JPS59203093A - Steady rest control device for moving objects - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

Detailed Description of the Invention [Aspects of Application of the Invention 3] The present invention is capable of transporting coal, iron ore, grain, etc. from a ship to land. It is required to transfer the material to the hopper as quickly as possible. For this purpose, an increase in acceleration/deceleration and an increase in speed can be considered.

, However, compared to these %-'+2111 [7, the fluctuations become increasingly large. In order to accurately transfer the material into the hopper with a limited space of 11.1L (i'+,
1 is very preferable in terms of work efficiency.

The deflection of the moving body is determined by the acceleration/deceleration rate, distance, and rope length of the moving body. Figure 1 shows the concept of unloading cargo A.17 from ship 4 to hopper 5. Bakut 3 also grabbed the abductor 7 on board]! -, Packet 3 is on the top row, and the specified position is jealous (1)
When the trolley 1 rises to ゛, the shi p゛・i'' becomes tiring. At the start of the acceleration of the traverse, a oscillation 1 occurs in the bucket 3 by setting the period determined by the length t of rj:, LJ-p2 to 4=i. The runout caused by acceleration was reduced to 71. \(Bots.

It is necessary to reduce the number of trials to the -5 position. Chapter IV! (a
) Fried Ino ζ! ? f, and (b) shows the landing 1-) shape, Hiromo, where the material 7 inside the ship is close to nitrogen. In the ship 4, the position of the upper row of the surface J differs depending on the weight of the material 7. Therefore, the specified position of packet 3 changes. When the ship is full of materials 7, the length of the rope 2 is tl, and when the ship is almost empty, the length of the rope 2 is t2.

>t2. 6 in the diagram is the rail. The swing equation holds true and the swing period when the ship is fully loaded with material 7 is:
The swinging period is longer than when the ladle 7 inside the ship is close to empty. FIG. 2 shows a conventional steady rest control block diagram. For the speed control of the acting DC motor 8, an automatic voltage control system type that is controlled by the armature voltage of the direct current 'r', etc. is used. A container 9 is provided. The steady rest pattern calculation circuit 18 determines the steady rest pattern based on the traversing position of the trolley 1 and the speed command from the controller 19. The length t of the rope 2, which is one of the causes of deflection, has been fixed or set for each rope length. In the case of the fixed method, as shown in Fig. 1, the material 7 in the ship is set to be almost completely unloaded, so when the ship is fully loaded with materials 17, work efficiency decreases. In addition, the method of setting each length of the rope 2 cannot be set continuously, so the steady rest 41 at an intermediate position cannot be set continuously.
There was a drawback that 1 degree was not within the specified range.

In addition, in Fig. 2, 10 is the main circuit lx contactor, and 11 is the main circuit'
(IT voltage generator, 12 is thyristor switch Ef) 13
14 is a current detector, 14 is a transformer, 15 is an automatic pulse phase shifter, 16 is an automatic current regulator, and 17 is an automatic voltage regulator.

[Embodiments of the invention]

Hereinafter, the main points of the present invention will be explained in detail with reference to the drawings. FIG. 3 shows an embodiment of a steady rest control device for a moving body according to the present invention. Transverse DC 4Ljj・b Hayashi.

8 is driven by an automatic speed control system which is directly connected to the frost and motive shaft and controls the speed feedback of the speed detector 20 and the speed command by an automatic speed regulator 21. One of the features of the present invention is that the conventional automatic voltage control system (AVR) is constructed with an automatic speed control system. The automatic speed control system allows the speed to follow the command value, and disturbances caused by the swing of the trolley 1 can be detected as a current waveform. FIG. 4 shows the relationship between the deflection of the packet 3 due to the movement of the trolley 1 and the current waveform.

'11 due to payment of packet 3. ．． The current value is the maximum current at the position of mode 1, the maximum current at the position of mode 2 (the state where the packet swings to the opposite direction to the traveling direction), and the maximum current at the position of mode 3 (the state where the swing has returned to zero). ), the current is zero at mode 4 position u'1' (the state where the packet 3 swings to the maximum in the traveling direction and the forward direction), and the maximum negative current is a one-cycle current waveform. In other words, 1 is the same as the swing period of packet 3.
5', current waveform power line (can be output. Detection '1 of DC motor 8 is current waveform according to swing period) 01J -
The waveform shown in FIG. 4(b) is obtained by adding the running resistance (load) of 1. In the bypass filter circuit 22 of FIG.
The load component and the acceleration/deceleration current component due to the deflection of the packet 3 are removed from the current waveform of the DC motor shaft 8, and 't1. Detect only flow. The current due to the vibration detected by the bypass filter circuit 22 is converted into an opposite phase by the phase inversion circuit 23. The current with the current phase reversed due to vibration is fed back to the speed command through the entire function generator 24. The function generator 24 generates frost from the continuous layer command.
The inverse of the transfer function to the dynamic plate current is 13'. Fifth
The figure shows a bypass filter circuit 22 that embodies the present invention.
, shows the output waveform of the phase inversion circuit 23.

〔Effect of the invention〕

According to the present invention, there is a relation between the rope length l and the position g.
, i- steady rest system ii+1 continuously without detection device'
l'Jl' becomes RL.

[Brief explanation of the drawing]

11th>1t(a)(b) is the state of the moon phase inside the ship y? ,1
Concept 丙X r
：'('J2, steady rest control block for moving objects, i;'j','
5. Steady rest for moving object of the present invention? 1tIJil's arrow m
y tll Glock diagram, 41r4 diagram is a diagram showing the swing of the packet (a) and the first position (b) of the electric table,
Fifth and first, it is an output waveform diagram of the circuit that will be constructed by Akihisa. 22... Bypass filter circuit, 23... Phase inversion circuit, 24... Function generator. Figure 4' (OL) Tea hanging

Claims (1)

[Scope of Claims] 1. In a steady rest control device for a moving object that is multi-speed controlled by an automatic speed regulator, the current amount caused by the swing is detected based on the current value of the motor that is caused by the swing of the load. a phase inversion circuit that generates a current waveform that is inverted from the current waveform detected by this bypass filter circuit, and converts the current waveform detected by this phase inversion circuit into a steady rest speed command for the moving object. 1 suppression occurrence? :;Toyo') '+1'
A steady rest for a moving body, characterized in that the steady rest of the moving body is carried out by inverting the phase of the relaxation of the electric motor caused by swinging during cargo handling and feeding it back to the speed command of the moving body. Control device.