JP2000168914A - Speed control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent the damage to the article to be carried during carrying and improve a carrying efficiency by producing a damping signal for restraining the swing amount of a soft structure based on the change amount detected by a swing amount detection means and providing a damping conpensation means for compensating the control of a drive means by the control means based on the damping signal. SOLUTION: A control means (motor driver) 5 for producing a current signal for driving a motor 4 based on a prescribed speed order signal and the rotation speed of the motor 4 detected by a rotation speed detector 41 is provided. The acceleration of swing amount of a support member 6 generated following to the acceleration, deceleration and stop of a truck 3 is detected by the swing amount detection means (acceleration detector) 7 provided on the upper part of the support member 6. A damping signal for restraing the swing amount is produced based on the rotation speed of the motor detected by the rotation speed detector 41 and the acceleration of the swing amount of the support member 6 detected by the acceleration detector 7 and a damping compensarion means 8 for adding to the speed order signal after turning over the phase is provided.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a speed control device, and more particularly, to a driving means for driving a traveling body provided with a flexible structure for supporting a lift so as to be able to move up and down, and the driving means comprising the traveling body. Speed control device comprising: drive speed detection means for detecting a drive speed for driving the motor; and control means for controlling the drive means based on a predetermined speed command and the drive speed detected by the drive speed detection means. It is about.

[0002]

2. Description of the Related Art For example, in order to transport various components from a three-dimensional warehouse, a transport device with a lift is used which mounts various components on a vertically movable mounting table and travels on a track. here,
FIG. 11 shows an example of a schematic configuration of the transfer device. FIG.
As shown in FIG. 1, the transfer device comprises a wheel 2 slidably supported on a track 1, a truck 3 on the wheel 2,
And a mounting table 61 for mounting a conveyed object such as a component, the motor 4 being connected to the vehicle via a speed reducer and driving the carriage 3.
And a support member 6 fixed to the carriage 3 and supporting the mounting table 61 so as to be able to move up and down. In addition, a rotation speed detector 41 for detecting a rotation speed of the motor 4 is provided in the transfer device to drive the transfer device in accordance with a predetermined speed command signal as shown in FIG. A motor driver 5 for generating a current signal for driving the motor 4 based on a predetermined speed command signal and the rotation speed of the motor 4 detected and fed back by the rotation speed detector 41 is provided. . In the above-described transport device, for example, when transporting a load from a three-dimensional warehouse in which the objects to be loaded are stored at various heights, first, a lifting motor (not shown) for raising and lowering the mounting table 61 is driven. After the mounting table 61 supported by the support member 6 so as to be able to move up and down is set at a predetermined height, the object is transferred to the mounting table 61. Next, a speed command signal is supplied from a speed command device (not shown) to the motor driver, and a current signal for driving the motor 4 is generated by a speed controller 51, a current controller 52, and a power amplifier 53 provided in the motor driver. And the motor 4
Is driven. When the motor 4 is driven, the driving force of the motor 4 is transmitted to the wheels 2 via the speed reducer, and the wheels 2 are rotated. Due to the rotation of the wheels 2, the carriage 3 on which the load is placed on the placement table 61 travels along the track 1 according to the speed command signal. However, in the open loop control system, the rotation speed of the motor 4 and the rotation speed of the wheels 2 do not simply coincide with the speed command signal due to the influence of disturbance or the like. Therefore, the actual rotation speed of the motor 4 is detected by the rotation speed detector 41, and the detected rotation speed is inverted in phase and added to the speed command signal.
That is, the detected rotation speed of the motor 4 is fed back to the motor driver 5. This allows the transport device to travel in accordance with the speed command signal. In the case of following the speed command signal shown in FIG. 12 (a), when the transfer device is accelerated at a constant acceleration for a predetermined time from the stopped state and reaches the maximum speed, the maximum speed is maintained for a while, and thereafter the constant speed is maintained. It is decelerated by acceleration and eventually stopped.

[0003]

By the way, in the conventional transfer device corresponding to the above-mentioned three-dimensional warehouse, a large-sized support member 6 is used. However, the weight of the support member 6 is large. It is difficult to increase the rigidity so as to completely prevent the elastic deformation from occurring. When the transfer device accelerates, decelerates, and stops, it vibrates along the traveling direction at a low natural frequency (hereinafter, this vibration Is called shaking).
For example, in response to the speed command signal shown in FIG. 12A, the swing of the support member 6 is not easily suppressed as shown in FIGS. 12B and 12C. Depending on the magnitude of the shaking accompanying the traveling of the transfer device, the transferred object may be damaged, or it may be difficult to remove the transferred object from the transfer device. If it is, it takes time, and the transport efficiency is reduced. In order to solve the problems in the prior art, the present invention has improved a speed control device, and when controlling the speed of a traveling body having a flexible structure, the flexible structure accompanying the traveling of the traveling body is improved. A variable corresponding to the amount of object shake is detected,
By generating a vibration suppression signal that suppresses the swing amount based on the detected variable and compensating for the speed control, the swing amount of the flexible structure caused by running and stopping of the traveling body is quickly suppressed, It is an object of the present invention to provide a speed control device capable of preventing damage to a transferred object or the like and improving transfer efficiency.

[0004]

In order to achieve the above object, according to the first aspect of the present invention, there is provided a driving means for driving a traveling body having a flexible structure, and the driving means drives the traveling body. A speed control device comprising: a driving speed detecting means for detecting a driving speed; and a control means for controlling the driving means based on a predetermined speed command and the driving speed detected by the driving speed detecting means. A vibration amount detecting means for detecting a variable corresponding to a vibration amount of the flexible structure accompanying the traveling of the traveling body; and a vibration amount of the flexible structure based on the variable detected by the vibration amount detecting means. A speed control device characterized by comprising: a damping compensation signal generating means for generating a damping signal to be suppressed and compensating the control of the driving means by the control means based on the damping signal. According to a second aspect of the present invention, in the speed control device according to the first aspect, the variable is
The gist is that the swing speed of the flexible structure accompanying the traveling of the traveling body is the same. According to a third aspect of the present invention, in the speed control device according to the first aspect, the variable is a swing acceleration of the flexible structure accompanying the traveling of the traveling body. According to a fourth aspect of the present invention, in the speed control device according to any one of the first to third aspects, the vibration damping compensating means is configured to detect the driving amount detected by the variable and the driving speed detecting means. The gist of the present invention is to generate the vibration suppression signal based on the speed. The invention according to claim 5 is the same as the above claim 1.
4. The speed control device according to any one of claims 1 to 3, further comprising a rotation speed correspondence amount detecting means for detecting a rotation speed correspondence amount corresponding to a rotation speed of a wheel portion provided in the traveling body, The gist is that the compensating means generates the vibration suppression signal based on the variable and the rotational speed corresponding amount detected by the rotational speed corresponding amount detecting means. According to a sixth aspect of the invention, in the speed control device according to the fifth aspect, the rotation speed corresponding amount is a rotation speed of the wheel portion. Also,
According to a seventh aspect of the present invention, in the speed control device according to the fifth aspect, the rotation speed corresponding amount is a rotation acceleration of the wheel portion. Claim 8
The invention according to claim 1 is the speed control device according to any one of claims 1 to 7, wherein the traveling body transports the transported object, and the flexible structure includes the flexible structure. The gist of the invention is to include a mounting table for mounting a conveyed object and a supporting column for supporting the mounting table so as to be able to move up and down. According to the speed control device as set forth in any one of claims 1 to 8, when controlling the speed of the traveling body having the flexible structure, the swing amount of the flexible structure accompanying the traveling of the traveling body is controlled. Is detected, and a vibration suppression signal for suppressing the swing amount is generated based on the detected variable, and the speed control is compensated based on the vibration suppression signal. Even for large lifts with relatively low rigidity, such as possible lifts, the shaking that occurs during acceleration, deceleration, and stoppage of the running object is quickly attenuated to prevent damage to the transferred object during transfer, The transfer efficiency can be improved.

[0005]

Embodiments of the present invention will be described below with reference to the accompanying drawings to provide an understanding of the present invention.
The following embodiment is a specific example of the present invention and does not limit the technical scope of the present invention. FIG. 1 is a diagram showing a schematic configuration of a speed control device according to one embodiment of the present invention. First, a speed control device according to an embodiment of the present invention is embodied as a device for controlling the speed of a transfer device having a lift for elevating, for example, traveling on a track by driving a motor. The schematic structure of the transfer device to which the speed control device according to the present embodiment is applied is, for example, the same as that of the conventional transfer device already described with reference to FIG. (Corresponding to a wheel portion) 2, a bogie (corresponding to a running body) 3 on the wheel 2, and a motor (corresponding to driving means) connected to the wheel 2 via a speed reducer to drive the bogie 3. 4), a mounting table 61 for mounting a conveyed object such as a component, and a supporting member (corresponding to a flexible structure and a supporting column) 6 fixed to the carriage 3 and supporting the mounting table 61 in a vertically movable manner. And As shown in FIG. 1, the speed control device according to the present embodiment includes a rotation speed detector (corresponding to a drive speed detection means) 41 for detecting the rotation speed of the motor 4,
The motor 4 based on a predetermined speed command signal and the rotation speed of the motor detected by the rotation speed detector 41
And a motor driver (corresponding to a control means) 5 for generating a current signal for driving the motor. On the other hand, the speed control device according to the present embodiment is different from the conventional speed control device in that the speed control device is provided on the support member 6 and is generated by the acceleration, deceleration, and stop of the carriage 3. Acceleration detector for detecting the acceleration of the amount of shaking (corresponding to the amount of shaking detection) 7
And a vibration damping signal for suppressing the swing amount based on the rotation speed of the motor detected by the rotation speed detector 41 and the acceleration of the swing amount of the support member 6 detected by the acceleration detector 7. And a vibration damping compensating means 8 for inverting the phase and adding it to the speed command signal.

[0006] Next, as shown in FIG.
Of the above-described transport device including the vehicle 3, the motor 4, the support member 6, and the like.
Perform modeling. For transporting various parts from a three-dimensional warehouse
For this purpose, a large-sized support member 6 is used.
Elastic deformation occurs in the support member 6 due to the amount and structure.
It is difficult to increase the stiffness enough to completely prevent
is there. Therefore, the transfer device shown in FIG.
When simplified using mass points, etc., a table as shown in FIG.
Can be The elastic deformation of the support member 6 is a spring constant
It is represented by K. Also, the moment of inertia of the motor 4 is J₁
And J ₁The polar moment of inertia of the wheel 2
J_Two, The polar moment of inertia of the support member 6 is J_ThreeRepresented by
Shall be. Next, the torque T of the motor 4 and J₁,
J_Two, J_ThreeEach angular displacement ω₁, Ω_Two, Ω_ThreeWith
Thus, if the model shown in FIG. 2B is further simplified,
The transfer device can be modeled as shown in FIG.
You. Here, C represents an attenuation coefficient, and K_BIs motor 4 and wheels 2
The spring stiffness due to torsion between
Backlash, C_BIndicates the damping coefficient due to viscous friction.
You. Where φ = 0, ΔⁿWith the n-order time derivative operator
Then, the following equation of motion is obtained from the model shown in FIG.
Can be J₁Δ^Two(Ω₁) =-｛K_B(Ω₁−ω_Two) + C_B(Δω₁−ω_Two)｝ + T J_TwoΔ^Two(Ω_Two) =-｛K_B(Ω₁−ω_Two) + C_B(Δω₁−Δω_Two)｝ + ｛K (ω_Two−ω_Three) + C (Δω_Two−Δω_Three)｝ J_ThreeΔ^Two(Ω_Three) = K (ω_Two−ω_Three) + C (Δω_Two−Δω_ThreeFrom these equations of motion, as shown in FIG.
Block diagram of the control system including the speed control device
Can be Next, the speed as described above with reference to FIGS.
The details of the degree control device will be described. The above speed control device
Then, the transport device, that is, the carriage 3 is moved
When instructed, a speed command signal from a speed command device (not shown)
Is supplied to the motor driver 5. Motor driver 5
Speed controller 51, current controller 52, power amplifier
53, a current signal for driving the motor 4
Is generated, and the motor 4 is driven. Motor 4
Is driven, the rotation speed of the motor 4 is detected as a rotation speed.
The rotation of the motor 4 detected by the output device 41
The rotation speed is inverted and added to the speed command signal.
You. In the motor driver 5, the speed command signal
A current signal corresponding to the deviation between
You. Due to this feedback control, the carriage 3 is
It moves at the speed according to the speed command signal. However, the above table
When the car 3 is accelerated / decelerated or stopped,
The holding member 6 shakes. Quickly dampen this sway
Therefore, an acceleration detector 7 is provided above the support member 6.
The upper part of the support member 6 due to the shaking.
The speed is detected by the acceleration detector 7. Above acceleration
Acceleration of the upper part of the support member 6 detected by the detector 7
Are the high-pass filters 81 and 82 and the low-pass filter 8
3, supplied to the vibration damping compensation means 8 having an integrator 84, etc.
You. In the speed control device according to the present embodiment,
In addition to the acceleration at the upper part of the support member 6, the rotation speed detector
The rotational speed of the motor 4 detected by the
Is differentiated by the unit 42, and the phase is inverted.
It is supplied to the vibration suppression compensation means 8. This is the acceleration detection
The acceleration of the upper part of the support member 6 detected by the
To eliminate the steady acceleration component of the motor 4
is there.

[0007] The acceleration signal corresponding to the sway from which the steady-state acceleration component of the motor 4 has been eliminated as described above is
In the vibration suppression compensation means 8, first, the high-pass filter 8
1,82. The high-pass filters 81, 8
Reference numeral 2 denotes a filter for cutting a low-frequency component and a DC component of the acceleration signal. The signal output from the high-pass filter 82 is a low-pass filter 83.
Supplied to The low-pass filter 83 is a filter for cutting high-frequency components included in the fluctuation, and is provided to prevent unstable control due to the high-frequency components. The low-pass filter 83
Are output from the vibration suppression compensator 8 by being integrated by the integrator 84 and converted into a vibration suppression signal corresponding to the swing speed. The vibration damping signal output from the vibration damping compensating means 8 is inverted in phase and then added to the speed command signal. Thus, when the support member 6 swings, a force proportional to the swing speed acts as a damping force, and the swing of the support member 6 is quickly attenuated. For example, if the same speed command signal as that shown in FIG. 12A is supplied to the motor driver 5, FIG.
As shown in (b) and (c), the vibration of the support member 6 is attenuated in a relatively short time after the acceleration changes. As described above, according to the speed control device according to the embodiment of the present invention, when performing speed control of a traveling body having a flexible structure, the amount of swing of the flexible structure accompanying travel of the traveling body is reduced. A corresponding variable is detected, and a damping signal for suppressing the swing amount is generated based on the detected variable, and the speed control is compensated based on the damping signal. Even for large and relatively low-rigidity lifts, such as large lifts, the vibration generated during acceleration, deceleration, and stoppage of the above-mentioned traveling body is quickly attenuated to prevent damage to the transferred object during transport, and to prevent transport. Efficiency can be improved.

[0008]

In the above embodiment, the high-pass filters 81 and 82 and the low-pass filter 83 are used in order to eliminate low-frequency and high-frequency noise components contained in the signal supplied to the vibration suppression compensator 8. However, the present invention is not necessarily limited to this, and the noise component may be eliminated by using, for example, a band-pass filter. Such a speed control device is also an example of the speed control device in the present invention. In the above-described embodiment, the acceleration detector 8 is provided above the support member 6 to detect the acceleration corresponding to the swing amount. However, the present invention is not limited to this. For example, as shown in FIG. The member 6 may be provided with a speed detector, and the vibration damping signal may be generated based on the swing speed corresponding to the swing of the support member 6 detected by the speed detector and the rotation speed of the motor 4. Good. In this case,
No integrator is provided in the vibration suppression compensator 8, and the noise component is eliminated by the high-pass filters 81, 82 and the low-pass filter 83, the phase is inverted, and then added to the speed command signal. Such a speed control device is also an example of the speed control device in the present invention. Further, in the above-described embodiments and examples, the amount corresponding to the rotation speed of the motor 4 detected by the rotation speed detector 41 is subtracted from the variable corresponding to the swing amount of the support member 6, and Although the steady-state acceleration component of the motor 4 is excluded from the swing amount, when the steady-state acceleration component of the motor 4 is small,
There is no need to subtract the steady acceleration component of the motor 4
For example, as shown in FIGS. 7 and 8, only the vibration acceleration or the vibration speed corresponding to the vibration may be supplied to the vibration suppression compensation means 8. Such a speed control device is also an example of the speed control device in the present invention. Further, in the above embodiment, in order to exclude the steady acceleration component of the motor 4 from the sway acceleration corresponding to the sway amount detected by the acceleration detector 7, the rotation speed of the motor 4 (or the rotation speed Was subtracted from the swing acceleration (or the amount corresponding thereto), but this is not necessarily the case. For example, as shown in FIG. 9 and FIG. A subtraction may be made from the swing acceleration (or an amount corresponding thereto). The means for detecting the rotational acceleration or rotational speed of the wheel 2 corresponds to the rotational speed corresponding amount detecting means in the present invention. Such a speed control device is also an example of the speed control device in the present invention. Further, in the above-described embodiments and examples, the present invention is applied to the transfer device having a lift that can move up and down to transfer various components from the three-dimensional warehouse. However, the present invention is not limited to this. It is also possible to apply the present invention to other transporting devices. In the above-described embodiment, the track 1 is fixed, and the swing of the support member 6 occurs only in the traveling direction along the track 1. However, the track 1 moves on the track 1 moving in a direction perpendicular to the longitudinal direction. When the transport device travels, the vibration control signal may be given to a motor driver of a motor that moves the track. Thus, even if the support member 6 is two-dimensionally shaken, the shake can be quickly attenuated.

[0009]

As described above, according to the speed control apparatus of any one of claims 1 to 8, when controlling the speed of a running body having a flexible structure, the speed of the running body is reduced. A variable corresponding to the amount of sway of the flexible structure during traveling of the vehicle is detected, a vibration suppression signal for suppressing the amount of sway is generated based on the detected amount of variability, and the speed control is compensated based on the vibration control signal. Therefore, even if the flexible structure is a large one having a relatively low rigidity such as a lift capable of moving up and down, the shaking that occurs when the traveling body is accelerated, decelerated, and stopped is rapidly attenuated, and the moving body during transportation is reduced. The transported object can be prevented from being damaged and the transport efficiency can be improved.

[Brief description of the drawings]

FIG. 1 is a diagram showing a schematic configuration of a speed control device according to an embodiment of the present invention.

FIG. 2 is a diagram for describing modeling of the speed control device and a transport device whose speed is controlled by the speed control device.

FIG. 3 is another view for explaining modeling of the transfer device.

FIG. 4 is a block diagram of the speed control device.

FIG. 5 is a diagram for explaining vibration suppression control in the speed control device.

FIG. 6 is a block diagram of a speed control device for detecting a speed of a support member according to the embodiment of the present invention.

FIG. 7 is a block diagram of a speed control device that generates a vibration suppression signal only by an amount corresponding to the swing of the support member according to the embodiment of the present invention.

FIG. 8 is a block diagram of another speed control device that generates a vibration suppression signal only by an amount corresponding to the swing of the support member according to the embodiment of the present invention.

FIG. 9 is a block diagram of a speed control device according to the embodiment of the present invention, which corrects a swing amount of a support member by a rotational acceleration of a wheel.

FIG. 10 is a block diagram of a speed control device according to the embodiment of the present invention, which corrects a swing amount of a support member based on a rotation speed of a wheel.

FIG. 11 is a diagram showing a schematic configuration of a conventional speed control device.

FIG. 12 is a diagram for explaining a swing generated in a conventional speed control device.

[Description of Signs] 2 ... Wheels (Wheels) 3 ... Truck (Running Body) 4 ... Rotation Speed Detector (Drive Speed Detecting Means) 5 ... Motor Driver (Control Means) 6 ... Support Member (Flexible Structure and Support Column) 7) Acceleration detector (vibration amount detection means) 8 ... Vibration suppression compensation means

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Kazichi Kato 100 Takegahana-cho, Ise-shi, Mie Prefecture Inside Shinsei Electric Co., Ltd. (72) Inventor Hiromitsu Kawashima 100 Takegahana-cho, Ise City, Mie Prefecture Shinko Electric Co., Ltd.Ise Works F-term (reference) 3F022 JJ09 MM13 MM51 NN25 NN27 QQ00 3F333 FA29 FA32 FE04

Claims (8)

[Claims] 1. A driving means for driving a traveling body having a flexible structure, a driving speed detecting means for detecting a driving speed at which the driving means drives the traveling body, a predetermined speed command and the driving speed detection A control means for controlling the driving means based on the driving speed detected by the means, wherein a variable corresponding to the amount of swaying of the flexible structure accompanying travel of the traveling body is calculated. Generating a vibration amount detection means for detecting a vibration amount detected by the vibration amount detection means and a vibration suppression signal for suppressing the vibration amount of the flexible structure based on the variable detected by the vibration amount detection means; A speed control device comprising: a vibration suppression compensation means for compensating control of a driving means. 2. The speed control device according to claim 1, wherein the variable is a swing speed of the flexible structure accompanying the traveling of the traveling body. 3. The speed control device according to claim 1, wherein the variable is a swing acceleration of the flexible structure accompanying the traveling of the traveling body. 4. The vibration suppression device according to claim 1, wherein the vibration suppression compensation means generates the vibration suppression signal based on the variable and the driving speed detected by the driving speed detection means. 3. The speed control device according to 1. 5. A rotation speed correspondence amount detecting means for detecting a rotation speed correspondence amount corresponding to a rotation speed of a wheel portion provided in the traveling body, wherein the vibration damping compensation means includes the variable and the rotation speed. The speed control device according to any one of claims 1 to 3, wherein the vibration suppression signal is generated based on the rotation speed corresponding amount detected by the corresponding amount detection means. 6. The speed control device according to claim 5, wherein the rotation speed corresponding amount is a rotation speed of the wheel portion. 7. The speed control device according to claim 5, wherein the rotation speed corresponding amount is a rotation acceleration of the wheel portion. 8. A transport device for transporting an object to be transported by the traveling body, wherein the flexible structure includes a mounting table for mounting the object to be transported, and a vertically movable table. 8. A support column for supporting a vehicle according to claim 1.
The speed control device according to the paragraph.