Transport Vehicle Speed Control With Moving-Average Acceleration Smoothing
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Solution Overview
Problem
Existing article transport facilities do not effectively mitigate vibrations in transport vehicles and articles when changing traveling speed, as they do not consider smooth acceleration changes.
Innovation Solution
A control unit generates reference speed commands with a stepwise traveling speed time change pattern and calculates a moving average command to smooth out travel acceleration changes, allowing for smoother speed transitions and reduced vibrations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the traveling speed of the transport vehicle is changed rapidly to reach target speed at target position, then the response speed improves, but vibration occurs in the transport vehicle and article
Solution Approach 1:
The control unit generates reference speed commands in advance according to a traveling speed time change pattern that defines stepwise acceleration changes. By preparing the speed change schedule beforehand and using a moving average of these pre-calculated commands, the system achieves smooth acceleration transitions that reduce vibration while maintaining responsive speed changes to reach the target position on time.
2Speed
If a traveling speed time change pattern with stepwise acceleration changes is used, then responsiveness to target speed changes improves, but smoothness of acceleration changes deteriorates
Solution Approach 1:
The control unit introduces a moving average command as an intermediary between the reference speed commands (generated from stepwise acceleration pattern) and the actual travel operation control. This moving average filter smooths out the abrupt changes in acceleration while preserving the overall speed change trajectory, thereby achieving both responsiveness to target speed changes and smoothness in acceleration transitions.
Data Source
AI summary
In a case of changing the traveling speed of a transport vehicle, in order for the traveling speed of the transport vehicle to reach a target speed at a target position that is on a downstream side in the travel path relative to the current position of the transport vehicle, a control unit generates reference speed commands in accordance with a traveling speed time change pattern according to which the travel acceleration changes in a stepwise manner, generates a moving average command obtained using the moving average of the reference speed commands in a set period, and controls travel operations of a travel unit based on the moving average command.