| 摘要 |
<p>PURPOSE:To prevent vibration and to shorten the cargo work time by calculating the acceleration of a travel body and natural frequency of main post system to correct a travel speed control pattern in the above control system in automatic storage. CONSTITUTION:When a moving distance is input to an arithmetic unit 16, a reset signal is output to a counter 17, a deviation between 0 signal from the counter 17 and a moving target position is input to a speed control pattern generator 18 to output a target speed. The target speed is compared with the actual speed output by a tachogenerator 15, and a driving device 19 controls a driving mechanism to make a difference zero, thereby to travel a stacker crane 1. The position is detected by an encoder 14 to be input to the counter 17, a position signal is transmitted to the arithmetic unit 16 to position the crane, and according to a signal of a photoelectric switch 13, cumulative error of the encoder 14 is compensated. Thus, the cargo work time can be shortened.</p> |
