SU746446A1 - Movable object control device - Google Patents

Description

(54) DEVICE FOR CONTROLLING A MOBILE OBJECT.

The invention relates to the automation of the control of mobile objects of industrial enterprises, for example, coke machines, cranes, 5 ingot trucks, can be used in the coke-chemical, metallurgical and other industries.

A device for a multi-speed control program is known. The moving objects 1, containing the position setting unit, the speed control unit and the relay unit, the output of which is connected via a communication channel to the control unit of the moving object, are connected in series to a smaller number selection unit, the inverting unit, the subtraction unit and the error decoder, the output of which is 20 through the speed control unit is connected to one of the inputs of the relay unit, the second input of which is connected to the output of the smaller number selection unit, and one of the outputs of the communication channel 25 is connected to the input of the determination unit by lie.

The disadvantage of this device is the low accuracy of the control of the movement of a moving object to 0

Since, in this device, the starting point of the braking cannot be accurately determined at any speed of the moving object.

The closest in technical essence to this invention is a device for controlling a movable object 2, comprising a setting device and a position sensor of a moving object, a speed determining unit and a test unit, a comparison unit and a comparator, the inputs of which are connected to the outputs of the setting device and the object position sensor, and the output is one of the inputs of the comparison unit, the second input of which is connected to the speed determination unit, and the output with the executive unit.

This device does not provide reliable control of a moving object, if there is a second moving object in the path and in the border areas, as is the case, for example, in the conditions of a coke plant, where two coke machines can operate simultaneously. Such a device cannot prevent a possible collision of a moving object from a controlled object beyond the limits of final chubs of a controlled path.

The purpose of the invention is to increase the reliability of the device. This goal is achieved by the fact that the device contains successively connected settings for the boundary values,,. Enlargement to you to the second input of the adder, and the input is .Zha: - :: ShZSh111G is opposite to the 6O unit, the first unit of the path definition is T01r1SHYY11§1§1G with & Dkd T1ByShGYi and Ъёё11VV with the Second input of the perTurgo computation and with the second entrance ohm second ::; gr; Shchys: litnlg6 blyk, it is in a row and 5yrrrrrrr: p 6 g6 block - compare: no, and from second to the second block of the comparison block, the output of the adder is connected to the second INPUT of the third block of the second block, the second output of the setpoint value set11 BSC with the third inlet 1 of the 1st unit, and the second outputs of the first and second Numeric units and the second of the third third Comparison blocks are connected to the corresponding inputs of the executive unit; --- v

The drawing shows the functional diagram of the device.

The device contains a sensor of 1 position of an ojekt: set up 2 positions 1 Scrapor 3, with the first one on Extra 4, which is equipped with an e1T 11Y bloc

 - .i - ;; i.r: J: i -..- tV..i -: ...,: ....: u-. -.-.:. .

5 Subjects Objects Calculate; .LITTING 1, 6, in t6p6Y computing unit 7, adder 8, second comparing unit 9, third comparing unit 10, first braking path determination unit 11, second block Determining braking path 12, block of boundary values 13, and object Bctpe4rtor position 14, The device works as follows: "li.

The signals from the position sensor 1 –– ––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––– The output is 1G, the greatest WAY of moving the L6eG of the given point. 3 years ago orrpi jff m i m-y TKeH tl volume 1 s third part

 output to ffiapaf6jpa ffepiaaeTCH on; ± :: JSH1SHI1gelnyy bloG da Gmeyd

746446

moving an object forward or backward. In addition to the comparator 3, the output of the sensor. Position 1 is connected to the input of the braking path determination unit 11, the signal from which is compared with the error signal of the comparator 3 in the comparison block 4. When the signals are equal, a signal is generated at the beginning of the deceleration of the object that acts on the execution unit 5,

When the object reaches a predetermined area, the error code at the output of the comparator 3 becomes equal to zero, as a result of which the stop command is generated.

If there is a second moving object in the path of the controlled object, the signal from the position sensor 1 is added to the computing unit 7 with the safety constant (the safe distance between objects) of the settings block 13. Next, the sensor signal 14 is subtracted from the result of the addition; the position of the oncoming object. The disagreement signal is then fed to one of the inputs of the comparator unit 10, the second input of which is supplied with a signal from the adder 8, in which the sum code is generated by braking the controlled object and the second object.

Thus, if the path between the objects is equal, taking into account the safe distance and the sum of the ways to slow them down from the output of the comparator unit 10, the executive unit 5 receives a signal at the beginning of the braking. When objects approach each other at the minimum safe distance, the error signal from computing unit 7 stays equal to zero, and a signal is sent to the executive unit to stop the object.

Similarly, the device operates in the case of an object moving in the direction of the boundary sections of the controlled path. To prevent an object from moving beyond the boundary area, the signal from the position sensor 1 is compared in the computing unit 6 with the signal of the setting block 13, in which the code of the boundary section is generated. Next, the error signal is fed to the first input of the comparison unit 9, the second input of which simultaneously receives a signal from the unit 11 determining the braking path of the object. When the signals are equal, the comparison unit 9 generates a signal for the start of deceleration,

In the event of an object hitting the boundary portion, the error signal of the computing unit 6 becomes equal to zero, and a command is issued to stop the object.

Thus, a device for controlling a moving object provides reliable control when

Claims (2)

Claim A device for controlling a moving object, comprising a master and a position sensor of the object, the outputs of which are connected to the inputs of the comparator, the first output of which is connected to the first input of the first comparison unit, and the second output of the comparator and the output of the first comparison unit are connected to the executive unit, characterized in that, in order to increase the reliability of the device, it contains a series-connected block of settings of boundary values, a first computing unit and a second comparison unit, series-connected sensor When the oncoming object is turned on, the second computing unit and the third comparison unit are connected in series to the first braking path determining unit and the adder, as well as the second braking path determining unit, the output of which is connected to the second input of the adder, and the input to the output of the oncoming object position sensor, input a first determination unit braking path coupled to the output of the sensor position of the object ₄ to the second input of the first calculating unit and to a second input of the second calculating unit, and an output - to a second input of the first of the second comparison unit and with the second input of the second comparison unit, the adder output is connected to the second input of the third comparison unit, the second output of the boundary value settings block is connected to the third input of the second computing unit, and the second outputs of the first and second computing units and the outputs of the second and third comparison units connected to the corresponding inputs of the executive unit. To a · '. : ⁷ y '· y y. '' Sources of information / ‘taken into account during the examination 1, USSR Copyright Certificate No. 351200, cl. G 05 B 19/18, ‘1970. 2. Copyright certificate of the USSR on application No. 2426177, cl. G 06 G 1/09,, 06.12.76 (prototype).