Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication – Automatic route guidance vehicle
Patent
1997-12-03
1999-08-10
Cuchlinski, Jr., William A.
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
Automatic route guidance vehicle
701 25, 701 66, 701 26, 36452831, G05D 100
Patent
active
059351780
DESCRIPTION:
BRIEF SUMMARY
In automation technology, it is often necessary to initiate actions as a function of the current actual value of the travel of a first item of equipment in an industrial plant, in particular by means of electronic control systems. This travel will be referred to below as the "initiating travel". In this case, this concerns in particular a linear or rotatory travel of an element within the first item of equipment, for example a rotary shaft or a carriage of the same. The current actual value of the initiating travel is registered by a position transmitter. Thus, when predefined reference values are reached along this travel of the first item of equipment, it is possible, for example, for binary outputs of the control system to be activated or deactivated. As a result of these electronic "switching points", it is possible for example for the state of this item of equipment to be switched over, or one or more other items of equipment in the industrial plant can be actuated, for example other drives or servo motors can be switched on and off. In a programmable logic control system, a multiplicity of travel reference values of this type can be stored together with respectively associated binary control commands for an initiating travel. A specific binary control command is then executed when the actual value of the initiating travel has reached the magnitude of an associated, stored travel reference value. An arrangement of this type can also be designated an "electronic cam control mechanism".
In this case, the problem often occurs that, in the case of the activation or deactivation, initiated thereby, of an affected item of equipment, individual reaction times of the latter have to be taken into account until the item of equipment has assumed the respectively desired state, that is to say is completely in engagement. These delays until the effective action of a binary switching command must be compensated for by means of pilot control. If, at the same time, the actual value of the travel initiating a state change alters only uniformly, then it is sufficient to advance the outputting of "switching points" by a fixed value. However, if the initiating travel can be covered at variable speeds, then it is necessary to measure the respectively current value of the speed and to advance the "switching points" as a function thereof.
If, in this case, the current actual value of the speed of the travel initiating a state change is measured cyclically in a fixed time grid, then the current speed value must be converted into a so-called "adjustment travel", taking account of the reaction time, in particular stored in the form of a constant, of the respective item of equipment in the industrial plant to be driven. In this case this is the distance which is covered during the elapsing of the reaction time of the item of equipment to be driven until it reaches its complete engagement along the initiating travel of the first item of equipment, that is to say until it finally reaches the initiating travel reference value. The initiating travel reference value must be, so to speak, "shortened" by the magnitude of this speed-dependent adjustment travel, in order that, at the instant when the travel reference value is actually reached, the item of equipment to be driven is also completely in engagement, that is to say its reaction time has expired. In order to determine this adjustment travel, the following division is as a rule carried out in a complicated manner:
Adjustment travel="current actual value of the speed along the initiating travel of the first item of equipment" divided by "reaction time of the item of equipment to be driven".
The invention is based on the object of taking account of the reaction time of an item of equipment whose state can be switched over in an industrial plant when driving the same at the instant of reaching so- called way-marks on a travel, which can be covered at variable speeds, of another item of equipment by means of a control system, with low effort and in particular without discrete divis
REFERENCES:
patent: 3737751 (1973-06-01), Lima
patent: 4502108 (1985-02-01), Nozawa et al.
patent: 5625561 (1997-04-01), Kato et al.
patent: 5740081 (1998-04-01), Suzuki
Arthur Gertrude
Cuchlinski Jr. William A.
Siemens Aktiengesellschaft
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