JPH11269464A - Control apparatus for rerunning of on-rail moving machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a high-reliability control apparatus for the rerunning of an on-rail moving machine. SOLUTION: This apparatus is equipped with the following for securing the accuracy of stopping: a speed control apparatus 7 which drives a motor 8 at a standard speed calculated by a position control apparatus 13; a machine braking apparatus 10 which stops an on-rail moving machine on a control signal from the position control apparatus 13; and a rerunning pattern selection circuit which, when the on-rail moving machine stops at a position outside of the allowable range of a predetermined stopping position, memorizes the variation in running speed in a minute speed range before the predetermined position and selects a rerunning pattern of the on-rail running machine when the machine reruns. Thus, the operational safety of a rerunning control apparatus of an on-rail moving machine can be improved.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control for accurately moving a self-driving vehicle for transportation, which travels on a rail by a driving wheel driven by an induction motor, to an arbitrary predetermined target position in a short time. The present invention relates to a device, and more particularly to a rerun control device of a rail moving machine for a coke oven.

[0002]

2. Description of the Related Art As shown in FIG. 3, a plurality of kilns 1 are arranged in parallel in a conventional coke oven facility for carbonizing coal to purify coke. A coal loading inlet (not shown) is provided, and a kiln lid 1 a is provided on the side of the kiln 1.

[0003] As shown in FIG.
Opened the coal charging inlet, charged coal into the kiln 1 and carbonized it for several tens of hours, then opened the kiln lid 1a of the kiln 1 by the coke extruding side moving device 3 and passed the purified red hot coke to the other side, that is, coke. Push out to loading side.

The guide moving device 4 is stopped at the fixed position on the loading side, and the red hot coke extruded by the coke pushing side moving device 3 is supplied to the guide gauge 4 of the guide moving device 4.
The vehicle is loaded on a trailer (not shown) connected to the fire extinguishing train 5 through a. Then, the fire extinguishing train 5 loads the red hot coke and transports it to a predetermined fire extinguishing place, where the red hot coke is extinguished to generate coke.

[0005] In the above coke oven equipment,
It is necessary to accurately stop the coal charging moving machine 2, the coke pushing side moving machine 3, the guide moving machine 4, and the fire extinguishing train 5 at a operable fixed position.
There is a risk of damage to the equipment.

That is, since a plurality of vehicles are working in cooperation with each other in an organic manner, the efficiency of the entire work is significantly reduced even if any mobile machine or fire extinguishing train is stopped at a fixed position. Problems such as irregularity occur.

[0007] Conventionally, automatic positioning control has been used together with mobile machines and fire extinguishing trains. 7 and 8 show the configuration of the automatic positioning control device, and FIG. 9 shows the processing in the position control device.

The target position 13 input to the position control device 6
The difference between k and the current position 9b from the mechanism 9 is calculated by the calculator 6d, and based on the obtained position deviation 6c, the reference speed generation circuit 6a uses the reference speed calculation formula to reach the target position.
The reference speed 11 is calculated periodically and output to the speed control device 7.

In this case, when the square root of 2aS (a is the maximum speed, S is the position deviation) is K, V = K or the like is used as the reference speed calculation formula for obtaining the reference speed V. FIG. 10 illustrates an example of the relationship between the reference speed V and the position deviation S.

The speed control device 7 which has read the reference speed V
Controls the motor 8 such as an induction motor to output a rotation speed 8a corresponding to the reference speed V,
This is performed by inputting the resulting position signal 9a as rotational speed feedback from the mechanism 9.

When the positional deviation becomes equal to or less than a predetermined value immediately before the target position, the braking timing generating circuit 6b outputs a mechanical braking command 24 to the mechanical braking device 9a shown in FIG.

The above-described reference 11 automatically controlled for positioning.
FIG. 11 shows the relationship between the time and the traveling speed 11a calculated from the time deviation of the current position detected by the mechanism 9.

FIG. 12 is a diagram showing the relationship between the traveling speed and the stop position after the control release point 12 just before the target position. Since the speed control cannot be performed after the minute speed range 12 just before the target position, the speed change is affected by the rail condition, and the running speed is the normal running speed 11a,
The traveling speed 11b tends to be overrunning and the traveling speed 11c tends to stop shortly.

Conventionally, as is apparent from FIG.
If the traveling speed 11b tends to overrun the normal stop accuracy range 12a of the target position, the vehicle stops at the position of the overrun stop range 12c. Conversely, the normal stop accuracy range 12a of the target position
On the other hand, in the case of the running speed 11c that tends to stop at the front side, the vehicle stops at the position of the front stop range 12b, and a problem that the rerun process is required occurs.

[0015]

In the prior art, it is possible to secure a predetermined stopping accuracy of the moving machine by automatic positioning control, but it is satisfied under certain conditions such as the environment and control response time. This is control, and it is very difficult to ensure a predetermined stop accuracy in a situation where the rail condition changes.

In the micro-speed range where the control cannot be further performed, the above-mentioned change in the rail condition affects the stopping accuracy.
In the case of departure from the predetermined stop accuracy due to the inherent time delay of the speed response and the rerun process performed by the conventional cruise control, it is very difficult to correct the position of a minute distance, After a number of times, the automatic driving control was interrupted, and a situation where final positioning was performed by manual intervention processing occurred, which was a factor that delayed the operation itself.

An object of the present invention is to provide a rerun control device for a rail moving machine that realizes rerun control for judging the state and condition of a rail.

[0018]

SUMMARY OF THE INVENTION According to the present invention, there is provided a re-run control apparatus for a rail moving machine, comprising: a rail moving machine which travels on a rail with a motor-driven driving wheel; and a moving amount generated by traveling of the rail moving machine. , A position control device that calculates a reference speed of the rail moving device based on position information of the rail moving device output by the mechanism, and an electric motor based on the reference speed calculated by the position control device. A speed control device that drives a mechanical braking device that stops the rail moving machine by a control signal from the position control device, and when the rail moving machine deviates from the stop accuracy of a predetermined target position and stops, A re-running pattern selection circuit that selects a re-running pattern that ensures stop accuracy of the rail moving device based on the amount of change in the running speed in the minute speed range just before the target position. And features.

Further, in the rerun control device for a rail mobile according to the present invention, the rerun pattern selecting circuit pre-determines a stop reference speed pattern for changing a stop reference speed based on a positional deviation from a rerun start position to a target position. It is characterized by comprising a plurality of units and means for selecting the stop reference speed pattern according to the position deviation.

Further, in the rerun control device for a rail mobile device according to the present invention, the position control device stores the amount of change in the running speed in the minute speed range just before the target position before the rerun and stores the amount of change in the rerun distance. A special function processing circuit for calculating a corresponding position deviation amount as a function and mechanically braking the rail moving machine is provided.

According to the rerunning control device for a rail moving machine constructed as described above, by constantly monitoring the speed change amount in the minute speed range which is an uncontrollable region, a sudden change in the rail condition is generated. At times, it is possible to select the optimal re-running pattern that matches the ephemeral rail condition, and thus the manual intervention rate can be greatly improved.

[0022]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, an embodiment of a rerun control device for a rail moving machine according to the present invention will be described.

In FIG. 1 and FIG. 2, a mechanism 9 is a device for detecting a moving amount generated by a movement of the rail moving machine as a current position 9b. The position control device 13 is connected to the mechanism 9, and outputs the current position 9 b and the target position 13 output from the mechanism 9.
k, and calculates a reference speed of the traveling speed of the rail moving device based on the relative position output by the mechanism 9.

The speed control device 7 is connected to the position control device 13 and drives the electric motor 8 at the reference speed calculated by the position control device 13.
Is a device which is connected to the position control device 13 and stops the rail moving machine by a control signal from the position control device 13.

FIG. 2 is a block diagram showing an embodiment of the position control device 13.
When the rail mobile device deviates from the predetermined stop accuracy of the target position and stops, the amount of change in the traveling speed in the micro-speed range before the target position before the rail mobile device restarts is stored. Then, when the rail moving machine restarts, the circuit selects a rerunning pattern of the rail moving machine.

The rerunning pattern selection circuit 13e includes:
As described in claim 2, a plurality of stop reference speed patterns for changing the stop reference speed according to the position deviation from the restart position to the target position are provided in advance, and the stop reference speed pattern is selected according to the position deviation. It is also possible to do so.

As described in claim 3, the special function processing circuit 13d stores the change amount of the traveling speed in the minute speed range just before the target position before the rerun, and calculates the position deviation amount corresponding to the rerun distance as a function. And performs a mechanical braking of the rail moving device.

That is, a position control device 13, a speed control device 7, an induction motor 8, a mechanism 9, and a mechanical braking device 10 are provided.
3a, a braking timing generation circuit 13b, a speed calculation circuit 13c, a special function processing circuit 13d, and a rerun speed pattern selection circuit 13e.

The speed control device 7 having received the reference speed from the position control device 13 controls the induction motor 8 to control the rotation speed corresponding to the reference speed based on the rotation speed feedback from the mechanism 4 to determine the final reference speed 23. Output.

The mechanical braking device 10 which has received the mechanical braking command 24 from the position control device 13 performs the mechanical braking according to the command. The position control device 13 sets the target position 1
When 3a is input, the rerunning speed pattern selection circuit 13e based on the positional deviation from the current position 9b detected by the mechanism 9.
Selects an optimal pattern from several preset re-running speed patterns, and the reference speed generating circuit 13a calculates a reference speed based on the selected pattern and outputs the calculated reference speed to the speed control device 7.

Further, the re-running speed pattern selecting circuit 13e stores a positional deviation between the current position 9b and the target position 13k output from the computing unit 13h based on the speed change amount in the previous minute speed range which is an uncontrollable region. A bias value is set for the reference speed (reference speed generation circuit 13a) determined as described above.

The special function processing circuit 13d is provided with a computing unit 1
3g, an output from the reference speed generating circuit 13a,
The output from the speed calculation circuit 13c is calculated, a deviation coefficient at the time of re-running is obtained, this deviation coefficient is multiplied by the speed deviation to obtain a reference speed correction amount, and added to the reference speed by the calculator 13j.
The final reference speed 23 is output to the speed control device 7. For example, as shown in FIG. 3, the deviation coefficient may be calculated by a special function using a speed deviation set as a parameter based on the amount of speed change in the previous minute speed range, which is an uncontrollable region, as shown in FIG. it can. In the case of FIG. 3, the deviation coefficient 13f is calculated as the square root of the deviation coefficient 13f = the velocity deviation v, where b is the velocity deviation.

The braking timing generating circuit 13b is connected to the speed calculating circuit 13c and the computing unit 13h, and when the positional deviation becomes equal to or less than a predetermined value immediately before the target position, the braking timing generating circuit 13b sends the mechanical braking command 24 from the mechanical braking device 9.
Output to a.

FIG. 4 shows a change in the running speed after the control release point 12 just before the target position, and further shows a relationship diagram between the running speed and the stop position.

Since the speed control cannot be performed after the minute speed range just before the target position, the speed change is affected by the rail condition, and the running speed is changed to the normal running speed 11a and the running speed 11b which tends to overrun. , Running speed 11c with a tendency to stop shortly
are categorized. Conventionally, when the traveling speed 11b tends to overrun the normal stop accuracy range 12a of the target position, the vehicle stops at the position of the overrun stop range 12c. In the case of the running speed 11c which tends to stop shortly before, the vehicle has stopped at the position of the short stop range 12b.

However, in contrast to the normal re-running pattern (original running reference) 14, the re-running when the vehicle stops due to the over-running tendency is a return run, so the over-running re-running pattern 14a
In addition, when the vehicle is stopped due to the vehicle stopping tendency in front of the vehicle, the vehicle is driven by generating the pattern of addition tendency as the speed reference, as in the re-running pattern 14b of the front stop. Output for speed control in accordance with the rail condition,
Improved stopping accuracy in stopping at the target position during rerun.

[0037]

As described above, according to the present invention, stable stop control at a fixed position can be performed even in rerun control due to a sudden change in rail.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating a configuration and a control block of an embodiment of a control device according to the present invention.

FIG. 2 is a configuration diagram showing one embodiment of the position control device of FIG. 1;

FIG. 3 is an explanatory diagram showing a relationship between a speed deviation and a deviation coefficient.

FIG. 4 is an explanatory diagram of a speed graph showing a rerun operation according to the present invention.

FIG. 5 is a perspective view showing the concept of general coke oven equipment.

FIG. 6 is a front view showing a relationship between mobile devices.

FIG. 7 is a control block explanatory diagram showing a configuration of a conventional control device.

FIG. 8 is an explanatory diagram showing a configuration of a conventional mechanical braking device.

FIG. 9 is a block diagram illustrating a configuration of a conventional position control device.

FIG. 10 is an explanatory diagram showing a relationship between a reference speed and a position deviation in a conventional position control device.

FIG. 11 is an explanatory diagram showing a relationship between a reference speed and time in a conventional position control device.

FIG. 12 is an explanatory diagram showing a speed graph at a conventional speed release point.

[Explanation of symbols]

 7 Speed control device 8 Electric motor 9 Mechanism 10 Mechanical braking device 13 Position control device 13a Reference speed generation circuit 13b Braking timing generation circuit 13c Speed calculation circuit 13d Special function processing circuit 13e Rerun speed pattern selection circuit

 ──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Mitsuyoshi Furuyashiki 1-1-1, Shibaura, Minato-ku, Tokyo Inside the Toshiba head office

Claims (3)

[Claims] 1. A rail moving machine that travels on a rail with a motor-driven driving wheel, a mechanism for detecting the amount of movement caused by the running of the rail mobile, and a position of the rail moving machine output by the mechanism. A position control device that calculates a reference speed of the rail moving device based on information; a speed control device that drives an electric motor with the reference speed calculated by the position control device; and a control signal from the position control device. A mechanical braking device that stops the rail moving machine, and when the rail moving machine deviates from the stop accuracy of a predetermined target position and stops, based on a change amount of a traveling speed in a minute speed range in front of the target position, A rerunning pattern selection circuit that selects a rerunning pattern that ensures stopping accuracy of the rail moving machine. 2. The re-running pattern selection circuit is provided with a plurality of stop reference speed patterns for changing a stop reference speed in accordance with a positional deviation from a re-starting position to a target position, and the stopping is performed according to the positional deviation. 2. The rerun control device for a rail mobile according to claim 1, further comprising means for selecting a reference speed pattern. 3. The position control device stores a change amount of a traveling speed in a minute speed range before a target position before re-running, calculates a position deviation amount corresponding to a re-running distance as a function, and calculates the rail movement. 3. A rerun control device for a rail-mounted mobile device according to claim 1, further comprising a special function processing circuit for mechanically braking the device.