JPS58163296A - Mutual operating device for plurality of direct current motors - Google Patents
Mutual operating device for plurality of direct current motorsInfo
- Publication number
- JPS58163296A JPS58163296A JP57046992A JP4699282A JPS58163296A JP S58163296 A JPS58163296 A JP S58163296A JP 57046992 A JP57046992 A JP 57046992A JP 4699282 A JP4699282 A JP 4699282A JP S58163296 A JPS58163296 A JP S58163296A
- Authority
- JP
- Japan
- Prior art keywords
- arm
- transistor
- motor
- motors
- rotation
- 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.)
- Granted
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/68—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more dc dynamo-electric motors
-
- 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)
- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Multiple Motors (AREA)
Abstract
Description
【発明の詳細な説明】
本発明紘−WRの直纒電動機會躯麟藏とする一人鐵送単
等の地上移動体にお叶る各嵐瀘電励嶺O相jLJw叡装
置に関するもので6る0
一般に、バッテリを電威とする臓人*!卓は、躯#源と
し−e1台又は複数の直流電動機を装備しているが、1
台の直流電動機の場合は左右の走行輪の速度を単独に制
御するため動力伝導装置が複雑で高価となる・又複数の
直流電動機をチロツバ制御で駆動する場合は、電動機の
台数と同数Oチ曹ツバを必要とし、制御1部品数が多く
なp1制御装置が複雑で保守上に問題がある◎
本発明は無人搬送車等の地上移動体における複数の直流
電動機をチ嘗ツバ制衛する場合に一部O制m回路を共用
し、これにより部品数を少くし、しかも多目的?I11
能率で経済的な複数直流電動機の相互運転装置を提供す
るものである。[Detailed Description of the Invention] The present invention relates to a storm filter electric excitation ridge O-phase jLJw control device for a ground mobile vehicle such as a single-person railway transport vehicle using a direct-coupled electric motor system of HIRO-WR. Ru0 In general, people who use batteries as electric power*! The console is equipped with one or more DC motors as its main source, but one
In the case of one DC motor, the speed of the left and right running wheels is controlled independently, which makes the power transmission device complicated and expensive.Also, when driving multiple DC motors with tire control, the number of O-chips equal to the number of motors is required. The P1 control device, which requires a large number of control parts and has a large number of control parts, is complex and has maintenance problems.◎ The present invention is useful when controlling multiple DC motors in a ground moving vehicle such as an automatic guided vehicle. By sharing some O-control m circuits, the number of parts can be reduced, and it can also be used for multiple purposes. I11
The present invention provides an efficient and economical mutual operation device for multiple DC motors.
本発#1の一実施例を図Elに基づいて説明する。An embodiment of the present invention #1 will be described based on Figure El.
第1図において1は無人搬送車の車体で、1つの旋回自
由な従動輪2と2つの走行輪3.4を備え、各走行輪は
別個の直流電動機(以下単に電動機と云う)Ml、MJ
Iによp減連機5・ 6を介して駆動される。In Fig. 1, 1 is the body of an automatic guided vehicle, which is equipped with one driven wheel 2 that can freely turn and two running wheels 3.4, and each running wheel is equipped with a separate DC electric motor (hereinafter simply referred to as an electric motor) Ml, MJ.
It is driven by I via p-reduction devices 5 and 6.
第2図に示す実施例にTh−て、7と8はバッテリ1に
連なる正、負の電路で、電動機M I O1l磁コイル
11の一方の端子a1を正電路7に、他方の端子blを
負゛成路8に接続し、電動機M廊の界磁コイル1起の一
方の端子amを正電路7に、他方の端子bgを負電路8
に接続する・A1.ム怠。In the embodiment shown in FIG. 2, 7 and 8 are positive and negative electrical circuits connected to the battery 1, and one terminal a1 of the motor MIO11 magnetic coil 11 is connected to the positive electrical circuit 7, and the other terminal bl is connected to the positive electrical circuit 7. One terminal am of the field coil 1 of the motor M corridor is connected to the positive current path 7, and the other terminal bg is connected to the negative current path 8.
Connect to A1. Lazy.
ム8はSつのアームで各アームにそれぞれパワー)?ン
/X#TlとTg、’f’Ml ト’l’Mj及びTJ
IとT4を直列に連ね、各アームム1〜ムSo両端を正
負の電路7.8に接続する。DlとD忌、DMIと11
およびD3とD4はダイオードで、ダイオードDl、D
M1.D3を正電路7と各トランジスタアームO中点0
1.ox、osにそれぞれ逆並列に接続し、ダイオード
DJ1.DMjl。8 has S arms and each arm has a power)? /X#Tl and Tg, 'f'Ml t'l'Mj and TJ
I and T4 are connected in series, and both ends of each arm 1 to arm So are connected to a positive and negative electric circuit 7.8. Dl and D death, DMI and 11
and D3 and D4 are diodes, diodes Dl, D
M1. Connect D3 to the positive current path 7 and the midpoint 0 of each transistor arm O.
1. ox and os respectively in antiparallel, and diodes DJ1. DMjl.
D4と負電路8と各トランジスタアームの中点01.0
g、OHKそれぞれ逆並列に接続すゐ〇又、トランジス
タアームO中点O1とO怠および中点0禽とaSの間に
それぞれ電動機Ml、電機1 子の端子A1.p
lと電動機MRの電機子の端子p、g、J怠を接続する
。D4, negative current path 8, and the midpoint of each transistor arm 01.0
g, OHK are connected in antiparallel to each other, and the electric motor Ml and terminal A1 of the electric motor 1 are connected between the transistor arm O middle point O1 and the middle point O1 and between the middle point 0 and aS, respectively. p
Connect l to terminals p, g, and j of the armature of motor MR.
本発明の一実施例は以上の構成からな9、次の作用を行
って電動機M1.Mli1の速度、回転方向およびトル
ク等を制御する。One embodiment of the present invention has the above-described configuration 9, performs the following operations, and operates the electric motor M1. Controls the speed, rotation direction, torque, etc. of Mli1.
トランジスタτM1.TM5Bによp*s4される共通
アームム1は電動機M1.Mlの回転方向を決めるアー
ムであ31. )ランジスタT1.T!iで構成畜れる
アームム怠は電動機M1の回転方向を決めると共に相反
すゐ一転をすると奮紘チ冒ツバとしていかし、トランジ
スタT8.T4からなるアームムlは電動機M1の回転
方向を決めると共に相反する回転をすると亀はチ■ツバ
としていかすもOで壱ゐ◎以下代表的なモードについて
説明する。Transistor τM1. The common arm 1 p*s4 by TM5B is the electric motor M1. 31. An arm that determines the direction of rotation of Ml. ) transistor T1. T! The idle arm consisting of the motor M1 determines the direction of rotation of the electric motor M1, and when it reverses itself, it is used as an adventure, and the transistor T8. The arm M1 consisting of T4 determines the direction of rotation of the electric motor M1, and when the motor M1 rotates in opposite directions, the tortoise splatters.
(1)2台の電動機を正転駆動する場合トランジスタT
MIをオンにし、トランジスタT1とτJ$0各べ−X
と工(ツタの間にパルス巾と周期の両方が可l120信
号を個々に印加し、チ曹ツバ制御Kよp電動機M1.M
Rの速度を個々に制御すゐ◎この場合は電動機M1.M
jlK流れる電流工z、xttは第S図の矢印に示す経
路となシ、トランジスタTlおよびTJIに印原する信
号が同値であれば無人搬送車は直進する。(1) When driving two electric motors in normal rotation, transistor T
Turn on MI and turn on transistors T1 and τJ$0 each
120 signals of varying pulse width and period are applied individually between the vines and the vines, and the electric motor M1.M
The speed of motor R is controlled individually◎In this case, motor M1. M
The electric currents z and xtt flowing through jlK follow the path shown by the arrow in Fig. S. If the signals applied to transistors Tl and TJI are of the same value, the automatic guided vehicle moves straight.
右又は左IgIpに無人鍛送車t’flf常に転1gr
させる場合は、左右の車輪3.4tそれぞれ01g1転
子径に応じた回転数に側倒する心安があplこの場合に
トランジスタτ1.Ti!lに車輪の回転数に応じた信
号を印加し、チ曹ツバ制御することにより、電動機MI
O回転敷く電動機M80圓転&(右ばp)#
) # (左回ヤ)となシ、ゆるヤ
かにカーブをきることができる〇なおトランジスタT1
.ratスイッチとし、トランジスタTMgfチ冒シバ
励作とすることもでする。Unmanned forging vehicle t'flf always transfers 1gr to the right or left IgIp
In this case, the transistor τ1. Ti! By applying a signal according to the rotation speed of the wheel to the motor MI and controlling the
O rotation electric motor M80 rotation & (right side p)#
) # (Turn to the left) You can cut the curve gently and slowly 〇 Transistor T1
.. It is also possible to use a rat switch and activate the transistor TMgf.
(2)2台の電動機を逆転駆動す石場合トランジスタT
MIをオンにし、ドツンジスタT急とT4を前記に準じ
てチ璽ツバ制御し、正転の場合と同様にして電動機M1
とMffiO速度を11!l々に制御する。第4図は逆
転の場合OX流工1゜工2を示す。なおトランジスタT
ffi、T4fスイッチとし、トランジスタTMIをチ
田ツバ動作とすゐこともできゐ。(2) Transistor T when driving two motors in reverse
Turn on MI, control the motor M1 and T4 in the same manner as described above, and turn on motor M1 in the same manner as in the case of forward rotation.
And MffiO speed is 11! control each part. Figure 4 shows OX flow 1° and 2 in the case of reverse rotation. Note that the transistor T
ffi, a T4f switch, and the transistor TMI can be operated as a chip.
(5)1台の電動機を正転し、他の1台を逆転させゐ場
合
トランジスJIIT1.T4tチ冒シバ制御すると第5
図に示す如く急−に電動41M1は正転、電動機MRは
逆転し、スピンターンして直角に転回走行することかで
暑る。同様にトランジスタ前記。(5) When one electric motor is rotated in the forward direction and the other is rotated in the reverse direction, the transistor JIIT1. T4t attack control and 5th
As shown in the figure, the electric motor 41M1 suddenly rotates in the forward direction, the electric motor MR rotates in the reverse direction, spins around, and runs at right angles, causing heat. Similarly to the transistor mentioned above.
T4をチ冒シバmusすると逆方向にスピンターンする
。If you hit T4, it will spin and turn in the opposite direction.
(4)1台の電動機を駆動し、他01台制動する場合
電動機Mにを正転、電動機Mlを正転から制動をかける
場合に、第6図の回路からトランジスタT1をオフにし
、τ1をオンにすると、第6図に示す如く電#IIMj
は駆動状履で電流工麓2が流れ、電動!IMIC)電機
子回路は短絡回路となって電流工MLが流れ、トランジ
スタT1がオンの期間中は発電制動がかかJl、 )ラ
ンジス11がオフ0期間中は、
TM 怠→M l −$ D l −* Bの回路
を通って電流xM1′が回虫され、電動機菖工に回生制
動がかかる。(4) When driving one motor and braking the other 01 When motor M is rotated in the normal direction and motor Ml is to be braked from normal rotation, the transistor T1 is turned off from the circuit shown in Fig. 6, and τ1 is When turned on, the power #IIMj is turned on as shown in Figure 6.
The electric current 2 flows in the driving state, and it is electric! IMIC) The armature circuit becomes a short circuit and the current ML flows, and during the period when the transistor T1 is on, dynamic braking is performed and Jl,) During the period when the rungis 11 is off, TM is idle → M l − $ D The current xM1' is passed through the circuit l-*B, and regenerative braking is applied to the electric motor.
鼓K1mg明し九以外に各’jlio組合せによp他の
モードの運転が可能となる。In addition to the Drum K1mg light, it is possible to operate in other modes with each 'jlio combination.
以上の(1)〜(4)の各場合においてダイオードD1
〜D4とDMl、DMgはトランジスタがオフになった
瞬間に電機子コイルに蓄積されていゐエネルギーを放出
する回路を作p1電流の平滑化を紘かると共に発電制動
時の放電回路の要素となp1回生制動時の回生電力の帰
迩回路の要素となる。In each of the above cases (1) to (4), the diode D1
~ D4, DMl, and DMg create a circuit that releases the energy stored in the armature coil at the moment the transistor is turned off. They smooth the p1 current and serve as elements of the discharge circuit during dynamic braking. p1 It becomes an element of the regenerative power return circuit during regenerative braking.
以上は本発明の一実施例を無人搬送車について説明した
もので、本発明はこの実施例に限足されることなく、発
明の要旨内において設計変更で自るし、複数の直流電動
機1輌傭する地上移動体にも応用しうる〇
本発明によるとIは、複数直流電動機のチ冒シバ制御装
置の一部、本実施例ではトランジスタTM1.TMJi
l とダイオードDM1.DMRを各電動機に共用し
たので、制御部品数が少なくな)、従って構成が簡単と
なp1保守が容易で多目的か′ つ経済的な相互運
転装置tm供しうる効果がある・The above describes one embodiment of the present invention regarding an automatic guided vehicle; however, the present invention is not limited to this embodiment, and may be modified by design changes within the gist of the invention. According to the present invention, I is a part of a drive control device for a plurality of DC motors, and in this embodiment, transistors TM1. TMJi
l and diode DM1. Since the DMR is shared by each electric motor, the number of control parts is small), so the configuration is simple, the maintenance is easy, and it is possible to provide a multi-purpose and economical interoperating device.
第1図は無人搬送車の平面図、第2図は本発明の一実施
例を示す結m図、第!i〜7図は4つの運転モードにお
ける説#1図であるO
なお7は正電路、8は負電路、1はバッテリ、MlとM
lは直流電動機、11とIRはその界磁コイル、ム1〜
ム3はトランジスタアーム、01〜Qsはその中点T
INT 4とTMl、TMJI線トランジスタ、131
〜D4とDMI、DMg はダイオードである0
特許出願人 日立機電工業株式金社特許出願人
平 根 喜 久II夕図
IIIA図
第5″図
1811g
昭和、ぐン年り0月?日
特願昭t7−何2〃
2、 発 明 の名称
3、補正する者
事件との関係 特許出願人
氏 名 ヒ タデキ デン
日立機電工業株式会社(外1名)
4、代理人 1
昭和 年 月 日
6、補正により増加する発明の数
1、明m齋6貞5行目「TaJThrTδ」と訂正する
O
zn¥1頁17行目「Tag −+J トTo h t
rDMg−J ト訂正すゐ〇
4同 第8貞1行目「第5〜7図」とあるt「第3〜6
図」と訂正する。
4図面中篇6@を別紙の通り訂正する。Figure 1 is a plan view of an automatic guided vehicle, Figure 2 is a diagram showing an embodiment of the present invention, and Figure 2 is a diagram showing an embodiment of the present invention. Figures i to 7 are theory #1 diagrams for four operating modes. 7 is the positive current path, 8 is the negative current path, 1 is the battery, and Ml and M
l is a DC motor, 11 and IR are its field coils, and mu1~
3 is the transistor arm, 01~Qs is its midpoint T
INT 4 and TMl, TMJI line transistor, 131
~D4, DMI, and DMg are diodes0 Patent applicant Hitachi Kiden Kogyo Co., Ltd. Kinsha Patent applicant
Yoshihisa Hirane II Evening Map IIIA Figure 5'' Figure 1811g Showa, Gun year 0 month?Japanese Patent Application 1972-2 2, Title of invention 3, Relationship with amended person's case Patent applicant Name Hi Tadeki Den Hitachi Kiden Kogyo Co., Ltd. (1 other person) 4. Agent 1. Showa year, month, day 6. Number of inventions increased due to amendment 1. Corrected as "TaJThrTδ" in line 5 of Akira M Sai 6 Tei O zn¥1 page 17th line “Tag −+J To h t
rDMg-J To Correction Suゐ04 Same No. 8 Tei 1st line says ``Figures 5-7'' t ``3-6''
"Fig." is corrected. 4 Drawing middle part 6 @ is corrected as shown in the attached sheet.
Claims (1)
lずつ直列に逐ねた5つのトランジスタアー^を結騙し
、正負01に鮎と各トランジスタアームの中点にダイオ
ードを31i韮14KIiI!続し、5りOトランジス
タアームのうち01つを共通アームとしてそO中点と他
02アームO中点O閾KIIC流電陶−otm子を縁続
し、共通アームOFランジスタ01itチ■ツバとして
曽かせゐla2台0tILIIL電鵬機が同一方向に一
転するように龜處電jIIIIIO昇蝿コイルを緩続し
九ことt時艦とする慣歇麺城電虐嶺の411f魂4に装
置・2il transistor connected to the battery!
Connect 5 transistors arranged in series by 1, and connect 31i to 14KIiI with a diode at the positive and negative 01 and a diode at the midpoint of each transistor arm! Next, one of the five O transistor arms is used as a common arm, and its O middle point is connected to the other 02 arm O middle point O threshold KIIC RYUDENTO-otm child, and the common arm OF transistor 01 is used as a base. The device was installed on the 411f soul 4 of the customary Menjo Densakurei, which slowly slows down the 龜處电JIIIO raising coil so that the two 0tILIIL electric machines turn in the same direction.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP57046992A JPS58163296A (en) | 1982-03-23 | 1982-03-23 | Mutual operating device for plurality of direct current motors |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP57046992A JPS58163296A (en) | 1982-03-23 | 1982-03-23 | Mutual operating device for plurality of direct current motors |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS58163296A true JPS58163296A (en) | 1983-09-28 |
JPS6259559B2 JPS6259559B2 (en) | 1987-12-11 |
Family
ID=12762688
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP57046992A Granted JPS58163296A (en) | 1982-03-23 | 1982-03-23 | Mutual operating device for plurality of direct current motors |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS58163296A (en) |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS592593A (en) * | 1982-06-25 | 1984-01-09 | Sony Corp | Normal/reverse circuit for plural motors |
JPS6192196A (en) * | 1984-10-09 | 1986-05-10 | New Japan Radio Co Ltd | Drive circuit for motor |
US4638222A (en) * | 1984-08-13 | 1987-01-20 | Pioneer Electronic Corporation | DC motor driving circuit for eliminating spurious transition conditions |
JPS6285695A (en) * | 1985-10-09 | 1987-04-20 | Olympus Optical Co Ltd | Drive circuit for motor of camera |
US4670693A (en) * | 1984-07-02 | 1987-06-02 | Nippon Kogaku K. K. | Current supply device for plural loads |
EP0833437A3 (en) * | 1996-09-25 | 1998-07-22 | Hella KG Hueck & Co. | Semiconductor driver commutation element to control electric loads |
FR2758668A1 (en) * | 1997-01-22 | 1998-07-24 | Valeo Electronique | Command switch circuit mount for stepper motors |
EP1154557A1 (en) * | 2000-05-10 | 2001-11-14 | Svenska Kenab Karlshamns Ergonomi AB | Motor control circuit |
JP2014204535A (en) * | 2013-04-03 | 2014-10-27 | 株式会社デンソー | Motor control device |
-
1982
- 1982-03-23 JP JP57046992A patent/JPS58163296A/en active Granted
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS592593A (en) * | 1982-06-25 | 1984-01-09 | Sony Corp | Normal/reverse circuit for plural motors |
US4670693A (en) * | 1984-07-02 | 1987-06-02 | Nippon Kogaku K. K. | Current supply device for plural loads |
US4638222A (en) * | 1984-08-13 | 1987-01-20 | Pioneer Electronic Corporation | DC motor driving circuit for eliminating spurious transition conditions |
JPS6192196A (en) * | 1984-10-09 | 1986-05-10 | New Japan Radio Co Ltd | Drive circuit for motor |
JPS6285695A (en) * | 1985-10-09 | 1987-04-20 | Olympus Optical Co Ltd | Drive circuit for motor of camera |
EP0833437A3 (en) * | 1996-09-25 | 1998-07-22 | Hella KG Hueck & Co. | Semiconductor driver commutation element to control electric loads |
FR2758668A1 (en) * | 1997-01-22 | 1998-07-24 | Valeo Electronique | Command switch circuit mount for stepper motors |
EP1154557A1 (en) * | 2000-05-10 | 2001-11-14 | Svenska Kenab Karlshamns Ergonomi AB | Motor control circuit |
JP2014204535A (en) * | 2013-04-03 | 2014-10-27 | 株式会社デンソー | Motor control device |
Also Published As
Publication number | Publication date |
---|---|
JPS6259559B2 (en) | 1987-12-11 |
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