To provide a travel control device of a traveling carriage, capable of realizing an enhanced vibration damping effect at a low cost.SOLUTION: A travel control device 20 comprises: a standard travel output part 21 which by the input of a position command and the application of a traveling carriage model to the position command, outputs a feed-forward command that is a speed command for a motor 4 and an ideal position that is a calculation result obtained by running the traveling carriage model according to the feedforward command; a first adder 22 for outputting a positional deviation between the ideal position and a position of a traveling carriage; a controller 23 for outputting a vibration damping command on the basis of the position deviation and a feedback torque of the motor; and a second adder 24 for outputting a speed command for the motor 4 by putting the feedforward command and the vibration damping command together.SELECTED DRAWING: Figure 2

    【課題】低コストでかつ制振効果が高められた走行台車の走行制御装置を提供する。【解決手段】走行制御装置20は、位置指令を入力し、走行台車モデルを位置指令に適用することで、モータ4への速度指令であるフィードフォワード指令とフィードフォワード指令に従って走行台車モデルを走行させた演算結果である理想位置とを出力する規範走行出力部21と、理想位置と走行台車の位置との位置偏差を出力する第1の加算器22と、位置偏差とモータのフィードバックトルクとに基づいて制振指令を出力する制御器23と、フィードフォワード指令と制振指令とを加算してモータ4への速度指令を出力する第2の加算器24とを備える。【選択図】図2


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    Title :

    TRAVEL CONTROL DEVICE OF TRAVELING CARRIAGE


    Additional title:

    走行台車の走行制御装置


    Contributors:

    Publication date :

    2021-09-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B65G TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS , Transport- oder Lagervorrichtungen, z.B. Förderer zum Laden oder Abladen / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last



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