JPH1160154A - Swing angle measuring device for crane - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a swing angle and swing angular velocity from which offset is removed, by carrying out estimating operation of an offset of the swing angle in addition to the swing angle and swing angular velocity of a hoisting accessory using a disturbance observer operation method from measured swing angle of the hoisting accessory, trolley's acceleration, and rope length to the hoisting accessory. SOLUTION: Acceleration Ua(t) of a trolley 1 which transversely moves on garter 2 of a crane 19, rope length L to a hoisting accessory 9, and a swing angle ϕ(t) of the hoisting accessory 9 are measured and transmitted to an operation device 18. An operation method called disturbance observer 20 is introduced into the operation device 18. The introducing of the disturbance observer 20 allows the swing angle and swing angular velocity from which an offset is removed to be carried out by estimating operation and allows accurate a swing- stop and positioning to be controlled, even when the offset of measured swing angle varies due to install of a swing angle measuring device, the offset of the measured swing angle due to tilting of a crane body caused by inclined road surface, and change of traverse position of the trolley 1 and rope length L.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a container crane.
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crane deflection angle measuring device applied to a crane, transfer crane, ceiling crane, and the like.

[0002]

2. Description of the Related Art In order to construct a control device for simultaneously preventing and positioning a crane hanging device with high accuracy, it is important to measure the amount of runout of the hanging device. An offset occurs in the deflection angle measurement value due to the inclination of the crane body due to the inclination of the road surface (see FIG. 2), how to mount the deflection angle measuring device (see FIG. 3), and the like. Due to this offset, steadying and positioning accuracy deteriorate.

The swing angle of the hanging tool can be measured by an image processing method using a camera (see FIG. 1) or a measuring instrument such as an inclinometer attached to a rope, but the swing angular velocity must be measured directly. Can not. In such a case, a method of performing an estimation operation by an operation method called an observer is used. The method of estimating the shake angle and the shake angular velocity using this observer is based on the premise that there is no offset in the measured shake angle, although there are many R & D cases in the past. In the conventional method, if there is an offset in the measurement value of the deflection angle, the deflection angle and the deflection angular velocity estimated and calculated by the observer are also offset, so that it is impossible to accurately and accurately position the crane suspension.

[0004]

SUMMARY OF THE INVENTION The present invention relates to a crane shake angle measuring apparatus which estimates and calculates a shake angle offset in addition to a shake angle and a shake angular velocity.
It is an object to obtain a shake angle and a shake angular velocity from which an offset has been removed.

[0005]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention provides a disturbance observer calculation method based on a measured swing angle of a suspension, an acceleration of a trolley, and a loop length to the suspension. In addition to the swing angle and the swing angular velocity of the suspension, the offset of the swing angle is estimated and calculated, and the swing angle of the suspension with the offset removed is obtained.

[0006]

Embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows a configuration of a crane which is a control target of a deflection angle measuring device according to the present invention, wherein 1 is a trolley,
The trolley 1 is arranged so as to be able to travel in the direction of an arrow on a garter 2 (traffic traverse portion) provided on the crane. The garter 2 is supported at both ends by a pair of legs 3 and can run in a direction perpendicular to the plane of the drawing by a crane traveling device 4 provided at the lower end of the legs 3. The trolley 1 has ropes 6 wound around a plurality of hoisting devices (not shown).
Hangs a hanging tool 9 for hanging a container 10 as a suspended load. And the trolley 1 has a hanger 9
A camera 7 for measuring the deflection angle is provided.

Further, a marker 8 is provided at the center of the upper surface of the hanging member 9.
Is provided. The deflection angle is obtained by measuring the displacement of the hanging tool 9 in the traverse direction and using a conversion formula.
The displacement of the marker 8 is proportional to the deflection angle). Hanging device 9
Is measured by the camera 7 mounted on the lower surface of the trolley 1 vertically downward at the center position of the marker 8 mounted on the upper surface of the hanging tool.

FIG. 2 shows an example in which the tilt of the crane body due to the inclination of the ground 5 causes an offset 11 in the deflection angle measurement. FIG. 3 shows an example in which the camera 7 is attached at an angle, so that an offset 11 in the shake angle measurement occurs.

FIG. 4 shows a schematic diagram of an arithmetic system of the deflection angle measuring device according to the present invention. The system is controlled 1
9 (Crane), and an arithmetic unit 18. The present system uses a calculation method called a disturbance observer as a countermeasure for offset, and estimates and calculates a shake angle and a shake angular velocity from which the offset has been removed.

First, the garage of the crane 19 to be controlled is
The acceleration Ua (t) of the trolley 1 traversing the table 2, the rope length L to the suspension 9, and the deflection angle φ (t) of the suspension 9 are measured and transmitted to the arithmetic unit 18. The arithmetic unit 18 employs an arithmetic method called a disturbance observer 20. The disturbance observer 20 is configured using a dynamic model of the crane 19. First, Crane's mechanical model 2
1 is obtained from the equation of motion of the pendulum in consideration of the acceleration Ua (t) of the trolley 1.

[0011]

(Equation 1)

[0012] Next, clay - the offset of the deflection angle by the inclination of the down body inclination or deflection angle measuring device is present, under the addition of the offset d (t) to the elements of X ₁ in the above formula (1)
An extended model is constructed as X in (7).

[0013]

(Equation 2)

Y (t) is not only the estimated value of the shake angle but also the sum of the estimated values of the shake angle and the offset of the shake angle.

X (t) is an estimated value of the offset of the shake angle, the shake angular velocity, and the shake angle from which the offset has been removed.

If the disturbance observer 20 described above is introduced,
In addition to the installation of the deflection angle measurement device and the offset of the deflection angle measurement value due to the inclination of the crane body due to the inclination of the road surface, the offset of the deflection angle measurement value changes due to the change of the trolley traverse position and the rope length. Even in such a case, the shake angle and the shake angular velocity from which the offset has been removed are estimated and calculated, thereby enabling highly accurate shake prevention and positioning control. In fact, FIG.
As shown in FIG. 6, when the traversing position and the rope length of the trolley change, and there is an offset between the swing angle of the hanging tool and the measured swing angle as shown in FIG. Similarly, as shown in FIG. 6, the estimated swing angle calculated by the arithmetic unit incorporating the disturbance observer shows a considerable degree of coincidence with the actual swing angle of the suspension.

[0017]

According to the present invention, the offset of the measured deflection angle caused by uncertain factors such as the installation of the deflection angle measuring device, the inclination of the crane body due to the inclination of the road surface, the wind, etc. The swing angular velocity is obtained. By feeding back the run-out angle and the run-out angular velocity calculated by this method, it is possible to realize a highly accurate swing stop and positioning control of the suspension. Strict zero point adjustment of the deflection angle measuring device is not required.

[Brief description of the drawings]

FIG. 1 is a schematic diagram showing a configuration of a crane which is a control object of a crane deflection angle device according to the present invention.

FIG. 2 is an explanatory diagram showing an example in which an offset occurs from the inclination of the crane body due to the inclination of the road surface.

FIG. 3 is an explanatory diagram showing an example in which an offset occurs due to how a shake angle measuring device (especially a camera) is attached.

FIG. 4 is a schematic diagram of an arithmetic system of the crane deflection angle measuring device according to the present invention.

FIG. 5 is a graph showing temporal changes in the trolley traverse position and the rope length.

FIG. 6 is a graph comparing the actual swing angle of the hanging tool with the measured swing angle value and the estimated swing angle value.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Trolley 2 Garter 3 Leg 4 Crane running device 5 Ground 6 Rope 7 Camera 8 Marker 9 Hanging device 10 Container 11 Offset 18 Arithmetic device 19 Crane 20 Disturbance observer 21 Dynamic model

Claims (1)

[Claims] 1. A method for calculating a swing angle, a swing angular velocity, and a swing angle offset of a hanging tool from a measured swing angle, a trolley acceleration, and a rope length to the hanging tool by a disturbance observer calculation method. Characterized in that a swing angle of the crane is obtained by calculating a swing angle of the hanging tool from which the offset has been removed.