Electricity: motive power systems – Positional servo systems – Vehicular guidance systems with single axis control
Patent
1980-06-06
1982-05-11
Dobeck, B.
Electricity: motive power systems
Positional servo systems
Vehicular guidance systems with single axis control
318621, 180 68R, 364436, G05B 1936
Patent
active
043296327
ABSTRACT:
An apparatus for controlling the running track of a trackless moving body comprising a guide wire, a position deviation sensor unit mounted on the trackless moving body for sensing a deviation of the position of the moving body relative to the guide wire, a steering control circuit connected to the position deviation sensor unit, and a steering drive unit connected to the steering control circuit for steering the moving body. The steering control circuit comprises a first-order lag circuit receiving the output signal from the position deviation sensor unit, a subtractor receiving the output signal from the position deviation sensor unit and the output signal from the first-order lag circuit, and a comparator receiving the output signal from the subtractor. In the steering control circuit, the output signal from the first-order lag circuit is subtracted in the subtractor from the output signal from the position deviation sensor unit so as to detect the rate of variation of position deviation during a predetermined period of time, and the subtractor output signal including the information of the rate of crane position deviation is compared in the comparator with a reference setting, so that the steering drive unit is actuated depending on the result of comparison for causing approaching movement of the moving body toward the guide wire.
REFERENCES:
patent: 4003445 (1977-01-01), Bruine
patent: 4040500 (1977-08-01), Blakeslee
patent: 4247896 (1981-01-01), Schnaibel
Ishige Ryohei
Nabeshima Yasuo
Yabu Hiroaki
Yoshida Yutaka
Dobeck B.
Hitachi , Ltd.
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