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Title:
RUNNING CONTROL METHOD FOR CARRIER
Document Type and Number:
Japanese Patent JPH05134757
Kind Code:
A
Abstract:
PURPOSE:To make it possible to improve the stoppage accuracy by enabling the dissolving of the both position deviation and azimuth deviation in the target azimuth direction of a present position for a target position in a final target stoppage position. CONSTITUTION:A rotation speed command value UR (UL) is determined based on a value F an advancing direction deviation eY by a advancing direction gain KY, a value which a horizontal direction deviation eX is multiplied by a variable horizontal direction gain KX and a value which a value relating to an azimuth deviation eC is multiplied by an azimuth gain KC. The variable horizontal direction gain KX is continuously decreased from a prescribed value to zero in accordance with the decrease of a final target distance eL to be a distance from the present position of a carrier to the final target position. Thus, as the rotation speed command value UR (UL) is determined based on the value which the advancing direction deviation eY is multiplied by the advancing direction gain KY and the value which the value relating to the azimuth deviation eC is multiplied by the azimuth gain KC at the final target position, a control that the advancing direction deviation eY and the azimuth deviation eC are dissolved is performed.

Inventors:
NISHII HISAO
SHIBATANI KAZUHIRO
SUZUKI TAKEYUKI
Application Number:
JP32656491A
Publication Date:
June 01, 1993
Filing Date:
November 13, 1991
Export Citation:
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Assignee:
TSUBAKIMOTO CHAIN CO
International Classes:
G05D3/12; G05D1/02; (IPC1-7): G05D1/02; G05D3/12
Attorney, Agent or Firm:
Tono Kono



 
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