ROPE PULLING APPARATUS UTILIZING COMMUNICATION CIRCUIT

摘要

PURPOSE: To execute a tug-of-war even between two distant spots by providing an arithmetic part for calculating traction power from a transmission function containing the PID element of the tug-of-war and a control part for supplying a signal for generating the traction power to a traction power generating means corresponding to that output. CONSTITUTION: A device for tug-of-war is composed of terminals 1 and 1 connected through cable or radio communication lines L1 and L2. A position sensor 4 is linked with a motor 20 and the output of the position sensor 4 is sent to an arithmetic part 5. The arithmetic part 5 is connected to a torque control panel 6, and its amplified output is impressed to the motor 20. When displaced amounts at the respective terminals are defined as X1 and X2 and its sum is defined asε, tensile force T1 at the terminal 1 is applied by the transmission function containing the PID element of the tug-of-war. Control is enabled only by a proportional term (p). When any coefficient is suitably selected, however, a differentiation term P is contributed to improve followup ability and an integration term I is contributed to improve stability respectively so that a stable control system improved in responsiveness as a whole can be provided. Tensile force T2 at the terminal 1' is equal with T1 .