JPS6013403A - Controller of traveling machine - Google Patents
Controller of traveling machineInfo
- Publication number
- JPS6013403A JPS6013403A JP58118282A JP11828283A JPS6013403A JP S6013403 A JPS6013403 A JP S6013403A JP 58118282 A JP58118282 A JP 58118282A JP 11828283 A JP11828283 A JP 11828283A JP S6013403 A JPS6013403 A JP S6013403A
- Authority
- JP
- Japan
- Prior art keywords
- signal
- load
- voltage
- angular frequency
- command
- 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.)
- Pending
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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
-
- 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)
- Control And Safety Of Cranes (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の利用分野〕
本発明は車両、クレーン等の走行機の制御装置に係り、
特に荷振わ、や転倒抑止に好適な制御装置に関する。[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to a control device for a traveling machine such as a vehicle or a crane.
In particular, the present invention relates to a control device suitable for shaking loads and preventing overturning.
クレーンに於いては加減速時荷棚れ現象が発生しやすい
。この荷棚力、が大きいさ、吊荷がフックから落下した
り、荷くずれ等が生じ危険である。In cranes, cargo shelving is likely to occur during acceleration and deceleration. If this shelf force is large, the suspended load may fall from the hook or the load may collapse, which is dangerous.
また車両に於いても加減時荷撮れが生じやすく、乗客が
転倒したり、荷くずれが生じたりして危険である。In addition, in vehicles, cargo tends to come loose when adjusting or subtracting, which is dangerous as passengers may fall or the cargo may collapse.
本発明の目的は簡便に荷振れや転倒を抑止するこさがで
きる走行機の制御装置を構成することにある。An object of the present invention is to construct a control device for a traveling machine that can easily prevent load swinging and overturning.
走行機の負荷トルクは、走行機自重と運搬荷重の和で決
まり、走行機自重の比率が高いため概略一定トルク特性
を有する。ところが、荷振れが生じると負荷トルクは変
化する。すなわち、荷重が遅わるとき負荷トルクが増加
し、荷重が進み過ぎるさき減少する。本発明ではこねに
着目し、荷重の位置に即応するよう走行機の速度を変え
て荷の搗ｎ、・を抑止する。The load torque of the traveling machine is determined by the sum of the traveling machine's own weight and the transported load, and has approximately constant torque characteristics because the ratio of the traveling machine's own weight is high. However, when load swing occurs, the load torque changes. That is, when the load is delayed, the load torque increases, and when the load advances too much, it decreases. The present invention focuses on kneading and suppresses the pounding of the load by changing the speed of the traveling machine in response to the position of the load.
先ず、荷棚わの仕打１について電車走行を例１こ第１図
ζこより説明する。横軸時間ζこおける速度パターンを
（ａｌｌこ示す。また（ｂ）には荷（人）の傾き状態を
示しくＣ）には負荷トルクの関係を関連づけて示し。First, the running of the train for the loading shelf arrangement 1 will be explained with reference to Example 1 in Fig. 1. The horizontal axis shows the speed pattern over time ζ. Also, (b) shows the tilted state of the load (person), and (c) shows the relation of the load torque in relation to it.
ている。加速開始直後イでは、（ｂ）１こ示すように荷
は遅れる方向に傾き負荷トルクは増加し、加速完了直後
口ではイの反動で荷は進む方向に傾き負荷トルクは減少
する。そしてす１１こ負荷はマイナストルクとなる、ま
た、減速開始直後ハは、口開様負荷トルクは減少方向ζ
こある。ing. Immediately after the start of acceleration, the load tilts in the direction of delay and the load torque increases, as shown in (b)1, and immediately after the completion of acceleration, the load tilts in the forward direction due to the reaction of step A, and the load torque decreases. Then, the load becomes a negative torque, and immediately after the start of deceleration, the mouth-opening load torque is in the decreasing direction ζ
There it is.
ここで、特に大Ａい口の荷棚才１を抑止才ろ本発明の一
実施例を第１図（ｄＸｅ）と第２図により説明する。電
動機が発生する駆動トルクは第１図（ｄ）のようになり
、口の部分でマイナストルクになる、従ってこの時の走
行速度を高くすわ、ばよい。その制御回路を第２図に示
す。商用電源には整流回路６が接続され出力はコンデン
サ４により平滑な直流電圧として得られる。２は直流電
圧をチヨツピングして三相の可変電圧可変周波数に変換
するインバータ回路であり、出力は誘導電動機３の電源
さなる。６（オ直流電圧検出器であり検出電圧Ｖｄは予
め設定（７た電圧Ｖｄす比較器７で比較する。ここで第
４図の口ｌのマイナストルクは回生エネルギーさなり、
Ｖｄは上昇しＶｄより大きな値上なり、７の出力はマイ
ナスの誤差電圧（ΔＶ＝Ｖｄ −Ｖｄ）さなり電圧／周
波数変換回路８に入力され２、さらに指令角周波数信号
ωが入力され１、第１図（ｅ）ｌこ示す速度指令ωが１
トドでかつ△Ｖがマイナスのアンドφ件でプラスの荷撮
ワ補正角周波数信号△ω吉して出力する。またωは、電
圧および角周波数指令信号発生回路５１こ入力され、各
指令信号■およびωを出力し、■は直接インバータのベ
ース駆動回路３０へ入力さ才１、そしてωは加算器９に
より荷棚れ補正角周波数品月Δωが加算され、ω・−ω
十△ωさしてベース駆動回路３０へ入力され、る。ベー
ス駆動回路３０はインバータ２の出力電圧が、電圧およ
び角周波数指令信号発生回路５で指令した電圧となるよ
うに、また出力周波数がω′に比例するように制御（・
行なう。従って、加速後進行方向に荷棚れが開始すると
、２の出力角周波数はΔω分増Ｊ、＋１７するため、電
動機速度が上がり荷の位置に追いつくように自動制御が
なさｎ荷棚れを抑ｔＬするこ（！−ができる。Here, one embodiment of the present invention, which specifically prevents the storage of large-sized cargo shelves, will be described with reference to FIG. 1 (dXe) and FIG. 2. The driving torque generated by the electric motor is as shown in Fig. 1(d), and becomes a negative torque at the mouth, so it is better to increase the running speed at this time. The control circuit is shown in FIG. A rectifier circuit 6 is connected to the commercial power supply, and the output is obtained as a smooth DC voltage by a capacitor 4. Reference numeral 2 denotes an inverter circuit that chops the DC voltage and converts it into a three-phase variable voltage variable frequency, and its output is the power supply for the induction motor 3. 6 (O) is a DC voltage detector, and the detected voltage Vd is preset (7) and is compared with the comparator 7. Here, the negative torque at the end 1 in Fig. 4 is regenerative energy.
Vd rises to a value larger than Vd, and the output of 7 becomes a negative error voltage (ΔV=Vd - Vd), which is input to the voltage/frequency conversion circuit 8 (2), and the command angular frequency signal ω is input (1). Figure 1(e) The speed command ω shown in l is 1.
If ΔV is negative and φ is positive, a positive load correction angular frequency signal Δω is output. In addition, ω is input to the voltage and angular frequency command signal generation circuit 51, which outputs each command signal ■ and ω. Shelving correction angular frequency product month Δω is added, and ω・−ω
10Δω is then input to the base drive circuit 30. The base drive circuit 30 controls (
Let's do it. Therefore, when shelf shedding starts in the direction of travel after acceleration, the output angular frequency of 2 increases by Δω, J, +17, so automatic control is performed to increase the motor speed and catch up with the position of the load, suppressing shelf shedding. tL can do this (!-).
次ζこ他の例さして、加減速時においても精度よく荷棚
わを抑＋Ｉ：、−ｄ−る制御回路をベクトル制御インバ
ータを例に第：（図、第４図ζこより説明する。１〜４
は第２図の例古同−であり、電動機３には速度検出器１
０が連結さγ７、検出角周波数０１ｒは比較器１１にお
いて相分角周波数ωと比較さｔ１誤誤差幅器］２で比例
積分演鴬：される。この出力はトルク冠流信＋３１ｔと
なりベクトル演算回路１３およびすべり角周波数ωＳ出
力回路１５に送られる。As another example, a vector control inverter is used as an example to describe a control circuit that accurately suppresses shelf deviation even during acceleration/deceleration. ~4
is the same as the example in Fig. 2, and the motor 3 has a speed detector 1.
0 is connected to γ7, the detected angular frequency 01r is compared with the phase component angular frequency ω in the comparator 11, and a proportional integral calculation is performed in the t1 error margin unit 2. This output becomes the torque current signal +31t and is sent to the vector calculation circuit 13 and the slip angular frequency ωS output circuit 15.
１６は加算器でありωＳに１０で検出した角周波数ωｒ
を加算し、 として電動機に与えるべき角周波数を得る
。また、１４は電動機−次電流の検出器であり、検出電
流はベクトル演算回路１３に送らオ９ベクトル演算さ才
９る。ここで第１図の例に対応させて考える。荷４辰れ
がない場合の理想的な電動機の駆動トルクは、第４図に
示すように裕度を持たせるとイ“の区間ではＴｈ１〜Ｔ
Ｉ＋・ ４
の範囲に入りグの区間ではＴｈ２〜ＴＩ２の範囲に入り
ハ′の区間ではＴＩ〕３〜’Ｊ’１３の間に入り更ｌこ
二ｌの区間ではＴｈａ〜Ｔｌ、ａｌこ納まることになり
、このＴｈ ｎ −Ｔ Ｉ ｎの範囲外のイ“１口“壜
よびハ“において荷棚れ、が大きいこ古が判る。従って
、第３図ζＣ戻り、この制御について説明する。３１は
速度設定回路、３２は速度設定回路：（１で設定された
値にωの値を除々に近づける為のランプ回路、３３は速
度設定回路３１の出力吉ランプ回路３２の出力、しを比
較し、ぞの差の符号のみを出力する比較回路、１７は速
度設定回路３１の出力と比較回路′（３の出力（！：を
受けて夫々’Ｔ’ｂｎ〜Ｔｌｎを出力する基準値発生器
であり、この値、！：１２から出力された電動機駆動ト
ルクに比例したトルク電流信号ｉｔとを比較器１８で比
較して誤差増幅する。この出力は第４図のイ″９口“お
よびハｌに相当する正負の荷撮れトルク信号であり、角
周波数出力回路１９で荷棚れトルクが正の場合に負の、
また負の場合正の荷棚わ、補正角周波数品に変換し、前
出のω１に加算器２０で加算してω１１−ω１＋Δωと
してべクトル演算回路１３に入力する。従って、荷の振
れによって生じるΔωで電動機速度を修正するため、荷
の撮れようとする方向に走行機の速度が修正されること
になり荷担れを抑［卜することができる。16 is an adder which adds the angular frequency ωr detected in 10 to ωS.
, and obtain the angular frequency to be given to the motor as . Further, 14 is a detector for the motor current, and the detected current is sent to the vector calculation circuit 13 for vector calculation. Let's consider the example in FIG. 1 here. The ideal driving torque of the electric motor when there is no load 4 is Th1 to T in the section A, if there is a margin as shown in Figure 4.
In the range of I+・4, it falls in the range of Th2 to TI2, and in the section of C', it falls between TI]3 to 'J'13, and in the section of 1, it falls in the range of Tha to Tl, al. Therefore, it can be seen that the shelf stock is large for A "1 bottle" and "C" outside the range of Th n -T I n.Therefore, returning to FIG. 3 ζC, this control will be explained. 31 is a speed setting circuit, 32 is a speed setting circuit: (a ramp circuit for gradually bringing the value of ω closer to the value set in 1, 33 is a comparison of the output of the speed setting circuit 31, the output of the ramp circuit 32, and 17 is a reference value generator that receives the output of the speed setting circuit 31 and the output of the comparison circuit 3 (!:) and outputs 'T'bn to Tln, respectively. The comparator 18 compares this value with the torque current signal it proportional to the motor drive torque output from !:12 and amplifies the error. It is a positive and negative loading torque signal corresponding to l, and when the loading torque is positive in the angular frequency output circuit 19, a negative
If it is negative, it is converted into a corrected angular frequency product, which is added to the above-mentioned ω1 by an adder 20, and inputted to the vector calculation circuit 13 as ω11-ω1+Δω. Therefore, since the motor speed is corrected by Δω caused by the swing of the load, the speed of the traveling machine is corrected in the direction in which the load is to be picked up, thereby making it possible to suppress the load being carried.
本発明σこより、ば、以上の説明から明らかなように加
減速時間を長くすることなく、また、速度指令パターン
を複雑にすることなく、荷担れや転倒を抑Ｉトすること
ができる。As a result of the present invention, first, as is clear from the above description, it is possible to prevent the load from being carried or falling over without increasing the acceleration/deceleration time or complicating the speed command pattern.
第１図は荷担わ、の仕組及び動作を説明するために用い
る図、第２図、第３図は本発明の夫々異なる実施例を示
す制御回路ブロック図、また第４図は第３図？ご示しだ
実施例の動作を説明するのに用いる図である。
符号の説明
２は可変周波電源装置 ３は誘導電動機であ７、−
・ ７ ・
第 ） 図
第 ２ 図
第 ４ 図
第 ３ 図FIG. 1 is a diagram used to explain the structure and operation of the load carrier, FIGS. 2 and 3 are control circuit block diagrams showing different embodiments of the present invention, and FIG. FIG. 3 is a diagram used to explain the operation of the illustrated embodiment. Explanation of the symbols 2 is a variable frequency power supply device. 3 is an induction motor.
Claims (1)
動機とする走行機において、荷振ｎ、によって生じる負
荷トルクの変化分を検出し、この検出情報を前記電源装
置の指令速度信号と合成して前記可変周波電源装置の周
波数を制御する回路を有するこきを特徴とする走行機の
制御装置。 ２、検出した駆動トルクを予め設定したパターンのトル
クと比較し、その誤差を増幅して得られた信号を指令速
度信号き合成して周波数を制御するこきを特徴とする特
許請求の範囲第１項記載の走行機の制御装置。[Claims] 1. In a traveling machine whose drive machine is an induction motor controlled by a variable frequency power supply device, a change in load torque caused by load swing n is detected, and this detected information is transmitted to the power supply device. A control device for a traveling machine, comprising a circuit that controls the frequency of the variable frequency power supply device by combining it with a command speed signal. 2. Comparing the detected driving torque with the torque of a preset pattern, amplifying the error, and synthesizing the obtained signal with a command speed signal to control the frequency. A control device for a traveling machine as described in Section 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58118282A JPS6013403A (en) | 1983-07-01 | 1983-07-01 | Controller of traveling machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58118282A JPS6013403A (en) | 1983-07-01 | 1983-07-01 | Controller of traveling machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6013403A true JPS6013403A (en) | 1985-01-23 |
Family
ID=14732804
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58118282A Pending JPS6013403A (en) | 1983-07-01 | 1983-07-01 | Controller of traveling machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6013403A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6281904A (en) * | 1985-10-04 | 1987-04-15 | Hitachi Ltd | Controller for electric rolling stock |
-
1983
- 1983-07-01 JP JP58118282A patent/JPS6013403A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6281904A (en) * | 1985-10-04 | 1987-04-15 | Hitachi Ltd | Controller for electric rolling stock |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA1222021A (en) | Method and apparatus for controlling pwm inverters | |
| JP3251628B2 (en) | Elevator speed control device | |
| JP3420146B2 (en) | Leveling control device for elevator system | |
| US5847534A (en) | Control system for electric vehicle | |
| JPH01268479A (en) | Speed control system for elevator | |
| JPH0429317B2 (en) | ||
| EP0536569A2 (en) | AC motor control apparatus and control apparatus of electric rolling stock using the same | |
| US7609534B2 (en) | Operating a three phase device using single phase power | |
| JPS6013403A (en) | Controller of traveling machine | |
| JPS6356187A (en) | Speed control unit of induction motor | |
| JP2011195286A (en) | Control device of elevator | |
| JP3015355B1 (en) | Voltage source inverter device and control method thereof | |
| JPH10164884A (en) | Inverter control apparatus | |
| JPH01252193A (en) | Speed controller for inverter | |
| JP3832325B2 (en) | Elevator control device | |
| JPH0197194A (en) | Speed controller for induction motor | |
| JPS6338224Y2 (en) | ||
| JPS63194596A (en) | Controller for ac elevator | |
| JPH08308283A (en) | Motor speed controller | |
| JP4568998B2 (en) | Induction motor control device | |
| JPH07291543A (en) | Speed controller for electric motor | |
| JPH10182067A (en) | Controller for suspension type conveying device | |
| JPS6317744B2 (en) | ||
| JPS6279182A (en) | Controller for elevator | |
| JPS60194773A (en) | Controller of dc motor |