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JP3580448B2 - Power supply mounted mobile vehicle and control method thereof - Google Patents
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JP3580448B2 - Power supply mounted mobile vehicle and control method thereof - Google Patents

Power supply mounted mobile vehicle and control method thereof Download PDF

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Publication number
JP3580448B2
JP3580448B2 JP20455195A JP20455195A JP3580448B2 JP 3580448 B2 JP3580448 B2 JP 3580448B2 JP 20455195 A JP20455195 A JP 20455195A JP 20455195 A JP20455195 A JP 20455195A JP 3580448 B2 JP3580448 B2 JP 3580448B2
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speed
voltage
power supply
command value
moving vehicle
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JPH0956014A (en
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良美 新原
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Mazda Motor Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/52—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by DC-motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • B60L2200/44—Industrial trucks or floor conveyors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2210/00—Converter types
    • B60L2210/10—DC to DC converters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/10—Electrical machine types
    • B60L2220/20—DC electrical machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/54—Drive Train control parameters related to batteries
    • B60L2240/547—Voltage
    • 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
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/60—Electric or hybrid propulsion means for production processes
    • 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
    • Y02T10/64—Electric machine technologies in electromobility
    • 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
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • 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

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Control Of Velocity Or Acceleration (AREA)

Description

【０００１】
【発明の属する技術分野】
本発明は、電源搭載型移動車輌及びその制御方法に関するものである。
【０００２】
【従来の技術】
従来、代表的な移動車輌である無人搬送車が、工場内の生産ライン等における物品の移動手段として広く使用されている。この無人搬送車は、主にバッテリーが搭載された自走式が使用されている。バッテリーに蓄えられた電気量には限りがあるため、無人搬送車を動作させるに従って、そのバッテリーの発生電圧は降下していく。この電圧降下による無人搬送車の稼動効率の低下を防ぐため、すなわち生産工程において規定された所要時間で物品を輸送するためには、各無人搬送車の早め早めの充電が要求される。しかし生産効率を維持しながら早めの充電を行なうためには、無人搬送車の予備を多く持たなければならず、高額な設備投資が必要となり現実的でない。このため、バッテリーの発生電圧がある程度降下しても、所定の走行速度を維持できるように速度のフィードバック制御が行われる。
【０００３】
【発明が解決しようとする課題】
しかしながら上記従来例において、個々の無人搬送車に速度制御のためのフィードバックループを付加するにはかなり費用が必要となる。
【０００４】
そこで本発明は、電圧監視による速度補正制御が可能な電源搭載型移動車輌及びその制御方法の提供を目的とする。
【０００７】
【課題を解決するための手段】
上記の目的を達成するための本発明の構成として、駆動用の電源と、速度指令値に基づいて車輪駆動モータを駆動するモータ駆動部とを備え、前記速度指令値に従って走行する移動車輌において、
前記移動車輌について予め求められた、前記電源が前記移動車輌を駆動可能な電圧の範囲における前記電源の電圧と前記移動車輌の走行速度との関係、そして前記速度指令値と前記走行速度との関係を記憶する記憶手段と、
前記電源の電圧を検知する電圧検知手段と、
前記記憶手段にて前記電圧検知手段で検知した電圧に応じた走行速度に対応する速度指令値と、前記電源の基準電圧における前記移動車輌の走行速度に対応する速度指令値との差を参照し、その差を、前記移動車輌を基準速度で走行させるための速度指令値に加算して前記モータ駆動部へ出力する制御手段を備えたことを特徴とする。
【０００８】
これにより電源の電圧変動を補正し、移動車輌を基準速度で走行させることができる。なお、前記関係として、前記記憶手段には、前記電源が前記移動車輌を駆動可能な電圧に対応する前記移動車輌の走行速度と、前記走行速度に対応する前記速度指令値と、が記憶されていることが望ましい。
【０００９】
更に前記の移動車輌は、前記電圧検知手段が、前記電源の電圧変動による前記移動車輌の駆動可能電圧の下限値を検出した際、前記制御手段は走行を停止させることを特徴とする。
【００１０】
これにより速度補正が不可能になった時点で速やかに制御を中止する。
【００１４】
上記の目的を達成するための本発明の他の構成として、駆動用の電源と、速度指令値に基づいて車輪駆動モータを駆動するモータ駆動部とを備え、前記速度指令値に従って走行する移動車輌の制御方法において、
前記移動車輌について予め求められた、前記電源が前記移動車輌を駆動可能な電圧の範囲における前記電源の電圧と前記移動車輌の走行速度との関係、そして前記速度指令値と前記走行速度との関係を記憶し、
前記電源の電圧を検知し、
記憶した前記関係を参照し、その検知した電圧に応じた走行速度に対応する速度指令値と、前記電源の基準電圧における前記移動車輌の走行速度に対応する速度指令値との差を、前記移動車輌を基準速度で走行させるための速度指令値に加算して前記モータ駆動部へ出力することを特徴とする。
【００１５】
これにより電源の電圧変動を補正し、移動車輌を基準速度で走行させることができる。更に前記駆動可能な電圧の範囲の下限値を検出した際、走行を停止させることを特徴とする。
【００１６】
これにより速度補正が不可能になった時点で速やかに制御を中止する。
【００１７】
【発明の実施の形態】
以下、本発明の一実施形態を図面を参照して詳細に説明する。
【００１８】
はじめに、本発明を適用した移動車輌である無人搬送車の装置構成について説明する。
【００１９】
図１は、本発明の一実施形態としての無人搬送車の装置構成を示す図である。
【００２０】
図中、１は走行制御部であり、装置全体の制御及び本発明の速度補正等を行なう。９はパラメータ記憶部、８はガイドセンサ、７はガイドテープ、４はモータ駆動部であり、走行制御部１の指令に基づいて本実施形態では直流モータである左車輪駆動モータ５及び右車輪駆動モータ６を駆動する。本実施形態の無人搬送車は、走行するフロア上に軌道として予め貼られたガイドテープ７をガイドセンサ８で検出し、外部からの指令または内部に記憶した所定のコース及び速度計画等に基づいて走行する。また、車輪駆動部の構成には、本実施形態の他に装置の構造により前輪駆動、後輪駆動、回転用車輪の駆動等がある。
【００２１】
次に、バッテリーの発生電圧である無人搬送車の電源部３の電源電圧と、その電源電圧により可能な走行速度の関係を説明する。
【００２２】
図２は、本発明の一実施形態としての電源電圧と走行速度の特性を示す図である。
【００２３】
図中、電源部３のバッテリーは、基準電圧はＶＯであり、電源電圧ＶがＶＸ−ＶＹにおいて図１の無人搬送車を駆動可能である。これらの電圧における走行速度Ｓは、座標で表わせば、（ＶＸ，ＳＸ）、（ＶＯ，ＳＯ）、（ＶＹ，ＳＹ）となる（ＳＯは基準速度）。
【００２４】
ここで電圧変動により電源電圧Ｖが次第に変化していく図２のバッテリーにより、常に基準速度ＳＯで無人搬送車を走行させるためのモータ駆動部４への速度指令の補正量とを実験式等により求める。
【００２５】
図３は、本発明の一実施形態としての電源電圧と速度の補正量の関係を示す図である。
【００２６】
図中、電源電圧が基準電圧のＶＯにおいて補正量が０であることがわかる。
【００２７】
上記の図３の関係をｆ（Ｖ）とすれば、速度補正をした速度指令値ＳＭは、
ＳＭ ＝ ＳＯ ＋ ｆ（Ｖ）
となる。この関係式をパラメータ記憶部９に予め記憶し、走行制御部１が所定の速度計画を実行する場合に速度指令値ＳＭを常に算出し、モータ駆動部４に指令する速度補正後の速度指令値として出力する。
【００２８】
＜実施形態の変形例＞
以下、上述の実施形態の変形例を図４及び図５を参照して説明する。本変形例では、速度補正のための演算は行わずパラメータ記憶手段９にデータテーブルあるいはメモリマップの形態で記憶する。それ以外の構成は、前述の実施形態と同様である。
【００２９】
図４は、本発明の一実施形態の変形例としての電源電圧と走行速度の特性を示す図である。
【００３０】
図において、ある時点における電源部３のバッテリーの電源電圧Ｖを、電源電圧検出部２により検出したところＶＰであった。この場合、電圧ＶＰにおける走行速度は、無人搬送車の動特性によりＳＰである。すなわち電圧降下により、（ＳＯ−ＳＰ）の速度の低下が起きている。
【００３１】
図５は、本発明の一実施形態の変形例としての速度指令値と走行速度の関係を示す図である。
【００３２】
図中、横軸を速度指令値（例えば（１０）は１０ｋｍ／ｈを示す）、縦軸を走行速度Ｓとする。基準速度ＳＯを速度指令値（１０）であるとすれば、前記の走行速度ＳＰにおける速度指令値は（８）である。ここでバッテリーの電源電圧は、図４においてＶＯからＶＰに降下しているから、この時点で速度指令値（１０）を指令しても、実際の無人搬送車の走行速度は（８）にあたる８ｋｍ／ｈとなってしまう。そこで実際の走行速度を１０ｋｍ／ｈとするために、実際の走行速度８ｋｍ／ｈとの差を補正量とし、この時点での速度指令値（１０）に加算し、走行制御部１がモータ駆動部４に指令する速度指令値とする。すなわち、図４の特性が正比例の関係であるならば、実際の走行速度を１０ｋｍ／ｈにするためのモータ駆動部４に指令する速度指令値は（１２）とすればよい。このように現在のバッテリーの電圧変動による補正量を加算し、補正後の速度指令値としてモータ駆動部４に出力することにより、電源電圧ＶＹ−ＶＸにおいて本来の速度計画に基づく走行速度を実現する。
【００３３】
＜実施形態の効果＞
（１）上述の実施形態において、速度補正をした速度指令値ＳＭをパラメータ記憶部９に予め記憶し、実走行において補正する前の本来指定された速度に適用しることにより、電源電圧がバッテリーの使用可能範囲の下限値になるまで規定時間を厳守して動作させることができる。
（２）上述の実施形態の変形例において、速度補正のための手段をパラメータ記憶手段９にデータテーブルあるいはメモリマップの形態で記憶したので、走行制御部１において単にデータ参照の処理とすることができた。これにより走行制御部１を簡単な構造とし、コストを低減ができる。
【００３４】
【発明の効果】
以上説明したように、本発明によれば、電圧監視による速度補正制御が可能な電源搭載型移動車輌及びその制御方法の提供が実現する。
【００３５】
【図面の簡単な説明】
【図１】図１は、本発明の一実施形態としての無人搬送車の装置構成を示す図である。
【図２】本発明の一実施形態としての電源電圧と走行速度の特性を示す図である。
【図３】本発明の一実施形態としての電源電圧と速度の補正量の関係を示す図である。
【図４】本発明の一実施形態の変形例としての電源電圧と走行速度の特性を示す図である。
【図５】本発明の一実施形態の変形例としての速度指令値と走行速度の関係を示す図である。
【符号の説明】
１ 走行制御部
２ 電源電圧検出部
３ 電源部（バッテリー）
４ モータ駆動部
５ 左車輪駆動モータ
６ 右車輪駆動モータ
７ ガイドテープ
８ ガイドセンサ
９ パラメータ記憶部[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a mobile vehicle equipped with a power supply and a control method thereof.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, an automatic guided vehicle, which is a typical mobile vehicle, has been widely used as a means for moving articles on a production line or the like in a factory. This automatic guided vehicle mainly uses a self-propelled type equipped with a battery. Since the amount of electricity stored in the battery is limited, the voltage generated by the battery drops as the automatic guided vehicle is operated. In order to prevent a reduction in the operation efficiency of the automatic guided vehicle due to the voltage drop, that is, to transport the articles in a required time specified in the production process, it is necessary to charge each automatic guided vehicle as soon as possible. However, in order to perform early charging while maintaining production efficiency, it is necessary to have a large number of reserves for automatic guided vehicles, which requires a high capital investment and is not realistic. Therefore, even if the generated voltage of the battery drops to some extent, speed feedback control is performed so that a predetermined traveling speed can be maintained.
[0003]
[Problems to be solved by the invention]
However, in the above-mentioned conventional example, adding a feedback loop for speed control to each automatic guided vehicle requires considerable cost.
[0004]
Therefore, an object of the present invention is to provide a power-equipped mobile vehicle capable of speed correction control by voltage monitoring and a control method thereof.
[0007]
[Means for Solving the Problems]
As a configuration of the present invention to achieve the above object, a power supply for driving, including a motor drive unit that drives a wheel drive motor based on a speed command value , in a mobile vehicle that travels according to the speed command value ,
The relationship between the voltage of the power supply and the traveling speed of the moving vehicle in a voltage range in which the power supply can drive the moving vehicle, which is obtained in advance for the moving vehicle, and the relationship between the speed command value and the traveling speed Storage means for storing
Voltage detection means for detecting the voltage of the power supply,
Referring to a difference between a speed command value corresponding to a traveling speed corresponding to the voltage detected by the voltage detecting means in the storage means and a speed command value corresponding to the traveling speed of the moving vehicle at a reference voltage of the power supply. Control means for adding the difference to a speed command value for causing the moving vehicle to travel at a reference speed and outputting the result to the motor drive unit.
[0008]
As a result , it is possible to correct the voltage fluctuation of the power supply and make the moving vehicle run at the reference speed . Note that, as the relationship, the storage means stores a traveling speed of the moving vehicle corresponding to a voltage at which the power supply can drive the moving vehicle, and the speed command value corresponding to the traveling speed. Is desirable.
[0009]
Further, in the moving vehicle, when the voltage detecting means detects a lower limit value of a drivable voltage of the moving vehicle due to a voltage fluctuation of the power supply, the control means stops running.
[0010]
As a result, when the speed correction becomes impossible, the control is immediately stopped.
[0014]
As another configuration of the present invention for achieving the above object, comprises a power source for driving, a motor driving unit for driving the wheel drive motor based on the speed command value, the mobile vehicle to travel in accordance with the speed command value In the control method of
The relationship between the voltage of the power supply and the traveling speed of the moving vehicle in a voltage range in which the power supply can drive the moving vehicle, which is obtained in advance for the moving vehicle, and the relationship between the speed command value and the traveling speed Remember
Detecting the voltage of the power supply,
Referring to the stored the relationship, and the speed command value corresponding to the running speed corresponding to the sensed voltage, the difference between the speed command value corresponding to the running speed of the moving vehicle at a reference voltage of the power supply, the mobile It is characterized in that it is added to a speed command value for running the vehicle at a reference speed and output to the motor drive unit.
[0015]
As a result , it is possible to correct the voltage fluctuation of the power supply and make the moving vehicle run at the reference speed . Further, when a lower limit value of the range of the drivable voltage is detected, traveling is stopped.
[0016]
As a result, when the speed correction becomes impossible, the control is immediately stopped.
[0017]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.
[0018]
First, an apparatus configuration of an automatic guided vehicle, which is a mobile vehicle to which the present invention is applied, will be described.
[0019]
FIG. 1 is a diagram showing an apparatus configuration of an automatic guided vehicle as one embodiment of the present invention.
[0020]
In the figure, reference numeral 1 denotes a travel control unit which controls the entire apparatus, performs speed correction of the present invention, and the like. Reference numeral 9 denotes a parameter storage unit, 8 denotes a guide sensor, 7 denotes a guide tape, 4 denotes a motor drive unit, and a left wheel drive motor 5 and a right wheel drive which are DC motors in this embodiment based on a command from the travel control unit 1. The motor 6 is driven. The automatic guided vehicle of the present embodiment detects a guide tape 7 previously applied as a track on a running floor by a guide sensor 8 and, based on a command from outside or a predetermined course and speed plan stored internally, etc. To run. The configuration of the wheel drive unit includes front wheel drive, rear wheel drive, rotation wheel drive, and the like depending on the structure of the device in addition to the present embodiment.
[0021]
Next, the relationship between the power supply voltage of the power supply unit 3 of the automatic guided vehicle, which is the voltage generated by the battery, and the traveling speed possible with the power supply voltage will be described.
[0022]
FIG. 2 is a diagram showing characteristics of a power supply voltage and a traveling speed as one embodiment of the present invention.
[0023]
In the figure, the reference voltage of the battery of the power supply unit 3 is VO, and when the power supply voltage V is VX-VY, the automatic guided vehicle of FIG. 1 can be driven. The traveling speed S at these voltages is (VX, SX), (VO, SO), (VY, SY) when represented by coordinates (SO is a reference speed).
[0024]
Here, with the battery shown in FIG. 2 in which the power supply voltage V gradually changes due to the voltage fluctuation, the correction amount of the speed command to the motor drive unit 4 for constantly running the automatic guided vehicle at the reference speed SO is determined by an empirical formula or the like. Ask.
[0025]
FIG. 3 is a diagram illustrating a relationship between a power supply voltage and a speed correction amount according to an embodiment of the present invention.
[0026]
In the figure, it can be seen that the correction amount is 0 when the power supply voltage is the reference voltage VO.
[0027]
Assuming that the relationship in FIG. 3 is f (V), the speed command value SM after the speed correction is:
SM = SO + f (V)
It becomes. This relational expression is stored in the parameter storage unit 9 in advance, and when the traveling control unit 1 executes a predetermined speed plan, the speed command value SM is always calculated, and the speed command value after the speed correction to be commanded to the motor drive unit 4 Is output as
[0028]
<Modification of Embodiment>
Hereinafter, a modified example of the above-described embodiment will be described with reference to FIGS. 4 and 5. In the present modified example, the calculation for speed correction is not performed, but is stored in the parameter storage means 9 in the form of a data table or a memory map. Other configurations are the same as those of the above-described embodiment.
[0029]
FIG. 4 is a diagram illustrating characteristics of a power supply voltage and a traveling speed as a modification of the embodiment of the present invention.
[0030]
In the figure, when the power supply voltage V of the battery of the power supply unit 3 at a certain time is detected by the power supply voltage detection unit 2, it is VP. In this case, the traveling speed at the voltage VP is SP due to the dynamic characteristics of the automatic guided vehicle. That is, the speed of (SO-SP) is reduced due to the voltage drop.
[0031]
FIG. 5 is a diagram illustrating a relationship between a speed command value and a traveling speed as a modified example of the embodiment of the present invention.
[0032]
In the figure, the horizontal axis represents the speed command value (for example, (10) indicates 10 km / h), and the vertical axis represents the traveling speed S. Assuming that the reference speed SO is the speed command value (10), the speed command value at the traveling speed SP is (8). Here, since the power supply voltage of the battery has dropped from VO to VP in FIG. 4, even if the speed command value (10) is commanded at this time, the actual traveling speed of the automatic guided vehicle is 8 km corresponding to (8). / H. Therefore, in order to set the actual traveling speed to 10 km / h, the difference from the actual traveling speed of 8 km / h is used as a correction amount, added to the speed command value (10) at this time, and the traveling control unit 1 drives the motor. The speed command value to be commanded to the unit 4 is used. That is, if the characteristics of FIG. 4 are directly proportional, the speed command value for instructing the motor drive unit 4 to set the actual traveling speed to 10 km / h may be (12). In this way, by adding the correction amount due to the current battery voltage fluctuation and outputting the corrected speed command value to the motor drive unit 4, the traveling speed based on the original speed plan is realized at the power supply voltage VY-VX. .
[0033]
<Effects of Embodiment>
(1) In the above-described embodiment, the speed command value SM after the speed correction is stored in the parameter storage unit 9 in advance and applied to the originally designated speed before the correction in the actual traveling, so that the power supply voltage is Until the lower limit of the usable range is reached.
(2) In the modified example of the above-described embodiment, the means for speed correction is stored in the parameter storage means 9 in the form of a data table or a memory map. did it. As a result, the traveling control unit 1 has a simple structure, and the cost can be reduced.
[0034]
【The invention's effect】
As described above, according to the present invention, it is possible to provide a power-equipped mobile vehicle capable of performing speed correction control by voltage monitoring and a control method thereof.
[0035]
[Brief description of the drawings]
FIG. 1 is a diagram showing an apparatus configuration of an automatic guided vehicle as one embodiment of the present invention.
FIG. 2 is a diagram showing characteristics of a power supply voltage and a traveling speed as one embodiment of the present invention.
FIG. 3 is a diagram illustrating a relationship between a power supply voltage and a speed correction amount according to an embodiment of the present invention.
FIG. 4 is a diagram showing characteristics of a power supply voltage and a traveling speed as a modification of one embodiment of the present invention.
FIG. 5 is a diagram showing a relationship between a speed command value and a traveling speed as a modification of one embodiment of the present invention.
[Explanation of symbols]
1 travel control unit 2 power supply voltage detection unit 3 power supply unit (battery)
4 Motor drive unit 5 Left wheel drive motor 6 Right wheel drive motor 7 Guide tape 8 Guide sensor 9 Parameter storage unit

Claims (5)

駆動用の電源と、速度指令値に基づいて車輪駆動モータを駆動するモータ駆動部とを備え、前記速度指令値に従って走行する移動車輌において、
前記移動車輌について予め求められた、前記電源が前記移動車輌を駆動可能な電圧の範囲における前記電源の電圧と前記移動車輌の走行速度との関係、そして前記速度指令値と前記走行速度との関係を記憶する記憶手段と、
前記電源の電圧を検知する電圧検知手段と、
前記記憶手段にて前記電圧検知手段で検知した電圧に応じた走行速度に対応する速度指令値と、前記電源の基準電圧における前記移動車輌の走行速度に対応する速度指令値との差を参照し、その差を、前記移動車輌を基準速度で走行させるための速度指令値に加算して前記モータ駆動部へ出力する制御手段を備えたことを特徴とする移動車輌。Power supply for driving, comprising a motor drive unit that drives a wheel drive motor based on a speed command value , in a moving vehicle that runs according to the speed command value ,
A relationship between a voltage of the power supply and a traveling speed of the moving vehicle in a voltage range in which the power supply can drive the moving vehicle, which is obtained in advance for the moving vehicle, and a relationship between the speed command value and the traveling speed. Storage means for storing
Voltage detection means for detecting the voltage of the power supply,
Referring to a difference between a speed command value corresponding to a running speed corresponding to the voltage detected by the voltage detecting means in the storage means and a speed command value corresponding to the running speed of the moving vehicle at a reference voltage of the power supply. And a control means for adding the difference to a speed command value for causing the mobile vehicle to travel at a reference speed and outputting the same to the motor drive unit. 前記関係として、前記記憶手段には、
前記電源が前記移動車輌を駆動可能な電圧に対応する前記移動車輌の走行速度と、前記走行速度に対応する前記速度指令値と、が記憶されていることを特徴とする請求項１に記載の移動車輌。As the relationship, the storage means includes:
A traveling speed of the moving vehicle which the power corresponding to a voltage that can drive the moving vehicle, and the speed instruction value corresponding to the traveling speed, according to claim 1, characterized in that is stored Moving vehicle. 前記電圧検知手段が、前記電源の電圧変動による前記移動車輌の駆動可能電圧の下限値を検出した際、前記制御手段は走行を停止させることを特徴とする請求項１に記載の移動車輌。Wherein the voltage detecting means, when detecting the lower limit value of the driving voltage capable of the moving vehicle due to the voltage fluctuation of the power supply, the mobile vehicle according to claim 1 wherein the control means, characterized in that stopping the travel. 駆動用の電源と、速度指令値に基づいて車輪駆動モータを駆動するモータ駆動部とを備え、前記速度指令値に従って走行する移動車輌の制御方法において、
前記移動車輌について予め求められた、前記電源が前記移動車輌を駆動可能な電圧の範囲における前記電源の電圧と前記移動車輌の走行速度との関係、そして前記速度指令値と前記走行速度との関係を記憶し、
前記電源の電圧を検知し、
記憶した前記関係を参照し、その検知した電圧に応じた走行速度に対応する速度指令値と、前記電源の基準電圧における前記移動車輌の走行速度に対応する速度指令値との差を、前記移動車輌を基準速度で走行させるための速度指令値に加算して前記モータ駆動部へ出力することを特徴とする移動車輌の制御方法。A power source for driving, a motor driving unit for driving the wheel drive motor based on the speed command value, a control method of the mobile vehicle to travel in accordance with the speed command value,
A relationship between a voltage of the power supply and a traveling speed of the moving vehicle in a voltage range in which the power supply can drive the moving vehicle, which is obtained in advance for the moving vehicle, and a relationship between the speed command value and the traveling speed. Remember
Detecting the voltage of the power supply,
Referring to the stored the relationship, and the speed command value corresponding to the running speed corresponding to the sensed voltage, the difference between the speed command value corresponding to the running speed of the moving vehicle at a reference voltage of the power supply, the mobile A method for controlling a mobile vehicle, comprising adding to a speed command value for causing the vehicle to travel at a reference speed and outputting the result to the motor drive unit. 前記駆動可能な電圧の範囲の下限値を検出した際、走行を停止させることを特徴とする請求項４に記載の移動車輌の制御方法。The method according to claim 4 , wherein the driving is stopped when a lower limit value of the drivable voltage range is detected.
JP20455195A 1995-08-10 1995-08-10 Power supply mounted mobile vehicle and control method thereof Expired - Fee Related JP3580448B2 (en)

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