TWI380941B - Moving body - Google Patents

Description

Moving body

The invention relates to the supply of power to a mobile body, and more particularly to an auxiliary power supply that is freely chargeable and dischargeable.

In order to adjust the power consumption from the power supply line, a moving body such as an electric double layer capacitor or a nickel-hydrogen battery is used as a moving body of a conventional stacker crane or a ceiling running vehicle or a railroad car. (Patent Document 1). However, in Patent Document 1, since only the regenerative electric power is charged to the auxiliary power source, the electric power that can be supplied at the time of peak electric power is reduced, and when the regenerative electric power is not obtained, the electric power that can be taken out from the auxiliary electric power source is further reduced.

[Patent Document]

Japan Special Open 2003-63613

According to the problem of the present invention, the auxiliary power source is charged by the surplus power of the main power source and the regenerative power, and the capacity of the main power source can be further reduced. An object of the invention is to control the auxiliary power source by simple control to absorb the regenerative electric power and to level the electric power of the main power source. According to the problem added by the invention, the auxiliary power source having a small capacity can surely absorb the regenerative electric power.

The present invention includes a main power source including a power receiving coil that receives power from a contactless power supply line, an auxiliary power source that can be charged and discharged, and a plurality of motors that are different in power regeneration type and that operate differently; The moving body of the actuating load is provided with a control unit for switching the connection between the auxiliary power source and the main power source and the load, and a predicting means for predicting the energy regenerated by the plurality of motors based on the operation command for the moving body; And a determination means for determining whether or not the power peak of the load is based on the output of the power receiving coil; and when the power of the load is peaked, the load is driven by the power of both the auxiliary power source and the main power source, and the power peak is not included. If the amount of charge of the auxiliary power source exceeds the first predetermined value, the load is driven from the auxiliary power source discharge, and the first predetermined value is changed in accordance with the regenerative energy predicted by the predicting means, and the amount of charge in the auxiliary power source is Below a predetermined value and above a second predetermined value, the load is driven by the power of the main power source, and when When any of the plurality of motors generates regenerative electric power, the regenerative electric power is consumed by the other one of the plurality of motors, and when the electric charge amount of the auxiliary electric power is less than the second predetermined value, the auxiliary electric power is charged by the main power source, and The auxiliary power source is charged with regenerative electric power from the motor described above.

And the first predetermined value is preferably a value smaller than a rated charge of the auxiliary power source capable of absorbing the regenerative power, and the second predetermined value is preferably when the power is The value that can continue to discharge from the auxiliary power supply at the peak.

According to this invention, since the auxiliary power source is charged by the regenerative electric power and the surplus electric power of the main power source, a large amount of electric power can be saved. In particular, even when the moving body continues to operate without generating regenerative electric power, the auxiliary power source can be charged at a time other than the peak value of the electric power, and the electric power of the main power source can be level-adjusted.

Here, when the auxiliary power source is discharged because the amount of charge of the auxiliary power source exceeds the first predetermined value, the amount of charge has a space capable of absorbing regenerative electric power. On the other hand, when the auxiliary power source is charged less than the second predetermined value and the power of the motor is peaked, when the auxiliary power source is charged by the main power source, the standby power can be stored. Further, it is provided that, based on an operation command for the moving body, a predicting means for predicting the energy regenerated by the motor can increase the assist as much as possible while controlling the amount of charge of the auxiliary power source below a value capable of absorbing the regenerative energy. The amount of charge of the power source, and can reliably absorb the regenerative power.

The preferred embodiment for carrying out the invention is shown below.

[Examples]

In the first to sixth figures, the moving body of the embodiment is shown by taking the stacking crane 2 as an example. In addition to the stacker crane, the mobile body also has a ceiling transport. The type of driving or railroad car is arbitrary. 4 is a high-frequency power source, and is supplied to the power receiving coil 6 as a main power source via the high-frequency power supply line 5 by a contactless power supply method, and the high-frequency power supply line 5 is laid in parallel with the running track of the stacking crane 2.

8 is a power supply control unit, and the electric double layer capacitor control unit 10 controls the electric double layer capacitor 12, and may be a capacitor other than the electric double layer capacitor or a rechargeable secondary battery. The power supply control unit 8 is for controlling the connection between the power receiving coil 6 and the capacitor control unit 10, and the various control units 14 to 17 and the power supply 18. The current supplied from the power receiving coil 6 to the power source control unit 8 is is, and the voltage of the power receiving coil is vs. This is information indicating the state of the main power source side. The current between the capacitor control unit 10 and the power supply control unit 8 is ic, and the capacitor voltage is vc, which is information indicating the state of the electric double layer capacitor 12. The control signal from the power supply control unit 8 toward the capacitor control unit 10 is dc. The current flows from the capacitor control unit 10 to the power supply control unit 8 and is called discharge. At this time, the current ic is +, and the current flows from the power supply control unit 8 to the capacitor control unit 10, and is called charging. At this time, the current ic is -.

M1 to M4 are motors for driving, and are all electric regenerative motors, and at least the running motor M1 and the hoisting motor M2 are used as electric regenerative motors. Further, M3 is a swing motor for swinging a transfer means such as a slide fork on the lift table of the stacker crane 2, and M4 is a drive motor for the slide fork. The transfer means is not limited to the sliding fork, but may be a horizontal articulated arm or the like. The operation control unit 14 drives the operation motor M1 by VVVF control or the like, and the elevation control unit 15 controls the elevation motor M2 in the same manner, and the swing control unit 16 similarly controls the swing motor. M3, the fork control unit 17 similarly controls the fork drive motor M4. The miscellaneous power source 18 supplies electric power to a fan or the like of the fan filter unit 20, and supplies electric power to the main control portion 22 for controlling the entire stacker crane 2. The main control unit 22 supplies control signals to the respective control units from the power supply control unit 8 to the miscellaneous power supply 18 and the fan filter unit 20.

As shown in FIG. 2, the power source control unit 8 sets the regenerative energy predicting unit 24 to predict the amount of regenerative energy that is generated afterwards. The prediction of the regenerative energy is based on the conveyance command from the main control unit 22, and the conveyance command displays the position at which the load is loaded and the position at which the goods are unloaded. Thereby, the stacking crane 2 is idling from the current position to the position where the goods are to be loaded, so that the lifting platform is lifted up to the height at which the cargo is loaded. After loading the cargo, it is lifted in the state of being loaded to the position where the unloading is carried out. In this process, regenerative energy is generated by running the motor to decelerate and the lowering of the lifting platform.

The regenerative energy from the running motor is generated during the deceleration of the stacker. The regenerative energy generated during deceleration is determined by the speed at which the deceleration is started and the weight of the stacker crane including the weight of the cargo. Therefore, when the running distance is short and the stacking crane starts to decelerate without reaching a stable speed, the regenerative energy becomes small. The regenerative energy from the hoisting motor, whether it is loaded or empty, will be generated due to the drop, and the state of the loaded item will have a large regeneration energy. The regenerative energy predicting unit 24 stores a difference between the running speed, the lifting height, and the presence or absence of the loaded item in the transport command, and stores it as a constant for converting the regenerative energy.

The capacitor console 26 is based on the output voltage vs of the power receiving coil 6 or The output current is from the power receiving coil reacts to the state of the power receiving coil 6 side of the main power source. In the electric double layer capacitor 12, the amount of charge is evaluated based on the capacitor voltage vc, and the amount of charge of the electric double layer capacitor 12 is changed within a predetermined range. For example, the regenerative energy predicted by the regenerative energy predicting unit 24 is distributed to the driving of the other load so that the regenerative energy generated by the regenerative motor M2 is consumed by the running motor M1, and the excess portion is used for charging the electric double layer capacitor 12. The capacitor console 26 will store this control as the required data.

The data of the capacitor console 26 is schematically shown in Figs. 3 to 6. The voltage vc of the electric double layer capacitor has a maximum value and a minimum value within which the capacitor voltage vc is varied. A control center is provided near the center of the fluctuation range of the capacitor voltage vc. If the capacitor voltage is increased more than the control center plus a predetermined safety factor, the overcharged portion is discharged if the capacitor voltage is higher than the voltage from the control center. If the voltage minus the predetermined safety factor is lower, the insufficient portion is charged. Even if the capacitor voltage vc is within the discharge range, when regenerative energy is generated, it is absorbed (charged), and even if the capacitor voltage vc is within the charging range, when the voltage of the power receiving coil becomes low, it is discharged to replenish the portion. The safety factor may also be 0. The voltage of the control center plus the safety factor is a first predetermined value, and the voltage of the safety factor subtracted from the control center is a second predetermined value. The state of the main power supply side is evaluated from the output voltage vs of the power receiving coil, and is backed up by an electric double layer capacitor so that the output voltage vs of the power receiving coil is not lower than its minimum value.

At the capacitor console, store: discharge from an electric double layer capacitor or The charging or the electric double layer capacitor is not activated (charge/discharge current = 0). The charging or discharging may be described as ON/OFF data, or may be described in more detail as the charging/discharging current ic. If the capacitor voltage vc is increased from the control center, it is discharged from the capacitor, and if it is reduced, it is charged to the capacitor. If the voltage of the power receiving coil vs. is increased more than the control center, the charging is to generate surplus power, and if it is lower than the control center, it is discharged for the standby main power source. On the other hand, the maximum value of the capacitor voltage vc at the console is reduced by predicting the regenerative energy, and if the capacitor voltage vc is larger than the value of the predicted regenerative energy when the maximum value of the charge amount is smaller, the discharge is performed.

Fig. 4 is a view showing the target value of the discharge current ic in the diagonal direction between the upper left and the lower right of the graph of Fig. 3. Discharges in a region where the capacitor voltage is high and the voltage of the receiving coil is low. In order to absorb the regenerative energy generated next time, the capacitor voltage is lowered in advance. When the output voltage of the power receiving coil rises and the capacitor voltage decreases, charging is performed.

Fig. 5 shows the data along the V-V direction of Fig. 3. The output voltage vs of the power receiving coil has a margin, so that the capacitor voltage vc is controlled to be near the control center, and is controlled so that the predicted regenerative energy portion can be charged.

Figure 6 shows the control data along the Vi-Vi line of Figure 3. Here, since the output voltage vs of the power receiving coil is low, the capacitor is discharged for standby. In this case, the regenerative energy can be absorbed by the discharge from the capacitor. The state of Fig. 6 is a state in which the peak of the power consumption is generated by the motors M1 to M4 or the like, and the discharge causes the capacitor voltage to be not lower than the minimum value.

Complement the embodiment. It is also possible not to charge all of the regenerative energy to the electric double layer capacitor 12, but to preferentially distribute the regenerative energy to the driving of the other motors, and charge the remaining energy to the electric double layer capacitor 12. On the other hand, when the output voltage vs of the power receiving coil 6 has a surplus in the peak of the power consumption caused by the motors M1 to M4 or the like, it is not necessary to discharge the electric double layer capacitor 12.

The following effects can be obtained by the embodiment. (1) Regeneration energy can be surely absorbed by the electric double layer capacitor 12. Therefore, it is not necessary to waste the remaining energy by heat or the like. (2) The electric double layer capacitor 12 is charged by the regenerative electric power and the surplus electric power from the power receiving coil 6, so that the regenerative energy such as raising the elevating table in the loaded state or lowering the elevating table in the no-load state is small. When the conveyance command is repeated, it is possible to charge the article during the transfer period of the article between the operation of the stacker crane and the lift, and the power of the power receiving coil 6 can be reliably reserved. (3) By predicting the regenerative energy of the next conveyance command or the next conveyance command, the vacant capacity required for the electric double layer capacitor 12 can be accurately obtained. Therefore, the average charge amount of the electric double layer capacitor 12 can be increased, and a large backup amount can be obtained with a small capacitor. (4) By using the state of the power receiving coil, the state of the capacitor, and the predicted value of the regenerative energy, the electric double layer capacitor can be efficiently driven with simple control.

2‧‧‧Head height crane

4‧‧‧High frequency power supply

5‧‧‧High frequency power supply line

6‧‧‧Acoustic coil

8‧‧‧Power Control Department

10‧‧‧Electrical Double Layer Capacitor Control Department

12‧‧‧Electric double layer capacitor

14‧‧‧Operation Control Department

15‧‧‧ Lift Control Department

16‧‧‧ Cyclone Control Department

17‧‧‧Fork Control Department

18‧‧‧ Miscellaneous power supply

20‧‧‧Fan filter unit

22‧‧‧Main Control Department

24‧‧‧Renewable Energy Forecasting Department

26‧‧‧ capacitor console

M1~M4‧‧‧Motor

Fig. 1 is a block diagram showing a power supply system of a moving body of the embodiment.

Fig. 2 is a block diagram of a control unit of the embodiment.

Figure 3 is a schematic representation of the material of the capacitor console of the embodiment. .

Fig. 4 is a schematic view showing the charge and discharge current from the electric double layer capacitor in the diagonal direction of the console of Fig. 3.

Fig. 5 is a schematic view showing the charge and discharge current from the electric double layer capacitor along the V-V direction of the console of Fig. 3.

Fig. 6 is a schematic view showing the charge and discharge current from the electric double layer capacitor along the Vi-Vi direction of the console of Fig. 3.

6‧‧‧Acoustic coil

8‧‧‧Power Control Department

10‧‧‧Electrical Double Layer Capacitor Control Department

12‧‧‧Electric double layer capacitor

22‧‧‧Main Control Department

24‧‧‧Renewable Energy Forecasting Department

26‧‧‧ capacitor console

Ic‧‧‧current

Vc‧‧‧ voltage

Dc‧‧‧ control signal

Vs‧‧‧ output voltage

Is‧‧‧current

Claims (1)

A mobile body includes a main power source including a power receiving coil that receives power from a contactless power supply line, a chargeable and dischargeable auxiliary power source, and a plurality of motors that are different in power regeneration type and operate differently; The moving body of the load that the power source operates is provided with a control unit that switches the connection between the auxiliary power source and the main power source and the load, and predicts the energy that is regenerated by the plurality of motors based on the operation command for the moving body. And a determination means for determining whether or not the power peak of the load is based on the output of the power receiving coil; and when the power of the load is peaked, the load is driven by the power of both the auxiliary power source and the main power source, and the power peak is not included. And if the amount of charge of the auxiliary power source exceeds the first predetermined value, the load is driven from the auxiliary power source discharge, and the first predetermined value is changed according to the regenerative energy predicted by the predicting means, and the amount of charge in the auxiliary power source is Below the first predetermined value and above the second predetermined value, the load is driven by the power of the main power source, and when When any of the plurality of motors generates regenerative electric power, the regenerative electric power is consumed by the other motors of the plurality of motors, and when the electric charge amount of the auxiliary electric power is less than the second predetermined value, the auxiliary electric power is charged by the main power source. And the auxiliary power source is charged with the regenerative electric power from the motor.