Patent ID: 6276219
Filing Date: 2001-08-21
Classification: B60L,B62B,H02P,Y02T

Abstract:
A motion controller for a trolley driven by an electric motor, the trolley having a steering pole linked to the trolley to be swivelled about a horizontal axis and attached to a steering shaft or a steering frame of the trolley, the trolley constructed and arranged to carry a predetermined load, the motion controller constructed and arranged to provide the trolley with a predetermined speed and direction, the controller comprising:a) sensor means which measures a force between the pole and the trolley, the sensor means generating a signal which is proportional to the force measured, the signal having a predetermined value, the predetermined value of the signal depending on whether a pushing or a pulling force is detected by said sensor means, the signal being transmitted to a first summing circuit, wherein the signal is compared with a first desired value for the force to generate a first summing signal;b) a first feed back controller unit which receives the first summing signal and generates a first setting signal the first setting signal being transmitted to a second summing circuit;c) a speed measuring means which generates a speed signal proportional to a predetermined speed of the trolley, the speed signal being transmitted to the second summing circuit to generate a second summing signal; andd) a second feed back controller unit which receives the second summing signal and generates a second setting signal to be transmitted to the motor the sensor means being in electronic communication with the first feed back controller unit, the speed measuring means being in electronic communication with the second feed back controller unit, the first feed back controller unit and the second feed back controller unit being operatively engaged to the motor.