Double-drive rail vehicle and differential control method thereof

Abstract

The invention provides a double-drive rail vehicle and a differential control method.The double-drive rail vehicle comprises a base, transmission mechanisms arranged below the base and a power mechanism arranged on one side of the transmission mechanisms, the transmission mechanisms are arranged at the two ends of the base respectively, guide mechanisms are arranged below the transmission mechanisms, an angle sensor is arranged above the base, a rotary encoder used for monitoring the rotating speed of the power mechanism in real time is arranged on the power mechanism, and the angle sensor and the rotary encoder are both electrically connected with a controller. The vehicle has the beneficial effects that through the corresponding angle sensors, the angles between the driving wheels and the base are detected in real time, the speed ratio of the two driving wheels when entering a curve is calculated, the two driving wheels are accurately controlled to steadily turn at the matched speed, the problems that the driving wheel slips, the driving wheel and the track are abraded and the like in actual application scenes are solved, and the equipment stability is improved.

Description

technical field [0001] The invention belongs to the technical field of mechanical transmission, and in particular relates to a dual-drive rail vehicle and a differential speed control method thereof. Background technique [0002] At present, in the intelligent warehousing and logistics automation industry, rail equipment plays the role of the main force, including rail roadway stackers, rail shuttles, etc. In order to better improve the utilization rate of the site space and make the route more reasonable, the form of the track has also changed from the original straight track to the form of a curved track. Therefore, a "one-to-two" equipment suitable for curved tracks appeared. Mainly through the front and rear wheel dual-drive control mode, two motors of the same type are simultaneously driven by one inverter, that is, "one drive two", and the inverter of the front driving wheel drive motor and the inverter of the rear driving wheel drive motor are connected through hardwa...

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Problems solved by technology

However, there are still many problems with the above equipment: there is sliding friction between the front and rear driving wheels and the ground rail during operation, and the wheels will slip during operation, and as the service cycle increases, the wear and tear will become more and more serious, resulting in The rail is damaged; the noise is huge during operation, and the fixed bracket of the drive motor shakes seriously. In severe cases, the inverter will frequently alarm

If an external encoder or position measuring equipment is used to detect the current position of the equipment, it is necessary to consider the installation of the detection equipment in the bend / fork, especially in the application environment of the fork, which often requires the cooperation of a track changer, and the design and installation of the detection equipment is difficult; If the current position of the device is measured by installing the rotary encoder on the rotating shaft of the driving wheel or the tail shaft of the motor, when the wheel slips, the current position data will be wrong, and the result of the speed matching algorithm will be wrong, which will aggravate the problem of wheel slipping , which seriously threatens the stable operation of the equipment

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