JPS60192003U - Unmanned vehicle steering control device - Google Patents

Unmanned vehicle steering control device

Info

Publication number
JPS60192003U
JPS60192003U JP7691684U JP7691684U JPS60192003U JP S60192003 U JPS60192003 U JP S60192003U JP 7691684 U JP7691684 U JP 7691684U JP 7691684 U JP7691684 U JP 7691684U JP S60192003 U JPS60192003 U JP S60192003U
Authority
JP
Japan
Prior art keywords
steering
chopper circuit
unmanned vehicle
issues
command
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP7691684U
Other languages
Japanese (ja)
Inventor
洋 小川
宮崎　恭之
進 吉田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Meidensha Corp
Original Assignee
Meidensha Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Meidensha Corp filed Critical Meidensha Corp
Priority to JP7691684U priority Critical patent/JPS60192003U/en
Priority to US06/704,421 priority patent/US4665487A/en
Priority to CA000480077A priority patent/CA1231161A/en
Publication of JPS60192003U publication Critical patent/JPS60192003U/en
Pending legal-status Critical Current

Links

Landscapes

  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

【図面の簡単な説明】[Brief explanation of drawings]

第１図は本考案の一実施例を示す構成図、第２図ａ、ｂ
はともに第１図の一部を説明する説明図、第３図は中央
処理部のフローチャートＪ第４図はチョッパ回路の導通
率特性図である。 １・・・電気車、３・・・ステアリング用モータ、６・
・・速度検出器、８・・・ステアリングモータ制御部、
８ａ・・・ステアリングモータ用チョッパ回ＬＩＯａ、
１０ｂ・・・ピックアップコイル、１１・・・軌道発振
器、１８・・・軌道、２０・・・中央処理部、２１・・
・ずれ量演算部、２３・・・設定部、２４ａ・・・第１
制御部、２４勢・・・第２制御部。Fig. 1 is a configuration diagram showing an embodiment of the present invention, Fig. 2 a, b
3 is a flowchart J of the central processing section, and FIG. 4 is a conduction rate characteristic diagram of the chopper circuit. 1... Electric car, 3... Steering motor, 6...
...Speed detector, 8...Steering motor control section,
8a... Steering motor chopper time LIOa,
10b...Pickup coil, 11...Trajectory oscillator, 18...Trajectory, 20...Central processing unit, 21...
- Displacement amount calculation section, 23...setting section, 24a...first
Control unit, 24 units...Second control unit.

Claims (1)

【実用新案登録請求の範囲】[Scope of utility model registration request] 無人車の位置ずれを検出する位置ずれ検出器と、走行速
度を検出する速度検出器と、走行モータを駆動する走行
用チョッパ回路と、ステアリングモータを駆動するステ
アリング用チョッパ回路とを備えた無人車において、前
記走行用チョッパ回路およびステアリング用チョッパ回
路論オン、オフ制御を行なう中央処理部を有し、前記中
央処理部は、前記速度検出器の検出信号の大小に応じて
不感帯量を設定する設定部と、前記位置ずれ検出器の検
出信号に基づいて無人車の位置ずれ量を演算するずれ量
演算部と、この演算部で演算されたずれ量が前記設定部
で設定された不感帯量より小さいとき前記ステアリング
用チョ゛ツバ回路にオフ命令を発する第１制御部と、前
記演算部で演算されたずれ量が前記設定部で設定された
不感帯量より大きいとき前記ステアリング用チョッパ回
路の導通率を算出し、この導通率に基づいてステアリン
グ用チョッパ回路にオン命令を発する第２謂御部とを有
して成ることを特徴とする無人車のステアリング制御装
置。An unmanned vehicle that includes a positional deviation detector that detects a positional deviation of the unmanned vehicle, a speed detector that detects a traveling speed, a traveling chopper circuit that drives a traveling motor, and a steering chopper circuit that drives a steering motor. The drive chopper circuit and the steering chopper circuit have a central processing unit that performs on/off control, and the central processing unit is configured to set a dead zone amount depending on the magnitude of the detection signal of the speed detector. a deviation amount calculation part that calculates the amount of positional deviation of the unmanned vehicle based on the detection signal of the positional deviation detector, and the deviation amount calculated by this calculation part is smaller than the dead zone amount set by the setting part. a first control section that issues an off command to the steering chopper circuit; and a first control section that issues an off command to the steering chopper circuit; and a first control section that issues an off command to the steering chopper circuit; 1. A steering control device for an unmanned vehicle, comprising: a second control section that calculates the conductivity and issues an on command to a steering chopper circuit based on the conduction rate.
JP7691684U 1984-05-25 1984-05-25 Unmanned vehicle steering control device Pending JPS60192003U (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP7691684U JPS60192003U (en) 1984-05-25 1984-05-25 Unmanned vehicle steering control device
US06/704,421 US4665487A (en) 1984-05-25 1985-02-22 Unmanned vehicle control system and method
CA000480077A CA1231161A (en) 1984-05-25 1985-04-25 Unmanned vehicle control system and method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP7691684U JPS60192003U (en) 1984-05-25 1984-05-25 Unmanned vehicle steering control device

Publications (1)

Publication Number Publication Date
JPS60192003U true JPS60192003U (en) 1985-12-20

Family

ID=30619496

Family Applications (1)

Application Number Title Priority Date Filing Date
JP7691684U Pending JPS60192003U (en) 1984-05-25 1984-05-25 Unmanned vehicle steering control device

Country Status (1)

Country Link
JP (1) JPS60192003U (en)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5322455B1 (en) * 1970-04-22 1978-07-08
JPS55156183A (en) * 1979-05-18 1980-12-04 Hitachi Ltd Method of automatically steering tireetraveled crane

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5322455B1 (en) * 1970-04-22 1978-07-08
JPS55156183A (en) * 1979-05-18 1980-12-04 Hitachi Ltd Method of automatically steering tireetraveled crane

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