JPH0460816A - Controller for keeping horizontal attitude - Google Patents

Abstract

PURPOSE:To always keep a control object in the horizontal attitude state by detecting the extent of deviation of the attitude of the control object form the horizontal attitude state and reading out manipulated variable data, which is preliminarily set corresponding to this angle based on fuzzy inference, from a memory and driving an angle control mechanism to control the control object. CONSTITUTION:A supporting pole 4 stood on a truck 3 freely shakably supports a placing plate 6 of a liquid vessel by its front end. The deviation of the placing plate 6 from the horizontal plane is detected by angle sensors 13a and 13b, and corresponding manipulated variable data is read out, and a driving current is outputted to servo motors 8a and 8b. Directions and speeds of rotation of servo motors in this case are set correspondingly to the preceding angle and the present angle based on fuzzy inference, and servo motors 8a and 8b are operated in such direction that the placing plate 6 is kept in the horizontal state. Thus, the control object is controlled to the horizontal attitude state.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a horizontal maintenance control device, and more particularly, to a horizontal maintenance control device suitable for a liquid transport vehicle that transports liquid in a factory.

<Conventional Technology> Generally, in order to transport containers containing liquid in a factory to a work spot using a transport vehicle, it is important to transport the liquid in a manner that prevents the liquid from spilling during transport. For this reason, the transport vehicle was driven carefully.

<Problem to be Solved by the Invention> However, driving the transport vehicle carefully increases the time required for transportation to reach the target work spot, and it is desirable to shorten the time required for transportation.

The present invention has focused on the above-mentioned problems, and an object of the present invention is to provide a horizontal maintenance control device suitable for a controlled object that is desired to be maintained in a horizontal state at all times, such as the above-mentioned liquid transport vehicle.

<Means for Solving the Problem> In order to solve this problem, the horizontal maintenance control device (-) of the present invention has two axes that are orthogonal to each other representing the attitude state of a controlled object, and the control object is in a horizontal attitude state. an angle sensor that detects the angle between each of the two axes forming a horizontal plane and the horizontal plane when the axis is in the horizontal plane; an angle adjustment mechanism that adjusts the angle of each of the two axes with respect to the horizontal plane; A memory is provided in which manipulated variable data set based on fuzzy inference in correspondence with an angle is written to an address designated by an angle signal from the angle sensor, and the corresponding manipulated variable data is read out in accordance with the angle signal, a control unit that outputs a manipulated variable signal based on manipulated variable data read from the memory to the angle adjustment mechanism, and configured to control the attitude of the controlled object to a horizontal attitude state. Features.

Further, another horizontal maintenance control device of the present invention provides an angle between the horizontal plane and one axis representing the posture of the controlled object, which is included in the horizontal plane when the controlled object is in the horizontal posture. an angle sensor for detecting; an angle adjustment mechanism for adjusting the angle of the axis with respect to a horizontal plane; a control unit comprising a memory in which corresponding manipulated variable data is written and read out in accordance with the angle signal, and outputs a manipulated variable signal based on the manipulated variable data read from the memory to the angle adjustment mechanism; It is characterized in that it is configured to control the attitude of the controlled object to a horizontal attitude state.

<Operations and Effects of the Invention> The present invention uses an angle sensor to detect how much the attitude of the controlled object deviates from the horizontal attitude state as an angle with respect to the horizontal plane, and uses manipulated variable data set in advance based on fuzzy reasoning to correspond to this angle. is read from the memory in the control unit, and the angle adjustment mechanism is driven based on this operation amount data to control the controlled object to a horizontal posture.

For this reason, the controlled object is always maintained in a horizontal position, and if the controlled object is, for example, a liquid transport vehicle, the liquid transport vehicle is automatically maintained in a horizontal position without careful driving. It becomes possible to reduce the time required for transportation. Furthermore, if this invention is applied to a balancer that transports heavy loads in zero gravity, when the load is a container containing liquid, it is possible to transport the liquid inside the container without spilling it. become.

<Example> An example of the present invention will be described below with reference to the drawings.

■First embodiment The horizontal maintenance control device of this embodiment is a horizontal maintenance control device that controls the attitude of the liquid carrier to a horizontal state when the object to be controlled is a liquid carrier. As shown in Figure 1, the truck 3 with 3 or more wheels 2 (= 1)
A support column 4 is vertically erected at the center of the "-" plane, and this support column 4 swingably supports a mounting plate 6 for a liquid container 5 at one point at its tip.

The trolley 33 (in this case, two mutually orthogonal axes X and Y representing the posture of the mounting plate 6,
An angle adjustment mechanism 7 is provided for adjusting the angles of the two axes X and Y forming a horizontal plane when the camera is in a horizontal posture.

This angle adjustment mechanism 7 includes a first mechanism 78 that adjusts the angle of the negative axis X of the two axes X and Y with respect to the horizontal plane, and a first mechanism 78 that adjusts the angle of the other axis Y with respect to the horizontal plane.
It consists of a second mechanism 7b that articulates.

In the first mechanism 78, a first support moke 8a is installed on the truck 3, and a first mechanical movement mechanism 9a for converting rotational motion into linear motion is provided on the output shaft side. This first mechanical movement mechanism 9a includes, for example, a first worm 1
0a and a first rack Ila. One end of the first actuating rod 12a is connected to the first rack lla by a spherical treatment, and the other end is connected to the lower surface of the mounting plate 6 by a spherical treatment, and the first actuating rod 12a is connected to the middle thereof. It is pivotally supported by a support column 4. The first operating rod 12a supports the mounting plate 6 (also serves as a movable member).

In the second mechanism 7b, a second Saho motor 8b is installed on the truck 3, and a second mechanical movement mechanism 9b for converting rotational motion into linear motion is provided on the output shaft side. This second mechanical movement mechanism 9b is, for example, a second ohm]
It is composed of Ob and a second rack Ilb. One end of the second operating rod 12b is connected to the second rack]], b by spherical treatment, and the other end is connected to the lower surface of the mounting plate 6 by spherical treatment, and the second operating rod 12b is connected to the second rack 12b by spherical treatment. An intermediate portion is pivotally supported by a support column 4. The second operating rod 12b also serves to support the mounting plate 6.

The mounting plate 6 is provided with a first angle sensor 13a and a second angle sensor 13b for detecting the angles of the two axes X and Y with respect to the horizontal plane. The first and second angle sensors 3a and 13b are rotary encoders with weights, for example.

First servo controller 8a and first angle sensor 13a
is the first servo motor 8a of the control unit 14; the second servo motor and the second angle sensor 13b are the second servo motor 8b of the control unit 14;
They are electrically connected to the control circuit section 16, respectively.

The first servo motor control circuit section] 5 is constructed as shown in FIG. The second servo motor control circuit section also has a similar configuration.

In the first servo motor 8a control circuit section 15, preset operation amount data is written in the memory 17.

This operation amount data is 8 bits, and the most significant bit D7
represents the rotation direction of the first servo motor 8a, and the remaining seven bits 1 to DO-D6 represent the rotation speed, which are set as follows.

First, the angle 13 detected at the present moment (in other words, detected this time) by the first angle sensor 13a, the angle A detected a predetermined time ago from the present moment (in other words, detected last time), and the first servo motor 8a. Create a membership function for each rotational speed E (Figure 3 (A)
, (B), (C)). Here, the angles △ and B each take values from O to 255, the numerical value r127J is a horizontal attitude state with no deviation from the horizontal plane, the numerical value rOJ is an attitude state shifted by =30' from the horizontal plane, and the numerical value r255J is, for example It shows an attitude state shifted by +30°. In addition, the rotational speed E takes a value from O to 255, and the numerical value is "127", r12
8J both indicate the rotational speed "0", as the number r127J decreases to the number "○", the rotational speed increases in the reverse direction, and as the number increases from the number "128" to the number r255J, the rotational speed becomes the same slope. and increases in the forward rotation direction.

Next, create the following production rules based on these membership functions. Note that NB, NM, NS, ZR, PS, PM, and PB shown in the following rules are codes representing the degree of "ambiguity" in fuzzy inference, such as "just right,""slightlysmall," and "very large." It is.

■Rule I When A=NM and B=NM, E=NM.

■Rule 2 When A=NM and B=NS, E=NS.

◎Rule 3 When A=NM and B-ZR, let E=ZR.

■Rule 4 When A=NM and B=PS, E=PM.

■Rule 5 When A=NM and B=PM, E=PB.

■Rule 6 When A=NS and B=NM, E=NM.

■Rule 7 When A=NS and B=NS, E=NS.

■Rule 8 When A=NS and B=ZR, E=ZR.

■Rule 9 When A=NS and B=PS, E=NM.

■Rule 10 When A=NS and B=PM, E=NS.

■Rule 11 When A=ZR and B=NM (7), E=NM.

■Rule 12 When A=ZR and B=NS, E=NS.

[Phase] Rule 13 When A=ZR and B=zR, E=ZR.

■Rule 14 When Δ=ZR and B=PS, E=PS.

◎Rule 15 When A=ZR and B=PM, E=PM.

■Rule 16 When A=PS and B=NM, E=NB.

■Rule 17 When A=PS and B=NS, E=NM.

■Rule 18 A=PS?) B=ZR (7) When E=ZR.

■Rule 19 When A=PS and B=PS, E=PS.

■Rule 20 When A=PS and B=PM, E=PM.

■Rule 21 When A=PM and B=NM, E=NB.

■Rule 22 When A=PM and B=NS, E=NM.

■Rule 23 When A=PM and B=ZR (7), E=ZR.

■Rule 24 When Δ=PM and B=PS, E=PS.

■Rule 25 When A=PM and B=PM, E=PM.

Next, using the well-known max-minimum method and centroid method, calculate the current angle B and the previous angle A by [256J x r25
The rotational speed E (in other words, it is the manipulated variable and includes the rotational direction) is determined corresponding to each combination of 6J. The relationship between the manipulated variable data and the rotational direction and rotational speed is as shown in FIG.

In this way, the manipulated variable data is set by fuzzy reasoning, and in the memory 17, the corresponding manipulated variable data is written in the address specified by the current angle B and the previous angle A. As mentioned above, this manipulated variable data consists of 8 bits, the most significant bit D7 indicates the rotation direction of the first servo motor 8a, and the remaining 7 bits indicate the absolute value (rotational speed) of the manipulated variable. There is. Note that "1" in the most significant bit D7 indicates normal rotation, and rOJ indicates reverse rotation.

In FIG. 2, the front latch 18 and the rear latch 19
are angle detection timing clocks (C
The output of the latch 18 in the previous stage indicates the current angle and is also stored in the memory 1.
The upper 8 bits of the 16-bit address information specifying the address No. 7 constitute the upper 8 bits, while the output of the latch 19 at the subsequent stage indicates the previous angle and constitutes the lower 8 bits of the 16-bit address information.

The inverting circuit 20 outputs the absolute value of the manipulated variable of the highest bit of the 8-bit manipulated variable data read out from the memory 17, h D 7 or "O", that is, 7 bits when a reverse instruction is issued. Each bit of the value data is inverted, and when the most significant bit D7 is "1", that is, a forward rotation instruction, the inversion process for the absolute value data in operation (2) is not performed.

The frequency divider 21 divides the motor rotation clock from a CPU (not shown) by a frequency division ratio determined by the output signal of the inversion circuit 20.

The servo amplifier 22 uses the most significant bit D7 of the 8-pill-(7) 4Δ·1 production amount data read from the memory 17 as rotation direction data, and uses the divided pulse from the frequency divider 21 as the rotation pulse. The amplified driving current is output to the first servo motor 8a.

The first servo motor 8a rotates forward or reverse at a rotational speed based on the drive current from the servo amplifier 22.

The first servo motor 8a control circuit section 15 is configured as described above. Such a configuration also applies to the second servo motor control circuit section 16.

Next, an example of the operation of the horizontal maintenance control device configured as described above will be described.

When the liquid transport vehicle] is in a horizontal state, in other words, when the mounting plate 6 is in a horizontal state, the outputs of the first and second angle sensors 13a and +3b are maintained at the output corresponding to Oo, respectively. Since both the current angle B and the previous angle A are 0 degrees, the memory 17 records the first and second servo motors 8a.
, 8b in the stopped state (value r1
Corresponds to 27J. ) is output, and the first and second servo motors 8a, 8b are maintained in a stopped state.

If the liquid transport vehicle 1 runs over an uneven floor surface during transportation, and the loading plates 1 and 6 come to rest 1' from the horizontal surface, the deviation at this time is due to the first and second Angle sensor 1
3a and 13b, the current angle B is output from the front stage latch 18, and the previous angle A is output from one rear stage latch, and the address of the memory 17 specified by this current angle B and previous angle Δ(A○~A15) The corresponding manipulated variable data is read out, and when the most significant bit D7 of this manipulated variable data is OJ, the inversion circuit 20 inverts bits DO to D6 of the absolute value A of the manipulated variable data, and - When the power is "binary bit D7 or []", no inversion is performed, and the output of the inversion circuit 20 is amplified by the servo amplifier 22 and becomes the first
, a drive current is output to the second servo motor 8a8b.

At this time, the rotational direction and rotational speed of the first and second servo motors 8a and 8b are set based on fuzzy reasoning that corresponds to the previous angle and the current angle B. , the first and second support motors 8a and 8b operate in a direction to hold the mounting plate 6 in a horizontal state t(1).

■Second Embodiment Similar to the first embodiment, the horizontal maintenance control device of this embodiment controls the attitude of the liquid carrier 1 to a horizontal state when the object to be controlled is the liquid carrier 1. It is a control device.

However, as shown in FIG. 5, this liquid carrier 1 has a support wall 23 erected perpendicularly from the blood center line position of the truck 3 with three or more wheels 2. 23 supports the mounting plate 6 for the liquid container 5 in a line such that it can swing freely. The trolley 3 has one axis X that is perpendicular to each other and represents the posture of the mounting plate 6, and the angle of the axis X, which is included in the horizontal plane when the mounting plate 6 is in the horizontal posture, with respect to the horizontal plane can be adjusted. One angle adjustment mechanism 7 is provided. This angle adjustment mechanism 7 is constructed in the same manner as the first lateral 78 in the first embodiment. Also, the mounting plates 1 and 6 have a mechanism for detecting the angle of the axis X with respect to the horizontal plane. 1 angle sensor 1
3 is provided.

This angle sensor 13 is constructed in the same manner as the first angle sensor 13a in the first embodiment.

Further, the control unit 14 is the first control unit in the first embodiment.
It is configured similarly to the circuit section 15 for controlling the servo motor 8a. In the memory 17 of the control unit 14, operation amount data set by fuzzy reasoning is written, as in the first embodiment.

The operation of this embodiment is similar to the operation of controlling the first servo motor 8a of the first embodiment.

[Brief explanation of drawings]

FIG. 1 is an overall schematic configuration diagram of a first embodiment of the present invention, FIG. 2 is a configuration diagram of a first servo motor control circuit section in the control unit, and FIGS. 3 (A), (B), ( C) is an explanatory diagram of the method of creating manipulated variable data written to the memory, and Figure 4 is an explanatory diagram of the method of creating manipulated variable data 13.1
3a, 13b... Angle sensor, 14... Control unit, 17... Memory, X, Y... Axis line. Patent applicant: Toyo Kogyo Co., Ltd. Agent

Claims (2)

[Claims] (1) Detecting the angle between each axis of two axes that are perpendicular to each other and that represent the attitude of the controlled object and form a horizontal plane when the controlled object is in the horizontal attitude, and the horizontal plane. an angle sensor; an angle adjustment mechanism that adjusts the angle of each of the two axes with respect to a horizontal plane; and operation amount data set in advance based on fuzzy inference in correspondence with the angle is specified by the angle signal from the angle sensor. According to the angle signal written to the address to be
a control unit comprising a memory from which relevant manipulated variable data is read, and outputs a manipulated variable signal to the angle adjustment mechanism based on the manipulated variable data read from the memory; 1. A horizontal maintenance control device characterized by being configured to control the attitude of the body to a horizontal attitude state. (2) an angle sensor that detects the angle formed by the horizontal plane and an axis that represents the attitude of the controlled object and is included in a horizontal plane when the controlled object is in the horizontal attitude; and a horizontal plane of the axis. an angle adjustment mechanism that adjusts an angle relative to the angle; and operation amount data set in advance based on fuzzy inference in correspondence with the angle is written to an address specified by the angle signal from the angle sensor, and the angle signal determines the corresponding angle. a control unit comprising a memory from which manipulated variable data is read, and outputs a manipulated variable signal to the angle adjustment mechanism based on the manipulated variable data read from the memory; 1. A horizontal maintenance control device, characterized in that it is configured to control a horizontal position.