知器17、18的感知器訊號(線性感知器值)，進而偵測行走台車2的絶對位置。絶對位置，譬如是以相對於特定行走原點的絶對座標來表示。
第2圖是顯示控制部14的構造，其中20為感知器介面，可輸入來自於左右線性感知器的線性感知器值、來自於加速度感知器的加速度、及來自於前後編碼器的編碼器值。感知器介面20是採用左右線性感知器的感知器值來偵測絶對位置，並輸出每個特定時間的變化量，譬如絶對位置的差異。感知器介面20可根據編碼器值來求出每個驅動輪8、9的總旋轉數、及前一與這一次總旋轉數之間的差異，也就是指求出每單位時間的旋轉數等。
由感知器介面20將譬如絶對位置輸入速度模式圖產生部21，並由速度模式圖產生部根據絶對位置來求出到目的地為止的剩餘行走距離或速度，而產生行走速度模式圖。由感知器介面20朝扭矩分配部22輸入加速度，並對應於加速度來決定朝前後驅動輪8、9的扭矩分配率。在滑動偵測部23輸入：絶對位置的差異與前後編碼器值之各自的差異，並對應於此來偵測每個前後驅動輪8、9是否具有滑動及其滑動的程度，進而修正每個驅動輪8、9的扭矩。根據上述的方式可獲得每個驅動輪8、9的目標扭矩，將其輸入伺服機構12、13可促使行走台車2行走。
第3圖是顯示線性感知器17(18)的構造。其中30為交流電源，將相位為sin ω t的交流電作用於複數個線圈31，並將線圈31的電壓輸入演算部32。由於線圈31的電感(inductance)，是根據與磁性標誌Li(Ri)之間的相對性位置而變化，故可將相對於根據線圈31的排列範圍所訂定之偵測區域(－A~＋A)的相位當作θ，而求出演算部32的cos θ．cos ω t及sin θ．sin ω t。而θ的範圍為－π~＋π。演算部33，是根據演算部32的輸出，將偵測區域的中間點作為感知器原點，並將感知器原點的線性感知器值當作0，而輸出線性感知器值之範圍為－A~＋A的感知器值。雖然在本實施例中式採用磁鐵來作為磁性標誌R1~R4、L1~L4，但亦可採用適當的磁性體。此外，亦可採用偵測光學性標誌之相位的線性感知器，來取代偵測磁性標誌之相位的線性感知器。不僅如此，亦可使用雷射距離計之類的絶對位置感知器來取代線性感知器17、18，但由於雷射距離計的分解能力低於線性感知器17、18的分解能力(10~100 μm左右)，因此位置偵測所需的時間較長。
第4圖，是顯示從線性感知器值轉變成絶對位置的方法。假設當線性感知器正在偵測磁性標誌L2時，磁性標誌L2位於線性感知器之偵測區域中心之際的感知器值為0，則線性感知器的感知器值是表示從偵測區域中心起的位移。因此，目前正在偵測中的磁性標誌的編號為已知，倘若預先得知線性感知器值為0時的絶對位置(偏移值)，可將其加入感知器值而求出絶對位置。當行走台車起動時，便已得知所使用的磁性標誌，進而得知行走台車的移動方向，故於每一次切換磁性標誌時記憶新的磁性標誌的編號。藉此，可於行走中求出正在執行偵測之磁性標誌的編號。
第5圖是顯示絶對位置計算部50。絶對位置計算部50為感知器介面20的一部分，在偏移表51中記載著磁性標誌的編號與偏移值。在追蹤表52中則記載著：目前正在辨識中之磁性標誌的編號、和關於該磁性標誌的感知器值、及絶對位置的時間序列資料。加算部53是輸入來自於左右線性感知器的感知器值，並將其加入從偏移表51所讀取的偏移值中，進而更新感知器值和時間序列資料。標誌切換部54是在每一次切換磁性標誌時，更新追蹤表中之標誌的編號。而2列的磁性標誌R1~R4、L1~L4是配置成：左右線性感知器之偵測區域的端部重疊，舉例來說，在第4圖中從磁性標誌L2切換成磁性標誌R2的場合中，具有同時偵測磁性標誌L2與磁性標誌R2的區域。因此可在不中斷的狀態下連續地偵測絶對位置。接著在利用左右一對的線性感知器同時對磁性標誌L2、R2雙方進行偵測之際，切換磁性標誌。
第6圖中顯示扭矩分配部22的構造，扭矩分配表61中記載著相對於行走台車之加速度的扭矩分配率。而加速度是採用正負的值，雖然分配率亦可分別記載對前輪的分配率與對後輪的分配率，但是記載著對前輪或者後輪之其中一個的分配率。當將加速度輸入演算部62時，參考扭矩分配表61來讀取分配率，並將分配率乘以目標扭矩，而決定對前輪或者後輪的目標扭矩。當根據全體的目標扭矩來導出對前輪或者後輪的目標扭矩時，可獲得對剩餘驅動輪的目標扭矩。亦可採用根據特定的計算式而由演算部62所獲得的目標扭矩與加速度，來取代表61的使用，計算前輪及後輪之各自的目標扭矩。
第7圖是顯示滑動偵測部23的構造，71、72為減算器，是用來求出前後編碼器值每單位時間的差異、及絶對位置每單位時間的差異。倘若驅動輪完全沒有產生滑動，編碼器值與差異應與絶對位置的差異一致，在編碼器值的差異大於絶對位置之差異的場合中，則是產生空轉。相反地在編碼器值的差異小於絶對位置之差異的場合中，則是產生滑移。在本文中的差異是意味著其絶對值，故符號為正(＋)。將上述的差異輸入處理部73、74，編碼器值的差異與絶對位置的差異之間的差異是否在容許範圍內，可對應於超出容許範圍時對扭矩的修正率、行走加速度或速度等的補助性參數，來修正前輪目標扭矩和後輪目標扭矩。如此一來，可獲得作用於伺服機構的前輪扭矩f1及後輪扭矩f2。
在第7圖所示的處理中，是由減算器71、72來偵測滑動，而對扭矩加入反饋控制以消除滑動，反饋控制是對前輪與後輪獨立施加。雖然處理部73、74是對應於每單位時間所發生的滑動，亦即編碼器值的差異與絶對位置的差異之間的差異而實施控制，但亦可對上述差異本身加入上述差異的積算值或者上述差異的時間變化。
回到第1圖、第2圖，來說明實施例的動作。在行走台車2是由線性感知器17、18以短的時間間隔輸入絶對位置，並由加速度感知器16輸入實際的加速度。而亦可以線性感知器17、18的感知器值為基準，取代速度感知器16來求出加速度。由於可利用加速度感知器16來得知行走台車2的實際加速度，故可對應於加速度來決定對前後驅動輪8、9的最佳扭矩。在該段階中，是以沿著速度模式圖行走的狀態作為目標，藉此可將必要的扭矩分配至前後的驅動輪8、9。其結果是決定了扭矩的分配率。
接下來，藉由採用：編碼器10、11的編碼器值與由線性感知器17、18所由出之絶對位置之間的差異，可得知發生於每單位時間的滑動。當滑動發生時，是執行控制以降低來自於行走馬達6、7的輸出扭矩，並將當產生滑動的容許範圍內、及高於該容許範圍以上的滑動時之扭矩的修正率等，作為參數並輸入處理部73、74，或者預先加以記憶。此外，滑動產生時之扭矩的修正程度，亦可根據行走台車2的加速度或者速度等而變化。根據上述的說明，可對行走馬達6、7的輸出扭矩施以反饋控制而消除滑動。
為了沿著速度模式圖行走，乃對應於加速度而將必須的扭矩分配至前後的驅動輪8、9，而形成扭矩分配的最佳化。接著，偵測每個前後驅動輪8、9的滑動，並修正扭矩，故可降低因滑動所衍生出來自於速度模式圖的延遲等。特別是在因目標扭矩過大而導致前後驅動輪8、9均產生滑動的場合中，可降低各自的驅動扭矩，並防止從速度模式圖脫離的情形。
實施例可獲得以下的效果。(1)可利用加速度感知器來測量行走中的實際加速度，而將扭矩分配最佳化。(2)由於一旦驅動輪產生滑動便修正扭矩，故可在不產生滑動的範圍內，以最接近作為目標的速度模式圖來行走。(3)對滑動而言，由於並非變更扭矩分配率，而是修正扭矩，因此即使是前後驅動輪均產生滑動的場合也同樣能對應。(4)由於是利用線性感知器來偵測絶對位置，故能在短於間內正確且連續性地偵測絶對位置。
2．．．行走台車
4．．．行走通路
6、7．．．行走馬達
8、9．．．驅動輪
10、11．．．編碼器
12、13．．．伺服機構
14．．．控制部
16．．．加速度感知器
17、18．．．線性感知器
20．．．感知器介面
21．．．速度模式圖產生部
22．．．扭矩分配部
23．．．滑動偵測部
30．．．交流電源
31．．．線圈
32、33．．．演算部
50．．．絶對位置計算部
51．．．偏移表
52．．．追蹤表
53．．．加算部
54．．．標誌切換部
61．．．扭矩分配表
62．．．演算部
71、72．．．減算器
73、74．．．處理部
R1~R4、L1~L4．．．磁性標誌
第1圖：為實施例中行走台車的塊狀圖。
第2圖：為實施例中行走台車之控制部的塊狀圖。
第3圖：為實施例中線性感知器的塊狀圖
第4圖：是顯示實施例中從線性感知器值轉變成絶對位置之方法的圖。
第5圖：為顯示實施例中採用線性感知器值之絶對位置計算部的塊狀圖。
第6圖：為實施例中扭矩分配部的塊狀圖。
第7圖：為實施例中滑動偵測部的塊狀圖。
22．．．扭矩分配部
61．．．扭矩分配表
62．．．演算部

Claims (2)

  1. 一種行走台車，是在前後具備複數個驅動輪，且對應於加速度來變更朝前述各驅動輪之扭矩分配的行走台車，其特徵為：設有：用來測量前述行走台車的加速度的感知器；和用來對應於前述所求得的加速度，而決定對前述各驅動輪之扭矩分配率的手段；和用來根據前述所求得的分配率，而變更前述各驅動輪的驅動扭矩，並控制驅動馬達的手段；和用來偵測前述行走台車之絶對位置的手段；和用來偵測前述各驅動輪之旋轉量的手段；和用來對每單位時間之前述絶對位置的變化、與前述驅動輪於每單位時間的旋轉量進行比較，以求出每個前述驅動輪是否有滑動的手段；及用來消除滑動以便於修正前述所求得之驅動扭矩的手段。
  2. 一種行走台車系統，其特徵為：沿著行走台車的移動通路且保持間隔地設有至少配置成2列的標誌，並具有行走台車，該行走台車於前後具備複數個驅動輪，並且具備：用來測量前述行走台車的加速度的感知器；和 用來對應於所求得之加速度而決定對各驅動輪之扭矩分配率的手段；和用來根據所求得之分配率而變更前述各驅動輪之驅動扭矩的手段；和用來偵測前述至少2列的標誌的至少2個線性感知器；和用來根據前述至少2個線性感知器的訊號來偵測前述行走台車之絶對位置的手段；和用來偵測前述各驅動輪之旋轉量的手段；和用來對每單位時間之前述絶對位置的變化、與前述驅動輪於每單位時間的旋轉量進行比較，以求出每個前述驅動輪是否有滑動的手段；及用來修正所求得之驅動扭矩以便於消除滑動的手段。
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DE102007055278A1 (de) 2008-06-26
JP4189826B2 (ja) 2008-12-03
CN101219674A (zh) 2008-07-16
TW200825646A (en) 2008-06-16
US7806218B2 (en) 2010-10-05
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JP2008140145A (ja) 2008-06-19
US20080128191A1 (en) 2008-06-05

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