JP4189826B2 - 走行台車と走行台車システム - Google Patents
走行台車と走行台車システム Download PDFInfo
- Publication number
- JP4189826B2 JP4189826B2 JP2006325714A JP2006325714A JP4189826B2 JP 4189826 B2 JP4189826 B2 JP 4189826B2 JP 2006325714 A JP2006325714 A JP 2006325714A JP 2006325714 A JP2006325714 A JP 2006325714A JP 4189826 B2 JP4189826 B2 JP 4189826B2
- Authority
- JP
- Japan
- Prior art keywords
- torque
- acceleration
- traveling carriage
- absolute position
- drive
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000001133 acceleration Effects 0.000 claims description 40
- 238000001514 detection method Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
Images
Classifications
-
- 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
- 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
-
- 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
- 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
- B60L15/2072—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 drive off
-
- 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
- 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
- G05D1/0234—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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Sustainable Energy (AREA)
- 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)
- Warehouses Or Storage Devices (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
Description
この発明での追加の課題は、駆動輪の滑りを解消するようにフィードバック制御を施すことにある。
請求項2の発明の課題は、走行台車の複数の駆動輪へのトルク配分を最適化でき、駆動輪の滑りを解消するようにフィードバック制御でき、かつ滑り検出の基礎として走行台車の絶対位置を正確かつ迅速に検出できる、システムを提供することにある。
走行台車の加速度を測定するためのセンサと、
求めた加速度に応じて各駆動輪へのトルクの配分率を決定するための手段と、
求めた配分率により各駆動輪の駆動トルクを求めるための手段と、
走行台車の絶対位置を検出するための手段と、
各駆動輪の回転量を検出するための手段と、
時間当たりの絶対位置の変化と駆動輪毎の時間当たりの回転量とを比較して、滑りの有無を駆動輪毎に求めるための手段と、
前記求めた駆動トルクを滑りを解消するように修正するための手段と、
修正後の駆動トルクに従って、駆動モータを制御するための手段、とを設ける。
前後に複数の駆動輪を備え、かつ
走行台車の加速度を測定するためのセンサと、
求めた加速度に応じて各駆動輪へのトルクの配分率を決定するための手段と、
求めた配分率により各駆動輪の駆動トルクを求めるための手段と、
前記少なくとも2列のマークを検出するための少なくとも2個のリニアセンサと、
前記少なくとも2個のリニアセンサの信号と、リニアセンサで検出中のマークの番号と、該マークのオフセットとから、走行台車の絶対位置を検出すると共に、検出中のマークを切り替える毎に前記マークの番号を変更するための手段と、
各駆動輪の回転量を検出するための手段と、
時間当たりの絶対位置の変化と駆動輪毎の時間当たりの回転量とを比較して、滑りの有無を駆動輪毎に求めるための手段と、
前記求めた駆動トルクを滑りを解消するように修正するための手段と、
修正後の駆動トルクに従って、駆動モータを制御するための手段、とを備えた走行台車とを有する走行台車システムにある。
なおこの明細書において、走行台車に関する記載はそのまま走行台車システムに当てはまる。
また走行台車の絶対位置の時間当たりの変化を、各駆動輪の時間当たりの回転量と比較すると、滑りの有無を駆動輪毎に求めて、駆動トルクを滑りを解消するように修正できる。
さらに、滑りに対してトルク配分率を変更するのではなく、駆動トルクを修正するので、各駆動輪に共に滑りが生じている場合にも対処できる。
またこの発明の走行台車システムでは、リニアセンサにより絶対位置を連続的にかつ高応答で正確に検出できるので、滑りを正確に測定できる。
(1) 走行中の実際の加速度を加速度センサで測定して、トルク配分を最適化できる。
(2) 駆動輪に滑りが生じると、トルクを修正するので、滑りが生じない範囲で目標とする速度パターンに最も近い走行ができる。
(3) 滑りに対してトルク配分率を変更するのではなく、トルクを修正するので、前後の駆動輪に共に滑りが生じている場合にも対処できる。
(4) リニアセンサにより絶対位置を検出するので、短時間で正確にかつ連続的に絶対位置を検出できる。
4 走行経路
6,7 走行モータ
8,9 駆動輪
10,11 エンコーダ
12,13 サーボ機構
14 制御部
16 加速度センサ
17,18 リニアセンサ
20 センサインターフェース
21 速度パターン生成部
22 トルク配分部
23 滑り検出部
30 交流電源
31 コイル
32,33 演算部
50 絶対位置算出部
51 オフセットテーブル
52 トラッキングテーブル
53 加算部
54 マーク切り替え部
61 トルク配分テーブル
62 演算部
71,72 減算器
73,74 処理部
R1〜R4,L1〜L4 磁気マーク
Claims (2)
- 前後に複数の駆動輪を備えて、各駆動輪へのトルク配分を加速度に応じて変更するようにした走行台車において、
走行台車の加速度を測定するためのセンサと、
求めた加速度に応じて各駆動輪へのトルクの配分率を決定するための手段と、
求めた配分率により各駆動輪の駆動トルクを求めるための手段と、
走行台車の絶対位置を検出するための手段と、
各駆動輪の回転量を検出するための手段と、
時間当たりの絶対位置の変化と駆動輪毎の時間当たりの回転量とを比較して、滑りの有無を駆動輪毎に求めるための手段と、
前記求めた駆動トルクを滑りを解消するように修正するための手段と、
修正後の駆動トルクに従って、駆動モータを制御するための手段、とを設けたことを特徴とする、走行台車。 - 走行台車の移動経路に沿って間隔をおいて少なくとも2列に配置したマークを設けると共に、
前後に複数の駆動輪を備え、かつ
走行台車の加速度を測定するためのセンサと、
求めた加速度に応じて各駆動輪へのトルクの配分率を決定するための手段と、
求めた配分率により各駆動輪の駆動トルクを求めるための手段と、
前記少なくとも2列のマークを検出するための少なくとも2個のリニアセンサと、
前記少なくとも2個のリニアセンサの信号と、リニアセンサで検出中のマークの番号と、該マークのオフセットとから、走行台車の絶対位置を検出すると共に、検出中のマークを切り替える毎に前記マークの番号を変更するための手段と、
各駆動輪の回転量を検出するための手段と、
時間当たりの絶対位置の変化と駆動輪毎の時間当たりの回転量とを比較して、滑りの有無を駆動輪毎に求めるための手段と、
前記求めた駆動トルクを滑りを解消するように修正するための手段と、
修正後の駆動トルクに従って、駆動モータを制御するための手段、とを備えた走行台車とを有する走行台車システム。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006325714A JP4189826B2 (ja) | 2006-12-01 | 2006-12-01 | 走行台車と走行台車システム |
TW096132893A TWI395077B (zh) | 2006-12-01 | 2007-09-04 | Walking trolley and walking trolley system |
KR1020070095568A KR20080050293A (ko) | 2006-12-01 | 2007-09-19 | 주행대차와 주행대차 시스템 |
DE102007055278A DE102007055278A1 (de) | 2006-12-01 | 2007-11-20 | Fahrendes Fahrzeug und System eines fahrenden Fahrzeugs und Verfahren zum Antreiben eines fahrenden Fahrzeugs |
CN2007101940601A CN101219674B (zh) | 2006-12-01 | 2007-11-30 | 行驶台车和行驶台车*** |
US11/949,479 US7806218B2 (en) | 2006-12-01 | 2007-12-03 | Running vehicle and running vehicle system, and method for driving running vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006325714A JP4189826B2 (ja) | 2006-12-01 | 2006-12-01 | 走行台車と走行台車システム |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2008140145A JP2008140145A (ja) | 2008-06-19 |
JP4189826B2 true JP4189826B2 (ja) | 2008-12-03 |
Family
ID=39431979
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2006325714A Active JP4189826B2 (ja) | 2006-12-01 | 2006-12-01 | 走行台車と走行台車システム |
Country Status (6)
Country | Link |
---|---|
US (1) | US7806218B2 (ja) |
JP (1) | JP4189826B2 (ja) |
KR (1) | KR20080050293A (ja) |
CN (1) | CN101219674B (ja) |
DE (1) | DE102007055278A1 (ja) |
TW (1) | TWI395077B (ja) |
Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
ITTO20090773A1 (it) * | 2009-10-09 | 2011-04-10 | Icam S R L | Navetta di un magazzino automatizzato, e metodo di controllo per guidare tale navetta |
JP5110405B2 (ja) * | 2010-04-07 | 2012-12-26 | 村田機械株式会社 | 走行台車システム |
DE102011011443A1 (de) * | 2011-02-16 | 2012-08-16 | Voith Patent Gmbh | Verfahren zum Betreiben eines schienengebundenen Fahrzeuges |
US8965609B2 (en) * | 2011-12-29 | 2015-02-24 | Kawasaki Jukogyo Kabushiki Kaisha | Electric vehicle |
DE102013001254A1 (de) * | 2013-01-25 | 2014-07-31 | Man Truck & Bus Ag | Fahrzeugantrieb mit einem hydrostatischen Hilfsantrieb |
NL2011021C2 (nl) * | 2013-06-21 | 2014-12-24 | Vanderlande Ind Bv | Systeem voor het opslaan van producthouders en werkwijze voor toepassing van een dergelijk systeem. |
JP6361079B2 (ja) * | 2013-11-18 | 2018-07-25 | ヤマハ発動機株式会社 | 車両 |
CN104261086B (zh) * | 2014-08-08 | 2016-05-11 | 西可林控制***(上海)有限公司 | 双轮驱动单轨运输机及其过弯控制方法 |
KR102173894B1 (ko) * | 2014-10-08 | 2020-11-04 | 두산공작기계 주식회사 | 팰릿 이송시스템 |
CN104649163B (zh) * | 2015-01-30 | 2016-08-17 | 芜湖合建路桥机械有限公司 | 一种可加速吊装设备 |
JP6629980B2 (ja) * | 2015-10-02 | 2020-01-15 | オモロボット インコーポレイテッド | 位置測定モジュール及びこれを含む移送ユニットの走行制御装置 |
US9809207B2 (en) | 2016-02-23 | 2017-11-07 | Honda Motor Co., Ltd. | Vehicle control system |
US9821778B2 (en) | 2016-02-23 | 2017-11-21 | Honda Motor Co., Ltd. | Vehicle control system |
KR20220055779A (ko) * | 2020-10-27 | 2022-05-04 | 세메스 주식회사 | 물품 반송 시스템에서 반송 차량의 구동을 제어하기 위한 장치 및 방법 |
CN112645220B (zh) * | 2020-12-30 | 2023-03-24 | 河钢股份有限公司 | 一种无人抓斗起重机控制***及控制方法 |
Family Cites Families (24)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH01114523A (ja) * | 1987-10-27 | 1989-05-08 | Fuji Heavy Ind Ltd | 4輪駆動車の駆動力制御装置 |
JPH01247222A (ja) | 1988-03-28 | 1989-10-03 | Mazda Motor Corp | 4輪駆動車のトルク配分制御装置 |
US4926333A (en) * | 1988-04-20 | 1990-05-15 | Mitsubishi Jidosha Kogyo Kabushiki Kaisha | Traction control apparatus |
DE4039517C2 (de) * | 1989-12-11 | 1995-06-08 | Nissan Motor | Steuersystem zum Steuern der Verteilung des Antriebsdrehmomentes von einer Fahrzeugmaschine auf angetriebene Räder |
JPH05178114A (ja) | 1991-12-27 | 1993-07-20 | Mitsubishi Motors Corp | 差動調整式前後輪駆動力配分制御装置 |
JP2903867B2 (ja) * | 1992-06-08 | 1999-06-14 | 日産自動車株式会社 | 四輪駆動車の駆動力配分制御装置 |
JP3033416B2 (ja) * | 1993-12-28 | 2000-04-17 | 日産自動車株式会社 | 車両の前後輪間駆動力配分制御装置 |
DE4436162C1 (de) * | 1994-10-10 | 1996-03-21 | Siemens Ag | System zum Regeln der Fahrstabilität eines Kraftfahrzeugs |
JP3844141B2 (ja) * | 1994-12-07 | 2006-11-08 | 日産自動車株式会社 | 車両の駆動力制御装置 |
JP3289565B2 (ja) * | 1995-08-23 | 2002-06-10 | トヨタ自動車株式会社 | 自動操舵システム |
JP3409537B2 (ja) * | 1995-10-19 | 2003-05-26 | 日産自動車株式会社 | 車両の四輪駆動制御装置 |
KR980010679A (ko) * | 1996-03-29 | 1998-04-30 | 헨리 D.G 웰레스 | 차량의 제어방법 및 그 장치 |
JPH11232585A (ja) * | 1998-02-10 | 1999-08-27 | Oki Electric Ind Co Ltd | 車両の路側逸脱防止システム |
JP4449117B2 (ja) | 1999-09-21 | 2010-04-14 | 株式会社アドヴィックス | 制動力配分制御装置 |
JP3352655B2 (ja) * | 1999-09-22 | 2002-12-03 | 富士重工業株式会社 | 車線認識装置 |
JP2002127773A (ja) * | 2000-10-20 | 2002-05-08 | Fuji Heavy Ind Ltd | 4輪駆動車の駆動力配分装置 |
JP4231693B2 (ja) * | 2001-02-12 | 2009-03-04 | ピーエスエー コーポレイション リミテッド | 自動車両誘導システムの磁気センサ |
US6909959B2 (en) * | 2003-03-07 | 2005-06-21 | Stephen James Hallowell | Torque distribution systems and methods for wheeled vehicles |
TWI282047B (en) * | 2003-07-23 | 2007-06-01 | Murata Machinery Ltd | Carrying vehicle system and carrying vehicle |
JP4254581B2 (ja) | 2003-07-23 | 2009-04-15 | 村田機械株式会社 | 移動体システム |
JP2005041383A (ja) | 2003-07-23 | 2005-02-17 | Murata Mach Ltd | 移動体 |
CN1778598A (zh) * | 2004-11-17 | 2006-05-31 | 丰田自动车株式会社 | 电动汽车及其控制方法 |
JP2007219960A (ja) * | 2006-02-20 | 2007-08-30 | Tcm Corp | 位置偏差検出装置 |
JP2008222424A (ja) * | 2007-03-15 | 2008-09-25 | Hitachi Plant Technologies Ltd | スタッカークレーンの走行制御装置 |
-
2006
- 2006-12-01 JP JP2006325714A patent/JP4189826B2/ja active Active
-
2007
- 2007-09-04 TW TW096132893A patent/TWI395077B/zh not_active IP Right Cessation
- 2007-09-19 KR KR1020070095568A patent/KR20080050293A/ko not_active Application Discontinuation
- 2007-11-20 DE DE102007055278A patent/DE102007055278A1/de not_active Ceased
- 2007-11-30 CN CN2007101940601A patent/CN101219674B/zh not_active Expired - Fee Related
- 2007-12-03 US US11/949,479 patent/US7806218B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
US20080128191A1 (en) | 2008-06-05 |
DE102007055278A1 (de) | 2008-06-26 |
CN101219674B (zh) | 2012-05-23 |
CN101219674A (zh) | 2008-07-16 |
KR20080050293A (ko) | 2008-06-05 |
US7806218B2 (en) | 2010-10-05 |
JP2008140145A (ja) | 2008-06-19 |
TWI395077B (zh) | 2013-05-01 |
TW200825646A (en) | 2008-06-16 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP4189826B2 (ja) | 走行台車と走行台車システム | |
JP2008140144A (ja) | 走行台車とそのシステム | |
US8653766B2 (en) | Linear motor driving system and linear motor control method | |
JP5590137B2 (ja) | 離散配置リニアモータシステム | |
US20140142792A1 (en) | Moving body system and method for controlling travel of moving body | |
CN103358932B (zh) | 控制马达的***和方法 | |
JP4074999B2 (ja) | 搬送台車システム | |
KR20080014584A (ko) | 이동체 시스템 | |
JP2007297189A (ja) | 走行台車 | |
JPH0895638A (ja) | 移動作業ロボットの走行制御装置 | |
JP2019099141A (ja) | 無人フォークリフトの走行制御装置、無人フォークリフトの走行制御方法、無人牽引車の走行制御装置、無人牽引車の走行制御方法 | |
JP2004086453A (ja) | 無人搬送車用誘導装置 | |
JP6191665B2 (ja) | 移動体 | |
JP2010241579A (ja) | 移動棚設備 | |
JP2009068928A (ja) | ダイナモメータの制御装置 | |
CN113595449A (zh) | 一种设备的驱动控制方法及*** | |
JP2007279936A (ja) | 搬送車システム | |
JP2003276807A (ja) | スタッカークレーンの速度・位置制御方法 | |
JP3628405B2 (ja) | 走行車の方向補正方法及びその装置 | |
JP2009268218A (ja) | 多軸モータ制御システム | |
JP5630660B2 (ja) | 磁気式変位センサと変位検出方法 | |
JP5348107B2 (ja) | 搬送車 | |
JP2013117838A (ja) | 無人搬送システム | |
KR20160065665A (ko) | 차량의 구동 휠의 제어 방법 및 이 방법이 채용된 차량 | |
JPH09121402A (ja) | 無人車の制御装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20080626 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20080808 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20080822 |
|
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20080904 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20110926 Year of fee payment: 3 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 4189826 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20110926 Year of fee payment: 3 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20120926 Year of fee payment: 4 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20120926 Year of fee payment: 4 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20130926 Year of fee payment: 5 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20130926 Year of fee payment: 5 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20140926 Year of fee payment: 6 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |