CN101905645A - Transport trolley - Google Patents
Transport trolley Download PDFInfo
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- CN101905645A CN101905645A CN2010101767313A CN201010176731A CN101905645A CN 101905645 A CN101905645 A CN 101905645A CN 2010101767313 A CN2010101767313 A CN 2010101767313A CN 201010176731 A CN201010176731 A CN 201010176731A CN 101905645 A CN101905645 A CN 101905645A
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- transport trolley
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- 238000012360 testing method Methods 0.000 description 10
- 230000009931 harmful effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000005693 optoelectronics Effects 0.000 description 5
- 230000015654 memory Effects 0.000 description 4
- 239000000428 dust Substances 0.000 description 3
- 230000003321 amplification Effects 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005292 diamagnetic effect Effects 0.000 description 1
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- 230000002045 lasting effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.
Abstract
The invention provides a kind of transport trolley, about wheel on be provided with motor and can the individual drive wheel respectively individually, the stabilization of the action that realizes travelling.Transport trolley (3) has: transporting vehicle body (15); About first drive wheel (25) and second drive wheel (28); First motor (26) and second motor (29); The first motor control part (63); The second motor control part (64).First drive wheel (25) and second drive wheel (28) are located on the transporting vehicle body (15).First motor (26) and second motor (29) are connected on first drive wheel (25) and second drive wheel (28).The first motor control part (63) carries out PID control to first motor (26).The second motor control part (64), can switch PID control and the controlled reset that does not comprise the differential key element when controlling second motor (29).
Description
Technical field
The present invention relates to transport trolley, relate in particular to about wheel on be respectively equipped with motor and transport trolley that can the individual drive wheel.
Background technology
Known a kind of transport trolley is used for glass substrate that maximizes or the box body of taking in a plurality of glass substrates are carried.Automatically travel in the dust free room of transport trolley in the workshop, and between processing equipment, carry article.
The track that transport trolley travelled for example is the rail that dangles from courtyard.Under this situation, the space that rail and transport trolley travelled is the dust free room of blocking with the outside.
Transport trolley has wheel in the left and right sides, is connected with motor and becomes drive wheel on the wheel of a side, and the wheel of opposite side becomes flower wheel.Transport trolley also have with about the deflector roll of guide rail butt.
Known a kind of technology drives drive wheel by servocontrol, and ride control portion carries out PID control or PD control (for example, with reference to patent documentation 1) to motor.For example, if adopt PID control, even then also follow the motor control of instruction speed at the load change that causes by interference.
Patent documentation 1: TOHKEMY 2000-298518 communique
Known a kind of transport trolley, respectively about wheel on independent motor is set, thus, can with about wheel carry out individual drive as drive wheel.Under this situation and since the wheel about can't realizing fully synchronously, therefore, the drive wheel of the left and right sides is carried out PID control realizes stable travelling thus.But, carrying out at drive wheel under the situation of PID control both sides, the equilibrium of torques about existing has the action of travelling of the disorderly transport trolley problem of unstable that just can become slightly.Especially when transport trolley slowed down and stops, the action of travelling easily got muddled.
Summary of the invention
Problem of the present invention is, provide a kind of about wheel on be provided with motor and transport trolley that can the individual drive wheel respectively individually, the stabilization of the action that realizes travelling.
The transport trolley of a technical scheme of the present invention has: vehicle body; About first running vehicle wheel and second running vehicle wheel; First motor and second motor; First control part; Second control part.First running vehicle wheel and second running vehicle wheel are arranged on the vehicle body.First motor and second motor are connected on first running vehicle wheel and second running vehicle wheel.First control part carries out PID control to first motor.Second control part can switch PID control and the controlled reset that does not comprise the differential key element when second motor is controlled.
In this transport trolley, when first motor was carried out PID control, second control part can not comprise the controlled reset of differential key element to second motor.At this moment, in second motor and second running vehicle wheel, reduce for the response performance that disturbs.Thus, even remain higherly for the response performance that disturbs in first motor and the first running vehicle wheel side, second running vehicle wheel also is difficult to it is followed and to the generation harmful effect of travelling of whole transport trolley.Like this, the action stabilization of travelling of transport trolley.
Other the transport trolley of technical scheme of the present invention is the transport trolley that travels along tread and guide rail, has: vehicle body; The a pair of chassis (bogie truck) that turns to; First motor and second motor; First control part; Second control part.The a pair of front and back that turn to chassis to be located at vehicle body have: be stated from the tread about first running vehicle wheel and second running vehicle wheel; Be bearing in the deflector roll on the guide rail.First motor and second motor are connected to be located on a pair of first running vehicle wheel and second running vehicle wheel that turns at least one side in the chassis.First control part carries out PID control to first motor.Second control part can switch PID control and the controlled reset that does not comprise the differential key element when second motor is controlled.
In this transport trolley, when first motor was carried out PID control, second control part can not comprise the controlled reset of differential key element to second motor.At this moment, in second motor and second running vehicle wheel, reduce for the response performance that disturbs.Thus, even remain higherly for the response performance that disturbs in the first running vehicle wheel side, second running vehicle wheel also is difficult to it is advanced to follow and to the generation harmful effect of travelling of whole transport trolley.Like this, the action stabilization of travelling of transport trolley.
And, owing to transport trolley is supported, be difficult for producing the unsettled action that produces because of disturbing at second motor and the second running vehicle wheel side by guide rail.
Second control part can be that specified speed carries out PID control when above at the moving velocity of transport trolley, does not comprise the controlled reset of differential key element when the not enough specified speed of the moving velocity of transport trolley.
In this transport trolley, for example, during location action after deceleration control, first control part can be carried out PID control, and second control part can be carried out the controlled reset that does not comprise the differential key element.Thus, when the travelling usually of transport trolley, carry out PID control, can make the response performance for disturbing of whole transport trolley good, and when the low speed driving of transport trolley, can make the action stabilization of travelling of transport trolley by motor to two sides.
Second control part can carry out PID control in the zone that inside and outside wheel velocity contrast changes under the situation of transport trolley curve driving, execution does not comprise the controlled reset of differential key element in the constant zone of inside and outside wheel velocity contrast.
In this transport trolley, when curve driving, in the constant zone of inside and outside wheel velocity contrast, first control part carries out PID control, and second control part can not comprise the controlled reset of differential key element.Thus, carry out PID control, can make the response performance for disturbing of whole transport trolley good by motor when the travelling usually of transport trolley to two sides, and, when the curve driving of transport trolley, can make the action stabilization of travelling of transport trolley.
The effect of invention
In transport trolley of the present invention, about wheel on be provided with motor and can the individual drive wheel, the action stabilization of travelling respectively individually.
Description of drawings
Fig. 1 is the scheme drawing that has adopted the conveyor system of an embodiment of the invention.
Fig. 2 is the partial top view of conveyor system.
Fig. 3 is the structured flowchart of the control structure of expression conveyor system.
Fig. 4 is the structured flowchart of the ride control portion of expression transport trolley.
Fig. 5 is the expression distance that stops to move and the diagram of curves of the relation of speed.
Velocity ratio counting rate meter when Fig. 6 is negotiation of bends.
The explanation of Reference numeral
1 conveyor system
2 tracks
3 transport trolleys
4 rails that travel
4a first rail that travels
4b second rail that travels
6 guide rails
6a first guide rail
6b second guide rail
7 line parts
The 7a second portion
8 curve parts
9 branching portions
9a branch place
11 zones of reflections
13 bar codes
14 magnetic marks
15 transporting vehicle body
18 drive the portion of travelling
The 19 driven portions of travelling
21 first drive wheel unit
22 second drive wheel unit
25 first drive wheels (first running vehicle wheel)
26 first motors
27 first coders
28 second drive wheels (second running vehicle wheel)
29 second motors
30 second coders
31 first stationary guide rollers
32 second stationary guide rollers
33 first fens backup guide rolls
34 second fens backup guide rolls
35 first fens backup guide roll drive divisions
36 first flower wheels
37 second flower wheels
40 the 3rd stationary guide rollers
41 the 4th stationary guide rollers
42 the 3rd fens backup guide rolls
43 the 4th fens backup guide rolls
44 second fens backup guide roll drive divisions
47 opto-electronic pickups
49 linearity test elements
50 bar code readers
52 controllers
54 controller main bodys
55 first memories
59 ride control portions
60 branch's control parts
61 course diagraies
62 velocity mode generating units
63 first motor control parts (first control part)
64 second motor control parts (second control part)
The 65A first error enlarging section
The 65B second error enlarging section
66A the one PID control part
66B the 2nd PID control part
67A first amplifier
67B second amplifier
68 PI control parts
80 stop positions
The specific embodiment
(1) conveyor system
Utilize Fig. 1 that the conveyor system 1 that adopts an embodiment of the invention is described.Fig. 1 is the scheme drawing that has adopted the conveyor system of an embodiment of the invention.
The transport trolley 3 that conveyor system 1 has track 2 and travels on track 2.In the present embodiment, track 2 is folded down from courtyard, and, be dust free room around the track 2.
In addition, be provided with not shown supply line along first rail 4a and the second rail 4b that travels that travels.
As shown in Figure 2, the track 2 second portion 7a that has line part 7, branching portion 9, extend with the previous status linearity from the crooked to the right curve part 8 of branching portion 9, from branching portion 9.
In the curve part 8, the first guide rail 6a forms continuously, and the part of the second guide rail 6b disconnects halfway.
Among the second portion 7a, the second guide rail 6b forms continuously, and the part of the first guide rail 6a disconnects halfway.
In addition, in the present embodiment, branching portion 9 is meant the entire portion of a part that comprises line part 7 and curve part 8, and wherein, the place that branch is begun is called the place 9a of branch.
Utilize Fig. 2, describe following the multiple detected portion of sailing rail 4 settings.Detected portion comprises the zone of reflections 11, bar code 13, magnetic mark 14.In addition, among Fig. 2, the zone of reflections 11, bar code 13, magnetic mark 14 are shown in the inboard of the rail 4 that travels, but in fact they be arranged on the rail 4 that travels.
The zone of reflections 11 is the parts that are used to detect the position of transport trolley 3 on curve part 8, is configured in the drawings on the curve part 8.
(2) transport trolley
Utilize Fig. 1 that the driving portion 18 of travelling is described.The driving portion 18 of travelling mainly has main body frame 20, the first drive wheel unit 21, the second drive wheel unit 22, stationary guide roller mechanism, divides backup guide roll mechanism.
The first drive wheel unit 21 is installed on the right-hand end of main body frame 20, has first drive wheel 25, first motor 26, first coder 27.First drive wheel 25 is stated from first and travels on the tread of rail 4a.First motor 26 is attached on first drive wheel 25.Instrumentation is carried out in the rotation of 27 pairs first motors 26 of first coder, and sends impulse singla.Thus, can access the rotative speed or the number of revolutions of first motor 26.
The second drive wheel unit 22 is installed on the left end of main body frame 20, has second drive wheel 28, second motor 29, second coder 30.Second drive wheel 28 is stated from second and travels on the tread of rail 4b.Second motor 29 is attached on second drive wheel 28.Instrumentation is carried out in the rotation of 30 pairs second motors 29 of second coder, and sends impulse singla.Thus, can access the rotative speed or the number of revolutions of second motor 29.
Stationary guide roller mechanism has a pair of first stationary guide roller 31 and a pair of second stationary guide roller 32.A pair of first stationary guide roller 31 front and back on travel direction are configured in the right-hand end of main body frame 20 dividually.More particularly, first stationary guide roller 31 is the both sides separate configuration before and after the travel direction of first drive wheel 25, and all the time with the inboard butt of the first guide rail 6a or approaching.A pair of second stationary guide roller 32 front and back on travel direction are configured in the left end of main body frame 20 dividually.More particularly, second stationary guide roller 32 is the both sides separate configuration before and after the travel direction of second drive wheel 28, and all the time with the inboard butt of the second guide rail 6b or approaching.
Dividing backup guide roll mechanism is the mechanism that is used for carrying out at branching portion 9 branch operation, has a pair of first minute backup guide roll 33, second fen backup guide roll 34, first fen backup guide roll drive division 35 (Fig. 3).
The first fen backup guide roll 33 and first stationary guide roller 31 dispose accordingly.The second fen backup guide roll 34 and second stationary guide roller 32 dispose accordingly.First minute backup guide roll drive division 35 (Fig. 3) be the mechanism that is used to change the position of first fen backup guide roll 33 and second fen backup guide roll 34.
According to above structure, by first fen backup guide roll drive division 35 (Fig. 3), first fen backup guide roll 33 and second fen backup guide roll 34 and the outside butt of the first guide rail 6a or approaching guide position and the non-guide position that leaves from the first guide rail 6a between move.
The driven portion 19 of travelling mainly has main body frame 23, first flower wheel 36, second flower wheel 37, the second stationary guide roller mechanism, second fen backup guide roll mechanism.
The second stationary guide roller mechanism has a pair of the 3rd stationary guide roller 40 and a pair of the 4th stationary guide roller 41.The 3rd stationary guide roller 40 front and back on travel direction are configured in the right-hand end of main body frame 23 dividually.More particularly, the 3rd stationary guide roller 40 is the both sides separate configuration before and after the travel direction of first flower wheel 36, and all the time with the inboard butt of the first guide rail 6a or approaching.The 4th stationary guide roller 41 front and back on travel direction are configured in the left end of main body frame 23 dividually.More particularly, the 4th stationary guide roller 41 is the both sides separate configuration before and after the travel direction of second flower wheel 37, and all the time with the inboard butt of the second guide rail 6b or approaching.
Dividing backup guide roll mechanism is the mechanism that is used for carrying out at branching portion 9 branch operation, has a pair of the 3rd minute backup guide roll 42, the 4th fen backup guide roll 43, second fen backup guide roll drive division 44 (Fig. 3).
The first fen backup guide roll 33 and first stationary guide roller 31 dispose accordingly.The second fen backup guide roll 34 and second stationary guide roller 32 dispose accordingly.Second minute backup guide roll drive division 44 (Fig. 3) be the mechanism that is used to change the position of first fen backup guide roll 33 and second fen backup guide roll 34.
According to above structure, by second fen backup guide roll drive division 44 (Fig. 3), the 3rd fen backup guide roll 42 and the 4th fen backup guide roll 43 and the outside butt of the first guide rail 6a or approaching guide position and the non-guide position that leaves from the first guide rail 6a between move.
(3) sensor and detected portion
As shown in Figure 3, on portion 18 and the driven portion 19 of travelling are travelled in driving, also be provided with opto-electronic pickup 47, linearity test element 49, bar code reader 50.Opto-electronic pickup 47 is the elements that are used for detection of reflected band 11.Linearity test element 49 is the elements that are used to detect magnetic mark 14.Linearity test element 49 is obtained the absolute location of transport trolley 3 with respect to magnetic mark 14, and in other words, obtaining with magnetic mark 14 is the position of benchmark.Bar code reader 50 is used for detector bar font code 13.
(4) control structure
Utilize Fig. 3, the control structure of conveyor system 1 is described.Fig. 3 is the structured flowchart of the control structure of expression conveyor system.
So-called course diagram is meant the position of the configuration that records running route, initial point, is the figure of the coordinate of the reference position of benchmark and transfer position with the initial point.The output pulse count etc. that coordinate is converted into the operating range of distance initial point the coder of transport trolley obtains.
(5) drive-control system of transport trolley
Utilize Fig. 4 that ride control portion 59 is described.Fig. 4 is the structured flowchart of the ride control portion of expression transport trolley.
And, on the control part 59 that travels, be connected with first coder 27, second coder 30, opto-electronic pickup 47, linearity test element 49 and bar code reader 50.
Route Figure 61 is kept in the memory device in the ride control portion 59.Velocity mode generating unit 62 can intercom mutually with transport trolley controller 52.
After ride control portion 59 receives carrying instruction from transport trolley controller 52, obtain distance from the current location to the stop position, and this distance is inputed to velocity mode generating unit 62 according to route Figure 61.Velocity mode generating unit 62 is calculated operating range according to the difference of the coordinate of the coordinate of the current location on route Figure 61 and target location, generates the pattern of moving velocity thus.The velocity mode that travels that velocity mode generating unit 62 generates until stop position.
The first motor control part 63 mainly has the first error enlarging section 65A, a PID control part 66A, the first amplifier 67A.The first error enlarging section 65A amplifies error.The one PID control part 66A carries out PID control according to the error of being tried to achieve by the first error enlarging section 65A.The first amplifier 67A carries out to electric current amplification of first motor 26 etc.First coder 27 detects the rotating speed of the S. A. of first motor 26, and the current location of first drive wheel 25 that obtains thus and speed are input to the velocity mode generating unit 62 and the first error enlarging section 65A.
The second motor control part 64 mainly has the second error enlarging section 65B, the 2nd PID control part 66B, the second amplifier 67B, PI control part 68.The second error enlarging section 65B amplifies error.The 2nd PID control part 66B carries out PID control according to the error of being tried to achieve by the second error enlarging section 65B.PI control part 68 and the 2nd PID control part 66B configuration in parallel, and PI control part 68 carries out PI control according to the error of being tried to achieve by the second error enlarging section 65B.The second amplifier 67B carries out to electric current amplification of second motor 29 etc.Second coder 30 detects the rotating speed of the S. A. of second motor 29, and the current location of second drive wheel 28 that obtains thus and speed are input to the velocity mode generating unit 62 and the second error enlarging section 65B.
According to structure described above, transport trolley 3 on one side to the coordinate of record in the course diagram 61 and the intrinsic coordinates of self machine (coordinate of trying to achieve by coder) Yi Bian compare and continue to travel.
(6) ride control action usually
At this moment, respectively first motor 26 and second motor 29 are carried out PID control, thus, realize preferably travelling action by a PID control part 66A and the 2nd PID control part 66B.
(7) stop control action
Below, utilizing Fig. 5, the action when transport trolley 3 is arrived stop position 80 describes.Fig. 5 is the diagram of curves of the relation that stops operating distance and speed of expression transport trolley 3.When transport trolley 3 stops, it is generally acknowledged the following problem that exists: produce action instabilities such as turning to the chassis swing owing to being in the dead slow speed state.The present invention adopts following means in order to address this problem.
When transport trolley 3 during near stop position 80, according to the traveling-position information that obtains by coder or other sensor, velocity mode generating unit 62 is sent to the first error enlarging section 65A and the second error enlarging section 65B with deceleration instruction.Thus, as shown in Figure 5, the speed of transport trolley 3 reduces gradually.
Very fast, in case transport trolley 3 arrives magnetic mark 14, then linearity test element 49 is obtained the absolute location of transport trolley 3 with respect to magnetic mark 14, and it is inputed to velocity mode generating unit 62.
After linearity test element 49 detects magnetic mark 14, carry out following two kinds of control actions.In addition, these control actions can not begin simultaneously yet.
1) velocity mode generating unit 62 will replace with speed and be sent to first error enlarging section 65A and second error enlarging section 65B with the position as the position command of target as the speed command of target.
2) in the second motor control part 64, the 2nd PID control part 66B stops control action, replaces PI control part 68 beginning controlled resets.On the other hand, in the first motor control part 63,26, the one PID control part 66A carry out controlled reset for first motor.That is to say, when low speed driving, first motor 26 is carried out PID control, second motor 29 is carried out PI control.
When above-mentioned low speed driving, though first motor 26 is carried out PID control, owing to second motor 29 is controlled, therefore, lower for the response performance that disturbs in second motor 29 and second drive wheel 28 in the mode that does not comprise the differential key element.Thus, even remain higherly for the response performance that disturbs in first motor 26 and first drive wheel, 25 sides, second drive wheel 28 also is difficult to it is followed and to the generation harmful effect of travelling of whole transport trolley 3.Like this, especially, stablized transport trolley 3 stop to move the time the action of travelling.
Especially, portion 18 and the driven portion 19 of travelling turn to chassis although driving is travelled, and also are not easy to produce the swing that turns to chassis.
(8) curve part travels
Control action when transport trolley 3 is travelled on curve part 8 describes.When on curve part 8, travelling, it is generally acknowledged the following problem that exists: since about motor be difficult to fully synchronously, therefore, driving trace is inconsistent with actual bend rail, produces running vehicle wheel and guide rail collision etc. and moves unsettled situation.The present invention adopts following means in order to address this problem.
Velocity mode generating unit 62 contrast is confirmed the current location of transport trolley 3 from the testing result of opto-electronic pickup 47 and from the testing result of first coder 27 and second coder 30.Velocity mode generating unit 62 is sent to the first error enlarging section 65A and the second error enlarging section 65B to produce suitable left and right sides velocity contrast according to current location information with target speed signal.
After entering curve part 8, wheel slows down and foreign steamer is quickened in 62 pairs of the velocity mode generating units, thus, the central speed of transport trolley 3 and specified speed (for example, 60m/ branch) is travelled with conforming to.Velocity mode generating unit 62 is used the velocity ratio counting rate meter of calculating in advance, and operation efficiency is improved, and alleviates and handles load.
Utilize Fig. 6, the speed during negotiation of bends that velocity mode generating unit 62 is utilized describes than counting rate meter.
As seen from the figure, when entering bend in wheel and the velocity rate of foreign steamer be under 100% the situation, along with the velocity rate of foreign steamer becomes big, the velocity rate of interior wheel diminishes.Then, if the velocity rate of foreign steamer become 115% and the velocity rate of interior wheel become 85%, then this state is lasting in travelling of regulation is interval.Then, last, along with the velocity rate of foreign steamer diminishes gradually, the velocity rate of interior wheel becomes greatly gradually, and both become 100% at last.
In sum, speed than counting rate meter in, be set with velocity rate gradually away from first interval 71, velocity rate be the 3rd interval 73 that constant second interval 72, velocity rate moves closer to.
In first interval the 71 and the 3rd interval 73, the first motor control part 63 carries out PID control, and the second motor control part 64 also carries out PID control.This be because, when running vehicle wheel quickens, need big moment of torsion, about the equilibrium of torques of running vehicle wheel upset easily, in order to address this problem, preferably to about running vehicle wheel carry out PID and control.
In second interval 72, the first motor control part 63 carries out PID control, and the second motor control part 64 carries out PI control.Like this, in curve part when about running vehicle wheel when travelling with constant speed, first motor 26 is carried out PID control, and second motor 29 is not comprised the controlled reset of differential key element.Therefore, in second motor 29 and second drive wheel 28, reduce with respect to the response performance that disturbs.Thus, even remain higherly with respect to the response performance that disturbs in first motor 26 and first drive wheel, 25 sides, second drive wheel 28 also is difficult to it is followed and to the generation harmful effect of travelling of whole transport trolley 3.The action of the travelling when curve part of like this, especially having stablized transport trolley 3 travels.
In addition, the combination of PID control and PI control can be in interior foreign steamer exchange.
(9) feature
In this transport trolley 3, when first motor 26 was carried out PID control, the second motor control part 64 can not comprise the controlled reset of differential key element to second motor 29.At this moment, in second motor 29 and second drive wheel 28, reduce for the response performance that disturbs.Thus, even remain higherly for the response performance that disturbs in first drive wheel, 25 sides, second drive wheel 28 also is difficult to it is followed and to the generation harmful effect of travelling of whole transport trolley 3.Like this, make the action stabilization of travelling of transport trolley 3.
In this transport trolley 3, when first motor 26 was carried out PID control, the second motor control part 64 can not comprise the controlled reset of differential key element to second motor 29.At this moment, in second motor 29 and second drive wheel 28, reduce for the response performance that disturbs.Thus, even remain higherly for the response performance that disturbs in first motor 26 and first drive wheel, 25 sides, second drive wheel 28 also is difficult to it is followed and to the generation harmful effect of travelling of whole transport trolley 3.Like this, the action stabilization of travelling of transport trolley 3.
And, owing to transport trolley 3 is supported, therefore, can alleviate the unsettled action that second motor 29 and second drive wheel, 28 sides produce because of interference by the first guide rail 6a and the second guide rail 6b.
The second motor control part 64 is that specified speed carries out PID control when above at the moving velocity of transport trolley 3, does not comprise the controlled reset of differential key element when not enough specified speed.
In this transport trolley 3, for example, during location action after deceleration control, can make the first motor control part 63 carry out PID control, the second motor control part 64 is carried out the controlled reset that does not comprise the differential key element.Thus, when the travelling usually of transport trolley 3, by first motor 26 and second motor, 29 both sides are carried out PID control, can make the response performance in the whole transport trolley 3 good, and when low speed driving, can make the action stabilization of travelling of transport trolley 3 for disturbing.
The second motor control part 64 carries out PID control in the zone that inside and outside wheel velocity contrast changes under the situation of transport trolley 3 curve drivings, carry out the controlled reset that does not comprise the differential key element in inside and outside wheel velocity contrast is constant zone.
In this transport trolley 3, the inside and outside wheel velocity contrast when curve driving is in the constant zone, can make the first motor control part 63 carry out PID control, and the second motor control part 64 does not comprise the controlled reset of differential key element.Thus, when the travelling usually of transport trolley 3, by first motor 26 and second motor 29 are carried out PID control, can make transport trolley 3 integral body good for the response performance that disturbs, and, when the curve driving of transport trolley 3, can make the action stabilization of travelling of transport trolley 3.
(10) other embodiment
More than, an embodiment of the invention are illustrated, but the invention is not restricted to above-mentioned embodiment, can in the scope that does not break away from purport of the present invention, carry out various changes.
The second motor control part can replace PI control and carry out P control or other controlled reset.
The motor that the second motor control part is controlled can be the motor of left and right either side.
Also can be that the first motor control part can switch PID control and other controlled reset.
In the above-described embodiment, transport trolley travels at the track that is folded down from courtyard, but the invention is not restricted to this.Track also can be provided with on the ground, and transport trolley also can be folded down from track.
In addition, as the controlled reset that comprises the differential key element, can be the PD control that replaces PID control.
In the above-described embodiment, the rotation of coder instrumentation motor, but the invention is not restricted to this.Coder also can the instrumentation drive wheel or the rotation of flower wheel.
The kind of the combination of detected portion and sensor and testing goal are not limited to above-mentioned embodiment.
Detected portion the position is set and quantity is not limited to above-mentioned embodiment.
Industrial applicibility
The present invention can be widely used in about wheel on be provided with individually respectively motor and carrier that can the drive wheel.
Claims (4)
1. transport trolley is characterized in that having:
Vehicle body;
Be located on the described vehicle body about first running vehicle wheel and second running vehicle wheel;
Be connected to first motor and second motor on first running vehicle wheel and second running vehicle wheel;
First control part carries out PID control to described first motor;
Second control part when described second motor is controlled, can switch PID control and the controlled reset that does not comprise the differential key element.
2. transport trolley that travels along tread and guide rail is characterized in that having:
Vehicle body;
The a pair of chassis that turns to is located at the front and back of described vehicle body, has: be stated from the described tread about first running vehicle wheel and second running vehicle wheel; Be bearing in the deflector roll on the described guide rail;
First motor and second motor are connected to and are located on described a pair of first running vehicle wheel and second running vehicle wheel that turns at least one side in the chassis;
First control part carries out PID control to described first motor;
Second control part when described second motor is controlled, can switch PID control and the controlled reset that does not comprise the differential key element.
3. transport trolley as claimed in claim 1, it is characterized in that, described second control part is that specified speed carries out PID control when above at the moving velocity of described transport trolley, does not comprise the controlled reset of differential key element when the not enough specified speed of the moving velocity of described transport trolley.
4. transport trolley as claimed in claim 1, it is characterized in that, described second control part carries out PID control in the zone that inside and outside wheel velocity contrast changes under the situation of described transport trolley curve driving, execution does not comprise the controlled reset of differential key element in the constant zone of inside and outside wheel velocity contrast.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2009137496A JP4683143B2 (en) | 2009-06-08 | 2009-06-08 | Transport vehicle |
| JP2009-137496 | 2009-06-08 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101905645A true CN101905645A (en) | 2010-12-08 |
| CN101905645B CN101905645B (en) | 2014-10-08 |
Family
ID=43261294
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010176731.3A Active CN101905645B (en) | 2009-06-08 | 2010-05-12 | Transporting vehicle |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP4683143B2 (en) |
| KR (1) | KR101398957B1 (en) |
| CN (1) | CN101905645B (en) |
| TW (1) | TWI492011B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108820769A (en) * | 2018-07-23 | 2018-11-16 | 宁夏力成电气集团有限公司 | A kind of system and method based on logistics device location control |
| CN111907337A (en) * | 2015-05-29 | 2020-11-10 | 株式会社安川电机 | Conveying system and control method of conveying system |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5252003B2 (en) * | 2011-02-17 | 2013-07-31 | 村田機械株式会社 | Transport vehicle system |
| JP6434715B2 (en) * | 2014-05-09 | 2018-12-05 | 株式会社オカムラ | Transport cart control system |
| JP6710372B2 (en) * | 2015-12-07 | 2020-06-17 | 株式会社プロドローン | Flight device within limits |
| JP7279691B2 (en) | 2020-08-07 | 2023-05-23 | 株式会社ダイフク | Goods transport equipment |
| JP7392608B2 (en) | 2020-08-17 | 2023-12-06 | 株式会社ダイフク | Goods conveyance equipment |
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- 2010-05-27 KR KR1020100049594A patent/KR101398957B1/en active IP Right Grant
- 2010-06-04 TW TW099118152A patent/TWI492011B/en active
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| JPH05204454A (en) * | 1992-01-23 | 1993-08-13 | Toyota Autom Loom Works Ltd | Running control method in unmanned carrier |
| JP2000177411A (en) * | 1998-12-21 | 2000-06-27 | Tcm Corp | Vehicle with drive built-in wheel |
| US20040251067A1 (en) * | 2000-01-10 | 2004-12-16 | Government Of The U.S.A As Represented By The Adm. Of The U.S. Environmental Protection Agency | Hydraulic hybrid vehicle with integrated hydraulic drive module and four-wheel-drive, and method of operation thereof |
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| CN111907337A (en) * | 2015-05-29 | 2020-11-10 | 株式会社安川电机 | Conveying system and control method of conveying system |
| CN108820769A (en) * | 2018-07-23 | 2018-11-16 | 宁夏力成电气集团有限公司 | A kind of system and method based on logistics device location control |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2010282569A (en) | 2010-12-16 |
| TW201103846A (en) | 2011-02-01 |
| TWI492011B (en) | 2015-07-11 |
| CN101905645B (en) | 2014-10-08 |
| KR20100131920A (en) | 2010-12-16 |
| JP4683143B2 (en) | 2011-05-11 |
| KR101398957B1 (en) | 2014-06-27 |
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