SPEED CONTROL METHOD FOR MOVING BODY

• Main Author: IWAMARU HIROSHI
• Format: Patent
• Language: English
• Published: 25.07.1995
• Edition: 6
• Subjects: CONTROLLING; CONVEYING; HANDLING THIN OR FILAMENTARY MATERIAL; PACKING; PERFORMING OPERATIONS; PHYSICS; PNEUMATIC TUBE CONVEYORS; REGULATING; SHOP CONVEYOR SYSTEMS; STORING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES; TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING ORTIPPING; TRANSPORTING

PURPOSE:To attain learning control or optimization control in its turn, and enable more accurate stopping control as the number of traveling times is increased by a correcting deceleration starting position or deceleration staring time by following the change even if braking torque changes when a temperature of a travel driving motor rises. CONSTITUTION:In a high-rise warehouse 1, a pair of housing shelf units 3 are arranged by sandwiching a passage to pass a cargo conveyor 2 to travel in the A and B directions on a rail 5, and the cargo conveyor 2 has a raising-lowering stand 7 to be raised and lowered in the C and D directions along the column 6. In this case, every time a cargo moving command is issued, a deceleration starting position and a constant speed travel necessary distance are measured in a control device 30, and operation is performed by using a value DELTAL obtained by subtracting the constant speed travel necessary distance from a constant speed travel target distance as a correction value. In the case where next time travel speed is controlled, when operation is performed on a deceleration starting distance (a position), the correction value DELTAL is added or subtracted. That is, when the DELTAL is added, the deceleration starting position is hastened, and when the DELTAL is subtracted, the deceleration starting position is delayed, and stopping control is practiced.