To provide a rotation control device which can suppress distortion in orientation and movement even when disturbances occur in rotating body control, and to provide a mobile body and a conveyance robot. This rotation control device is provided with a first controller for controlling the rotation speed of a first rotating body to a target first rotation speed, and a second controller for controlling the rotation speed of a second rotating body to a target second rotation speed, and selectively implements a first mode, in which the first controller acquires a first measurement value of the rotation state of the first rotating body and a second measurement value of the rotation state of the second rotating body, calculates correction control such that the relative relation between the first measured value and the second measured value approaches a target relative relation, and applies the aforementioned correction control to the first rotating body, and a second mode, in which the secondcontroller acquires a first measurement value of the rotation state of the first rotating body and a second measurement value of the rotation state of the second rotating body and applies the aforementioned correction control to the second rotating body.

    本发明提供即使在旋转体的控制中发生了紊乱的情况下也能够抑制姿势及运动的变形的旋转控制装置、移动体及搬运机器人。旋转控制装置具备:第1控制器,其将第1旋转体的旋转速度控制成目标的第1旋转速度;以及第2控制器,其将第2旋转体的旋转速度控制成目标的第2旋转速度,上述旋转控制装置选择性地执行:第1控制模式,上述第1控制器取得上述第1旋转体的旋转状态的第1测定值和上述第2旋转体的旋转状态的第2测定值,计算使上述第1测定值与上述第2测定值的相对关系接近目标的相对关系的校正控制,并将上述校正控制施加于上述第1旋转体;第2控制模式,上述第2控制器取得上述第1旋转体的旋转状态的第1测定值和上述第2旋转体的旋转状态的第2测定值,并将上述校正控制施加于上述第2旋转体。


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    Title :

    ROTATION CONTROL DEVICE, MOBILE BODY AND CONVEYANCE ROBOT


    Additional title:

    旋转控制装置、移动体及搬运机器人


    Contributors:

    Publication date :

    2020-07-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / H02P CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS , Steuern oder Regeln von elektrischen Motoren, elektrischen Generatoren, dynamoelektrischen Umformern



    ROTATION CONTROL DEVICE, MOBILE BODY AND CONVEYANCE ROBOT

    YAMAMOTO ATSUSHI | European Patent Office | 2019

    Free access

    ROTATION CONTROL DEVICE, MOBILE BODY AND CONVEYANCE ROBOT

    YAMAMOTO ATSUSHI | European Patent Office | 2019

    Free access

    ROTATION CONTROL DEVICE, MOBILE BODY AND CONVEYANCE ROBOT

    YAMAMOTO ATSUSHI | European Patent Office | 2020

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    YAMAMOTO ATSUSHI | European Patent Office | 2020

    Free access