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Linear reciprocating type RGV curve speed regulation method and system

A speed regulation method and a reciprocating technology, applied in the field of rail vehicles, can solve the problem of high cost, reduce performance requirements and improve fluency.

Pending Publication Date: 2022-01-11
华晟智能自动化装备有限公司
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  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantage is that due to the need to cooperate with the driver for position calculation, most position feedback sensors need to choose a similar protocol version such as SSI bus, plus the cost of the driver itself, the overall cost is high

Method used

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  • Linear reciprocating type RGV curve speed regulation method and system
  • Linear reciprocating type RGV curve speed regulation method and system
  • Linear reciprocating type RGV curve speed regulation method and system

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Embodiment Construction

[0051] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0052]The purpose of the present invention is to provide a linear reciprocating RGV curve speed regulation method and system, which can release the resource occupation of the controller performance as much as possible on the premise of ensuring the curve function, so as to reduce the cost of the controller.

[0053] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further des...

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Abstract

The invention relates to a linear reciprocating type RGV curve speed regulation method and system, and the method comprises the steps: firstly obtaining a starting point position and a final point position, and further obtaining a stroke value; then comparing the stroke value with a curve set value, and if the stroke value is smaller than the curve set value, controlling the RGV to crawl; if the travel value is greater than or equal to the curve set value, performing trapezoidal addition and subtraction operation based on the maximum driving speed, the acceleration and the travel value to obtain a trapezoidal operation curve; performing cosine fitting on the trapezoidal curve to obtain a cosine operation curve; and controlling the RGV to run based on the cosine operation curve. The continuously-guidable running speed plan of the RGV is determined based on the cosine curve, the running smoothness of the RGV is improved, and meanwhile, the performance requirement for the controller is reduced.

Description

technical field [0001] The invention relates to the technical field of rail vehicles, in particular to a linear reciprocating RGV curve speed regulation method and system. Background technique [0002] In recent years, with the continuous improvement of the level of mechanical automation in the industry, rail guided vehicles (Rail Guided Vehicle, RGV for short) have begun to play a pivotal role in the logistics industry. The existing linear reciprocating RGV control methods are usually based on controller positioning and driver positioning two ways. [0003] The advantage of controller positioning is that the drive system does not need to use a high-performance drive with positioning function. The controller refreshes the speed setting value to the drive through a fixed interpolation cycle. The position feedback sensor is naturally not limited by the drive, and the overall cost is low. The disadvantage is that the program is more complicated and requires higher performance ...

Claims

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Application Information

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IPC IPC(8): B61L27/00
Inventor 娄兵兵魏宇孙运营葛方鹏马洋柴寿辰王俊石
Owner 华晟智能自动化装备有限公司
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