CN101595028B - Controller - Google Patents
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- CN101595028B CN101595028B CN200780050056.6A CN200780050056A CN101595028B CN 101595028 B CN101595028 B CN 101595028B CN 200780050056 A CN200780050056 A CN 200780050056A CN 101595028 B CN101595028 B CN 101595028B
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- indication
- electric power
- crane
- action
- predictor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/10—Arrangement of ship-based loading or unloading equipment for cargo or passengers of cranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
- B66C13/23—Circuits for controlling the lowering of the load
- B66C13/26—Circuits for controlling the lowering of the load by ac motors
- B66C13/28—Circuits for controlling the lowering of the load by ac motors utilising regenerative braking for controlling descent of heavy loads and having means for preventing rotation of motor in the hoisting direction when load is released
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
- B66C23/52—Floating cranes
Abstract
A controller (410) for controlling the operation of deck cranes (122, 124, 126, 128) on a cargo board (100) equipped with a plurality of deck cranes (122, 124, 126, 128) each having a motor and a regeneration unit (350), and an electric condenser (260) for accumulating power generated from the regeneration unit (350), comprises a section (412) for receiving and holding the designation of operation for each deck crane (122, 124, 126, 128) and calculating the prediction value of regeneration power when the operation is executed, and a section (414) for transmitting the designation of operation involving power consumption to other deck crane (122, 124, 126, 128) earlier until the free capacity of the electric condenser (260) exceeds the prediction value if the prediction value exceeds the free capacity acquired from the electric condenser (260) when it is compared with the prediction value.
Description
Technical field
The present invention relates to a kind of control setup.The present invention be more particularly directed to the control setup in the action of the ship control crane that has deck crane.The application is relevant with following Japanese publication.Enroll the designated state of content for approval by the reference of document, by enrolling the application with reference to the content of following application record, as the application's a part.
1. November 17 2006 patent application 2006-312231 applying date
Background technology
The boats and ships (for example, patent documentation 1) of the deck crane that existing loading handling goods is used.These deck cranes can be driven respectively, under many circumstances, are driven by indivedual operators, work alone.In addition, such deck crane much is take electrical motor as propulsion source, directly or by hydraulic circuit etc. drives.
On the other hand, except crane, also have lights machine, communicating machine and positioning apparatus etc. on the ship, also have in addition a lot of electric apparatuss such as mooring winch, windlass.Drive the electric power of these electric apparatuss, except supplying with some electric power at the land commercial electric power of the middle usefulness of pulling in to shore, with the electrical generator generating that prime power or the special-purpose marine engine of its ship drives, power supply in board.Therefore, the increase of consumption of power, the increase that has brought rate of fuel consumption.So preferably globality reduces power consumption in the ship.
In order to reduce power consumption, have the ship'ssupply device (for example, patent documentation 2) that is provided with solar battery cell.This ship'ssupply has the electrical generator commonly used by the switch board connected boat internal burden that comprises distribution circuit, and as the electric power supply source, can also have solar battery apparatus.Accordingly, boats and ships can effectively utilize the energy that obtains from sunray, suppress the consumption of fuel of generating usefulness.Also have at the large fuel cell of hydrofoil boat stowage capacity, from the electric power (for example, patent documentation 3) of fuel cell supply for electric apparatus in the ship berthing.
[patent documentation 1] Unexamined Patent 10-250678 communique
[patent documentation 2] Unexamined Patent 10-032942 communique
[patent documentation 3] JP 2004-066917 communique
Yet, load solar battery cell or fuel cell, will very large cost occurs, come cost recovery to be difficult to by those device generatings.Simultaneously, the generating efficiency of solar battery apparatus is low, and the electric power of its acquisition is difficult to satisfy the electricity consumption needs of electric apparatus in the ship.On the other hand, fuel cell is the cost height of himself not only, and must load brand-new device, therefore is the device of easy introduction anything but.Like this, in the motion in the past that the electric power supply system on relevant ship is raised the efficiency, seldom load, do not have practicality.
Thereby, have in the ship of the electric crane that loads the regenerated electric power drg, the regenerated electric power of regenerated electric power drg generation is stored into the motion of the electric power supply system that is used in the electric storage means of secondary battery, cond etc.This electric power supply system, because utilize the crane generating that is loaded at first aboard ship, so primary cost is seldom, cost recovery is easy.Yet in real-world operation, regenerated electric power and power consumption not necessarily mate rightly, have capacitor charging excessively or the fully technical matters of discharge occurs.
Summary of the invention
As the first scheme of the present invention, a kind of control setup is provided, in the ship that is equipped with a plurality of cranes and cond, the control setup of the action of control crane, described a plurality of crane has separately when mobile loading and unloading object, as the electrical motor of propulsion source power consumption, and when braking loading and unloading object mobile, the electric power regeneration unit of regenerated electric power occurs, and moves according to the outside indication; Described cond is accumulated the electric power that described electric power regeneration unit occurs, and at least a portion of the electric power of described electrical motor consumption is provided; Described control setup is equipped with: the indication acceptance division, and it receives the action indication to each crane, and it is preserved, the predictor of the regenerated electric power when calculating the action of described each indication of executive basis; Indication reception and registration section, it obtains and can compare in available power capacity and the described predictor of capacitor charging from described cond, surpass in the situation of described available power capacity in described predictor, during till the available power capacity surpasses described predictor, before described crane will be conveyed to corresponding to the indication of described predictor, will convey to described other cranes to the action indication of following power consumption of other cranes first.
In addition, the control setup that provides as alternative plan of the present invention, to comprise, have respectively when mobile loading and unloading object, as the electrical motor of propulsion source consumed power, and during braking loading and unloading object mobile, the electric power regeneration unit of regenerated electric power occurs, and the power charge that occurs according to a plurality of cranes of outside indication work and by the electric power regeneration unit also stores, and the control setup of the action of control crane is provided in the ship of cond of the electric power that a part of electrical motor consumes at least; It has: the indication acceptance division receives the action indication for each crane, and it is preserved, the predictor of consumed power when calculating the action of having carried out according to each indication; And indication reception and registration section, to compare from the capacitor storage amount that has been recharged and the predictor that cond obtains, if predictor surpasses charge capacity, rise to above during till the predictor at charge capacity, before will the indication corresponding with this predictor conveying to corresponding crane, will convey to corresponding other cranes to the indication of the action of the generation regenerated electric power of other cranes first.
And as the 3rd form of the present invention, a kind of control setup is provided, when outfit has respectively at mobile loading and unloading object, electrical motor as the propulsion source consumed power, with when braking loading and unloading object mobile, the electric power regeneration unit of regenerated electric power occurs, and according to the control setup of the action of control crane in the ship of a plurality of cranes of outside indication work; It has: the indication acceptance division, and receive the action indication for each crane, and it is preserved, when judgement has been carried out according to the action of each indication, follow power consumption or follow regenerated electric power; Indication reception and registration section, judge basis when the indication acceptance division power consumption is followed in the action of the indication of one of crane, and when basis is followed regenerated electric power to the action of the indication of another crane, to carry out overlapping sequential during this action, pass on the action indication of a crane, and the indication of the action of another crane.
In addition, the summary of foregoing invention does not list the whole of essential feature of the present invention, and the secondary combined of these syndromes also can consist of the present invention.
Description of drawings
Figure 1 shows that the stereoscopic figure of the freighter 100 that an embodiment relates to.
Fig. 2 is the mode chart of the electric apparatus 200 in expression freighter 100 ships.
Fig. 3 is the mode chart of the electrical structure of expression hoisting crane 300.
Fig. 4 is the mode chart of electric apparatus 200 coupled condition in the expression ship.
Fig. 5 is that the electric weight of expression electric apparatus 200 is passed curve.
Fig. 6 be illustrated in handle seat 322,324,326,328 and deck crane 122,124,126,128 between the mode chart of control setup 410 structures of configuration.
Fig. 7 is the diagram of circuit F100 of a control program in the expression control setup 410.
Fig. 8 is the diagram of circuit F200 of other control programs in the expression control setup 410.
Reference numeral
100 freighters, 110 hulls, 121 loading and unloading objects, 122,124,126,128 deck cranes, 130 bridges, 140 electrical generators, 142 electrical generators commonly used, 144 promptly use electrical generator, 150 switch boards, 152 buses, 154,156 circuit breakers, 200 electric apparatuss, 210 windlass, 212 anchors, 220 mooring winches, 222 mooring guies, 230 electronic hatch, 232 hatch boards, 240 residential development electric apparatuss, 241,252,262 control setups, 242 blowing engines, 244 flare-aircrafts, 246 room lights, 248 range lights, 250 secondary batterys, 260 conies, 300 hoisting cranes, 310 rotary columns, 320,322,324,326,328 handle seat, 330 cantilevers, 340 inverse converters, 342 cantilever electrical motors, 344 lifting motors, 346 turning motors, 350 electric power regeneration units, 360 slip rings, 410 control setups, 412 indication acceptance divisions, 414 indication reception and registration sections
The specific embodiment
The present invention will be described by the following examples, but interest field of the present invention is not limited to following examples, and being combined of the feature that illustrates among the embodiment differs that to establish a capital be essential feature of the present invention.
Fig. 1 is the stereoscopic figure of the freighter 100 that relates to of an embodiment of the invention.As shown in the drawing, this freighter 100, at a plurality of cargo holds of hull 110 inner outfits, the end face of each cargo hold is by hatch board 232 sealings that can open and close.Simultaneously, near each hatch board 232, deck crane 122,124,126,128 is set respectively.Equipped the freighter 100 of such device, the state in that hatch board 232 is opened by making deck crane 122,124,126,128 work, can will load and unload object 121 and transport or transport to the cabin of hull 110 the insides.
And near hull 110 rearward end of freighter 100, configuration comprises the bridge 130 of the residential development that the crewman takes.Simultaneously, electrical generator 140 described later and switch board 150 have been loaded in hull 110 the insides below bridge 130.Switch board 150 is powered by the each several part in 152 pairs of ships of bus described later.
Fig. 2 is the mode chart of the electric apparatus 200 in expression freighter 100 ships.As shown in the drawing, the electric apparatus 200 of this freighter 100 has a plurality of deck cranes 122,124,126,128, windlass 210, mooring winch 220, electronic hatch 230,232 etc. electrically powered machine, and the related control setup of controlling 410 with these electrically powered machines.
Deck crane 122,124,126,128 each, have the rotary column 310 that is installed in fixing basic courses department 301 upper ends of relative hull 110.Rotary column 310 can rotate.And rotary column 310, respectively have can lifting cantilever 330.Cantilever 330 when making own lifting, can also by the rolling or putting down of the steel rope that hangs down from its top, make loading and unloading object 121 liftings of lifting wire rope top suspension.
In addition, when deck crane 122,124,126,128 rises loading and unloading object 121, consume a large amount of electric power corresponding with the weight of loading and unloading object 121.On the other hand, when loading and unloading object 121 is descended, with loading and unloading object 121 and the antagonism of cantilever 330 weight, an edge trig moving meter, with appropriate speed make it landing on one side.
Simultaneously, this freighter 100 has windlass 210, mooring winch 220 etc. and consumes very high-performance device.Windlass 210 is if it is very large to roll very heavy weight anchor 212 consumption electric power.Simultaneously, if mooring winch 220 when rolling mooring guy 222 (mooring sprocket wheel), also consumes very large power.These electric apparatuss are by bus 152 connections of this freighter 100.
In addition, this freighter 100 is equipped with secondary battery 250, cond 260 and the electrical generator 140 etc. that occur or keep offering the electric power of above-mentioned electrical equipment.Electrical generator 140 is connected with bus 152.By bus 152 each power supply in the ship.Like this, in boats and ships, owing to have the electrical generator 140 that is connected with bus 152, electrical equipment and electrical equipment drive when providing high-power in requiring ship, can allow electrical generator 140 work, and enough electric power is provided.
Cond 260 has than secondary battery 250 large capacity also, accumulates high-power that as described later electric power regeneration unit 350 occurs.Like this, can accumulate larger electric power, the electric power when replenishing power consumption increase is in board supplied with.The peak generating capacity that in other words, can suppress electrical generator 140 by mounting condenser 260.
For the cond 260 that uses with such purposes, the preferred electric energy storage device that uses electric double layer capacitor that adopts.Electric double layer capacitor is stored in the electric charge of the electrical double layer of electrode and the generation of electrolytical border.Electrical double layer is because form the thin seam of the limit of suitable 1 molecule, so, can the very large electric power of energy accumulation density.But external voltage surpasses when withstand voltage, and electrical double layer is breakdown, so and the control setup 262 of management external voltage be combined to form electrical storage device.
Fig. 3 is the electrical structure mode chart as deck crane 122,124,126,128 hoisting cranes 300 that use of Figure 1 and Figure 2.Shown in Fig. 3 is rotary column 310.
As shown in the drawing, in the outside of rotary column 310, be provided with the manipulation seat 320 that comprises hoisting crane 300 operating controls.In addition, in the side in the outside of rotary column 310 cantilever 330 has been installed.
In addition, the inside at rotary column 310 has respectively: make cantilever 330 liftings cantilever electrical motor 342, roll suspension the lifting motor 344 of the bands of hook arranged, make rotary column 310 from the rotating machine 346 of body rotation.In addition, also equipped the electric power of being supplied with by control bus 152, the inverse converter 340 that provides to cantalever motor 342, lifting motor 344, rotating machine 346.The electric power that drives each motor is supplied with by the slip ring 360 that is arranged on rotary column 310 bottoms by bus 152.
Further, rotary column 310 is equipped with electric power regeneration unit 350.Electric power regeneration unit 350 converts electric energy to by the kinetic energy that will load and unload object 121 and cantilever 330 when the loading and unloading object 121 that hoisting crane 300 is processed descends, the sinking speed of loading and unloading object 121 and cantilever 330 is slowed down.The electric power that electric power regeneration unit 350 occurs turns back to the bus 152 in the hull 110 by slip ring 360.
Even when not hanging loading and unloading object 121, hoisting crane 300 also descends cantilever 330 because the top of the weight of cantilever 330 and line has been mounted the weight of suspension hook, thereby makes electric power regeneration unit 350 generation electric power.In this case, the electric power of generation also is stored in cond 260 and the secondary battery 250, can be for the electric apparatus 240 of other residential developments in the ship.
Fig. 4 is the pattern diagram of coupled condition of electric apparatus 200 in the ship of expression freighter 100.As shown in the figure, in this electric apparatus 200, each of electric apparatus 200 is connected with bus 152 on being arranged on switch board 150 by circuit breaker 156.In addition, cond 260 and secondary battery 250 also are connected on the bus 152 by control setup 241,252,262 respectively.And electrical generator 140 also is connected on the bus 152 by circuit breaker 154.In addition, electrical generator 140 includes electrical generator 142 commonly used and non-common electrical generator 144, and is connected on the bus 152 by circuit breaker 154 one by one respectively.
In aforesaid electric apparatus 200, circuit breaker 154,156 and control setup 241,252,262 as long as no disconnect being electrically connected, each of electric apparatus 200 just respectively with bus 152 couplings.Thereby, as long as by as with respect in electrical generator 140, secondary battery 250, cond 260 and the inferior electric power regeneration unit 350 of the power supply of this bus 152 any one, can supply with enough electric power, just can drive electric apparatus 200.
Simultaneously, when the large machine works of the power consumption as deck crane 122,124,126,128, windlass 210, mooring winch 220, electronic hatch 230, allow electrical generator 140 work, power depending on the electric weight of required consumption.In addition, in berthing, in the time of only a small amount of power consumption such as display lamp, can be by the electric power of secondary battery 250 storeship internal consumptions.
On the one hand, for example, because in loading and unloading operation, can allow 4 to overlap deck cranes 122,124,126,128 intensive work, so, require the electric machine of electric apparatus 200 is supplied with the electric power suitable with it.In order to supply with such electric power from electrical generator 140, must the large electrical generator 140 of equipment electric energy generated.Therefore, the capacity of electric apparatus 200 will consider that the consumption of current when deck crane 122,124,126,128 carries out the handling goods operation is determined.
Secondly, the deck crane 122,124,126,128 of each ship, as shown in Figure 3, by the operator's individual drive on the manipulation seat 320 that rides in the operating control loading.Yet, handle between seat 320 and each deck crane 122,124,126,128 at each, control setup 410 is set.Although it is independent separately to handle seat 320 and deck crane 122,124,126,128, but, as described later, control setup 410 and whole deck crane 122,124,126,128 action associated.Simultaneously, also monitoring the electric power storage state of cond 260.
Fig. 5 is the schematic graph that the electric weight when expression allows deck crane 122,124,126, any one action of 128 in the freighter 100 shown in Figure 1 is passed.In addition, as cond 260, used the electric energy storage device with the very little electric double layer capacitor of internal resistance.
As shown in Figure 5, in the deck crane 122,124,126,128 one will load and unload object 121 and roll, puts down and when carrying out the lifting of cantilever 330, and will be initial in the action beginning, because of the reasons such as rush current of electrical motor, make power consumption surpass 250kW.Subsequently, when making loading and unloading object 121 or cantilever 330 vertical motion, power consumption is continuing, and still, regenerated electric power occurs when the action that makes its landing.In addition, even make loading and unloading object 121 or making in cantilever 330 vertical motions, regenerated electric power occurs also the latter stage during each action.
Like this, comprising lifting, cantilever rising, descending, and in the deck crane 122,124,126 that descends of cantilever, 128 a series of action, in its each stroke, the consumption of power that generation causes because of the initial impact electric power of motor starting, and occur in the regenerated electric power that makes in the braking that each stroke stops.Yet if when seeing from the globality of each stroke, raising up etc. at the lifting of rising, cantilever makes power consumption in the action that loading and unloading object 121 even loads rise; Simultaneously, make in the action that descends as loading and unloading object 121 grades of load carrying out lower degradation, produce regenerating power.
Fig. 6 is the pattern block diagram of expression control setup 410 inner structures.As shown in the drawing, control setup 410, have the deck crane of being arranged on 122,124,126,128 and handle between the seat 322,324,326,328, receive the indication acceptance division 412 of handling the action indication information that seat 322,324,326,328 sends separately and will convey to from the indication that the indication acceptance division receives deck crane 122,124,126,128 indication reception and registration section 414.
Here, indication acceptance division 412 receive from each handle that seat 322,324,326,328 sends for each deck crane 122,124,126,128 information and preserve.According to this, indication acceptance division 412 preserve indication during, keep deck crane 122,124,126,128 action.Simultaneously, judge the instruction content that receives when indication acceptance division 412, generate according to its indication the predictor of the regenerated electric power amount that drive deck crane 122,124,126, occured at 128 o'clock.Indication reception and registration described later section this predictor of 414 usefulness judges whether to pass on indication.
On the other hand, indication reception and registration section 414 from indicating acceptance division 412, obtains the deck crane 122,124,126 to appointment, the information of 128 generation indications, and indicates the predictor of action based on it.Simultaneously, from the control setup 262 of cond 260, the value of the free space that reception cond 260 at that time stays.Relatively these predictors and free space value judge whether the regenerated electric power that occurs can have no to be accumulated in lavishly in the cond 260 when execution action.When the result who judges is when carrying out this indication, pass on indication to corresponding deck crane 122,124,126,128.
Fig. 7 is the operational flowchart F100 of the control program of above-mentioned control setup 410.As shown in the figure, handle seats 322,324,326,328 indication if control setup 410 receives, at first investigate based on its indication and make deck crane 122,124,126,128 action whether regenerated electric power (step S101) occur.When regenerated electric power not occuring according to its indication (step S101:NO), controls metastasis is to the other control to the indication of following the power consumption action shown in Figure 8.On the other hand, when its indication is (step S101:YES) when the action of regenerated electric power occurs, when indication acceptance division 412 is preserved indication (step S102), calculate the predictor (step S103) of the regenerated electric power that has occured when having carried out its action.
Secondly, in indication reception and registration section 414, above-mentioned predictor compares (step S104) with 260 free spaces of cond at that time.Here, if free space is fully large, cond 260 can be put aside whole regenerated electric powers (step S104:YES) that predictor relates to, then indicate reception and registration section 414, convey to one in the deck crane 122,124,126,128 that should indicate, make it to carry out and the action of indicating reply (step S105).In this case, because the regenerated electric power that occurs based on the action of indicating all is stored in the cond 260.
On the other hand, when cond 260 does not have to store the free space of the whole regenerated electric powers that occur (step S104:NO), whether action indication (step S106) has occured to other deck crane 122,124,126,128 in indication reception and registration section 414 at first retrieval.If when the indication that occurs for other deck cranes 122,124,126,128 is arranged (step S106:YES), whether investigation is accompanied by power consumption (step S107) based on the action of its indication.Here, if other deck crane 122,124,126, the action of 128 indications are accompanied by power consumption (step S107:YES), keep the initial indication that receives, making the indication that this power consumption occurs convey to deck crane 122,124,126,128 (step S108).Electric power is consumed like this, and the free space of cond 260 increases (step S108).Then, the processing of indication reception and registration section 414 turns back to the step (step S104) of comparison prediction value and free space, again comparison prediction value and free space.
In addition, in the situation that does not have to occur deck crane 122,124,126,128 indication to other (step S106:NO), or, although indication (step S106:YES) has occured, but the words (step S107:NO) of power consumption are not followed in the action of its indication appointment, wait for that described indication occurs.Do like this, can prevent the regenerated electric power with respect to the surplus of cond 260 capacity, can not store and the thing of its power wastage is occured.With this, can improve the comprehensive energy efficiency of this freighter 100.
Like this, control setup 410 can be provided, to have: have respectively and make loading and unloading object 121 electrical motor as the propulsion source consumed power when moving, and the electric power regeneration unit 350 of regenerated electric power occurs when braking loading and unloading object 121 is moved, and according to a plurality of cranes of outside indication work; Electric power with 350 generations of store power regeneration unit, and in the ship of the cond 260 of at least a portion of the electric power of supply electrical motor consumption, the control setup 410 of the action of control crane, it comprises: receive for the indication of the action of each crane and with it and preserve, calculate the indication acceptance division 412 of the predictor of consumed power when carrying out the action that each indication produces or regenerating power; And, to obtain to be charged to from cond 260 available power capacity and the predictor comparison of cond 260, when predictor is when surpassing the regenerated electric power of power capacity, during before the available power capacity surpasses predictor, the indication to other cranes of following the action of power consumption is conveyed to first any one indication reception and registration section 414 in the crane.With this, can avoid surpassing cond 260 capacity and the regenerated electric power that occurs is used as heat energy and spreads in vain, the energy efficiency in the energy resource system of sealing aboard ship is improved.
In addition, handle deck crane 122,124,126,128 by control setup 410.Yet, in handling seat 322,324,326,328, handle deck crane 122,124,126,128 operator and look to deck crane 122,124,126,128 direct controls.Simultaneously, action by above-mentioned control setup 410, till indication reception and registration section 414 conveys to deck crane 122,124,126,128 with indication, sometimes produce time-delay, but, as shown in Figure 5, deck crane 122,124,126, the 128th carries out work to tens of second as unit take ten several seconds, so, the time-delay about the several seconds, almost imperceptible as the operator.
On the other hand, after having handled operating control, arrive the time-delay till deck crane 122,124,126,128 is worked, if when its time-delay length has reached the degree that makes the operator feel difference, produce sometimes the situation of manipulative capability reduction and cargo handing decrease in efficiency.Therefore, as the step S109 among Fig. 7 is represented, control setup 410 is arranged the time limitation that continues to keep indication, when the holding time had surpassed binding hours (step S109:YES), control indication reception and registration section 414 preferably carried out forcibly indication being conveyed to deck crane 122,124,126,128.Deck crane 122,124,126,128 energy efficiency are improved.
Like this, indication reception and registration section 414, even in the situation of predictor above the regenerated electric power of available power capacity, after indication acceptance division 412 received indication, specific time one process just can be passed on crane and indicate.Like this, can make the relatively shortcoming of the action of indication of its imperceptible reservation, energy efficiency is improved.In addition, can easily the regenerated electric power that surpasses the generation of cond 260 capacitance of storage be discharged as heat energy.The resistor that so superfluous regenerated electric power is discharged can be arranged on the control setup 262 of subsidiary cond 260.
Fig. 8 is illustrated in the control program shown in Figure 7, being instructed to the indication that acceptance division 412 receives, is operational flowchart F200 (step S101:NO), that be illustrated in the control program in the control setup 410 when making deck crane 122,124,126,128 follow the action of power consumption.As shown in the drawing, the indication that indication acceptance division 412 receives is (step S101:NO) when following the action of power consumption, indication acceptance division 412 when preserving indication (step S202), calculates the predictor (step S203) of the consumption of power of carrying out its action.
Secondly, in indication reception and registration section 414, the predictor of the consumption of power compares (step S204) with 260 charge capacities of cond at that time.Here, if charge capacity is enough large, during whole consumes power (step S204:YES) of can the availability forecast value relating to by cond 260, indication reception and registration section 414 conveys to it to the deck crane 122,124,126 that should indicate, one of them of 128, makes it to carry out and indicates corresponding action (step S205).This situation, deck crane 122,124,126,128 can be used the electric power execution of supplying with from cond 260.
On the other hand, if based on the indication execution, but in the time of (the step S204:NO) of the charge capacity deficiency of cond 260, whether the deck crane 122,124,126 to other, the indication (step S206) of 128 actions have occured in indication reception and registration section 414 at first retrieval.Secondly, if when the indication that the deck crane 122,124,126,128 to other occurs is arranged (step S206:YES), whether regenerated electric power (step S207) occurs based on the action of its indication in investigation.Here, if the action generation regenerated electric power (step S207:YES) to other deck cranes 122,124,126,128 indications, then keep the initial indication original state that receives, preferentially the indication that this regenerated electric power occurs is conveyed to corresponding deck crane 122,124,126,128 (step S208).With this, accumulate electric power, make cond 260 charge capacities increase (step S208).Afterwards, the processing of indication reception and registration section 414 turns back to the step (step S204) of comparison prediction value and charge capacity, again comparison prediction value and charge capacity.
In addition, under not having to occur to the situation of other deck cranes 122,124,126,128 indication (step S206:NO), or, although indication (step S206:YES) has occured, but when not following regenerated electric power according to the action of its indication appointment (step S207:NO), wait described indication to occur.Do like this, till making the electric power finished based on the action of originally indication by cond 260 storages, by passing on the indication of other actions that regenerated electric power can occur, use the electric power of storage in the cond 260 to finish deck crane 122,124,126,128 action.
In addition, if after the manipulation device, do time-delay till the action to deck crane 122,124,126,128, elongated to bringing inharmonious sense to the operator when, produced often the decrease in efficiency of the deteriorated of maneuvering performance or cargo handing work.Here, S209 is represented as step, control setup 410 is arranged the time length restriction that keeps indication, when the holding time has surpassed binding hours (step S209:YES), even charge capacity is not enough, also preferably indication is passed on to deck crane 122,124,126,128 forcibly by control indication reception and registration section 414.Like this, make it the shortcoming that imperceptible action postpones, can make deck crane 122,124,126,128 energy efficiencies improve.In addition, no matter whether the charge capacity of cond 260 is not enough, when being instructed to follow the action of power consumption, can by electrical generator 140 power supplies that connect from deck crane 122,124,126,128 common buses 152, make deck crane 122,124,126,128 without working stagnantly.
Do like this, can be provided for being controlled at and have respectively when loading and unloading object 121 is moved, load and unload the electric power regeneration unit 350 that regenerated electric power occurs when object 121 moves as the electrical motor of propulsion source power consumption and in braking, and indicate a plurality of cranes that move according to the outside; And the power charge that electric power regeneration unit 350 is occured and storing, and the control setup 410 of the action of the crane in the ship of the cond 260 of the electric power that consumes of supply portion electrical motor at least.Control setup 410 comprises: reception is for the indication of the action of each crane and with its preservation, calculate the indication acceptance division 412 of the predictor of consumed power when carrying out the action that each indication produces or regenerating power, with will obtain the savings electric weight and predictor comparison that are charged by cond 260 from cond 260, when predictor is when surpassing the power consumption of savings electric weight, during till savings electric power amount surpasses predictor, the indication of the action that will occur the indication regenerated electric power of other cranes preferentially conveys to the indication reception and registration section 414 of one of them crane.With this, can reduce electrical generator 140 load on the ship, reduce comprehensive consumption of fuel in its ship.
In addition, if handle after the operating control, do time-delay till the action to deck crane 122,124,126,128, elongated to bringing inharmonious sense to the operator when, be the decrease in efficiency that has produced the deteriorated of maneuvering performance or cargo handing work sometimes.Here, S209 is represented as step, control setup 410 is arranged the time length restriction that keeps indication, when the holding time has surpassed binding hours (step S209:YES), even charge capacity is not enough, also preferably indication is passed on to deck crane 122,124,126,128 forcibly by control indication reception and registration section 414.Like this, make it the shortcoming that imperceptible action postpones, can make deck crane 122,124,126,128 energy efficiencies improve.Moreover, no matter whether the charge capacity of cond 260 is not enough, when being instructed to follow the action of power consumption, can by electrical generator 140 power supplies that connect from deck crane 122,124,126,128 common buses 152, make deck crane 122,124,126,128 without working stagnantly.
Like this, even be to surpass when accumulating the consumed power of electric weight in predictor, indication reception and registration section 414 also can be after indication acceptance division 412 receives indication, and specific time one process is just passed on crane and indicated.Like this, the relatively shortcoming of the action of indication of imperceptible reservation can be made it, above-mentioned effect can also be enjoyed.
With this, in hoisting crane 300, when loading and unloading object 121 is descended, can reclaim expeditiously as the d/d energy of heat energy, utilize in the driving of electric apparatus 200 in board.Simultaneously, because can reduce the consumption of fuel that is used for electric power supply, except reducing bunkerage, add again the discharge rate that can suppress carbon dioxide, oxides of nitrogen, oxysulfide etc., so can also reduce environmental pressure.
And in above-mentioned a series of control, if indication acceptance division 412 has been inputted the indication that the action of consumption of power occurs simultaneously, in the time of with the both sides of the indication of the action that regenerated electric power occurs, indication reception and registration section 414 can with the term of execution time limit control that overlaps, pass on indication to deck crane 122,124,126,128.Accordingly, on bus 152, power consumption and regeneration electricity are cancelled out each other, and can discharging and recharging of cond 260 not lost ground, effectively utilize regenerated electric power.Simultaneously, in this case, produce the overcharged of cond 260 or the excessive possibility of discharging are also become very low.
But the electrical motors such as the cantilever electrical motor 342 that deck crane 122,124,126,128 is equipped separately, lifting motor 344, turning motor 346 occur in starting because the peak value power consumption that rush current causes.Simultaneously, when stopping, occuring because the peak value of the regenerated electric power that regenerative brake causes.Therefore, preferably indicate reception and registration section 414, the time limit control that the indication of reception and registration takes to make the peak value of one species not overlap.Like this, can suppress the more than needed of all peaking capacities of electric apparatus 200.
In addition, control setup 410 can be handled seat 322,324,326,328 and dispose input part at each, by operator's input electric power adjust and operability between which is preferential.As an example of this input part, be to select the switch that an input electric power is adjusted mode of priority or operability mode of priority.In this case, in the input part of the manipulation seat 322 of specific deck crane 122, when being transfused to electric power and adjusting mode of priority, control setup 410 is deferred to the control program of above-mentioned Fig. 7 and Fig. 8, this deck crane 122 is passed on the indication of action.On the other hand, when this deck crane 122 is handled in the input part of seat 322, when being transfused to the operability mode of priority, if control setup 410 is received the action indication from this manipulation seat 322, then do not defer to the control program of above-mentioned Fig. 7 and Fig. 8, former state is passed on this indication to this deck crane 122 unchangeably.Like this, just, can select the precedence of electric power adjustment and operability.Further, as input part, can use one of them the indexing pate of degree of preferential input electric power adjustment and operability to replace the above-mentioned switch of choosing one.At this moment, control setup 410 is handled in the seat 322 at specific deck crane 122, input electric power adjustment indexing pate value more preferably, and then Fig. 7 step S109 and Fig. 8 step S209 standby time prolong.Thus, can more fine select the precedence of electric power adjustment and operability.And control setup 410 can also automatically be judged by the joystick of handling seat, the operation of action button etc. the precedence of electric power adjustment and operability.For example, control setup 410 can be handled greatlyr according to joystick, or the acceleration/accel of operating lever operation is less, and the priority level that is judged as the electric power adjustment is higher.
More than by embodiment the present invention has been described, but the scope of technology of the present invention is not limited to the scope that above-described embodiment is put down in writing.Those skilled in the art can be in addition various changes or the improvement of aforesaid embodiment.Scope according to claim can understand that such embodiment that has applied the change improvement is also included within the technical scope of the present invention.
Claims (7)
1. control setup, in the ship that is equipped with a plurality of cranes and cond, control the control setup of the action of described crane, described a plurality of crane has separately when mobile loading and unloading object, electrical motor as the propulsion source power consumption, with when braking loading and unloading object mobile, the electric power regeneration unit of regenerated electric power occurs, and indicate according to the outside and to move; Described cond is accumulated the electric power that described electric power regeneration unit occurs, and at least a portion of the electric power of described electrical motor consumption is provided; Described control setup is equipped with:
The indication acceptance division, it receives the action indication to each crane, and it is preserved, the predictor of the regenerated electric power when calculating the action of described each indication of executive basis;
Indication reception and registration section, it obtains and can compare in available power capacity and the described predictor of capacitor charging from described cond, surpass in the situation of described available power capacity in described predictor, during till the available power capacity surpasses described predictor, before described crane will be conveyed to corresponding to the indication of described predictor, will convey to described other cranes to the action indication of following power consumption of other cranes first.
2. the control setup of putting down in writing according to claim 1,
Described indication reception and registration section, even be to surpass in the situation of regenerated electric power of described available power capacity in described predictor, described indication acceptance division receives after the described indication, and specific time one process is namely passed on the described indication corresponding with described predictor to described crane.
3. control setup, it is the control setup of the action of the described crane of control in the ship that is equipped with a plurality of cranes and cond, described a plurality of crane has respectively when mobile loading and unloading object, electrical motor as the propulsion source power consumption, with when braking loading and unloading object mobile, the electric power regeneration unit of regenerated electric power occurs, and moves according to the outside indication; And described capacitor charging and store the electric power that the electric power regeneration unit occurs, and provide at least a portion of the electric power that described electrical motor consumes; Described control setup has:
The indication acceptance division receives the action indication for each described crane, and it is preserved, the predictor of the power consumption when calculating the action of having carried out according to each described indication;
Indication reception and registration section, obtain the charge capacity that described cond is recharged from described cond, compare with predictor, surpass in the situation of described charge capacity in described predictor, during till surpassing predictor to described charge capacity, before will the described indication corresponding with described predictor conveying to described crane, the indication of the action that will occur other the regenerated electric power of crane first conveys to described other cranes.
4. the control setup of putting down in writing according to claim 3,
Described indication reception and registration section, even be to surpass in the situation of power consumption of described charge capacity in described predictor, if described indication acceptance division receives after the described indication, specific time one process is namely passed on the described indication corresponding with described predictor to described crane.
5. control setup, when outfit has respectively at mobile loading and unloading object, electrical motor as the propulsion source consumed power, and during braking loading and unloading object mobile, the electric power regeneration unit of regenerated electric power occurs, indicate according to the outside in the ship of a plurality of cranes that move, control the control setup of the action of described crane; Have:
The indication acceptance division receives the action indication for each crane, and it is preserved, and judges when the action of having carried out according to each described indication, follows power consumption or follows regenerated electric power;
Indication reception and registration section, when being judged by described indication acceptance division: follow power consumption according to the action that the indication of one of described crane is carried out, and when following regenerated electric power according to the action that the indication of another crane is carried out, action indication with one of described crane, with the action indication of described another crane, pass on overlapping sequential during the execution corresponding actions.
6. the control setup of putting down in writing according to claim 5,
Described indication reception and registration section, the sequential that the rush current during with motor starting that described crane is had separately staggered between the emergence period is passed on each described indication.
7. the control setup of putting down in writing according to claim 5,
Described indication reception and registration section, during with the electrical motor that has separately at the described crane of braking, regenerated electric power occur during the sequential that staggers, pass on each described indication.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP312231/2006 | 2006-11-17 | ||
| JP2006312231A JP4402678B2 (en) | 2006-11-17 | 2006-11-17 | Control device |
| PCT/JP2007/072108 WO2008059884A1 (en) | 2006-11-17 | 2007-11-14 | Controller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101595028A CN101595028A (en) | 2009-12-02 |
| CN101595028B true CN101595028B (en) | 2013-03-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200780050056.6A Expired - Fee Related CN101595028B (en) | 2006-11-17 | 2007-11-14 | Controller |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP4402678B2 (en) |
| CN (1) | CN101595028B (en) |
| WO (1) | WO2008059884A1 (en) |
Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010006591A (en) * | 2008-06-30 | 2010-01-14 | Sekigahara Seisakusho:Kk | Crane device for marine vessel |
| JP2010132112A (en) * | 2008-12-04 | 2010-06-17 | Ihi Marine United Inc | Power generation device using hull vibration |
| DE202010011257U1 (en) * | 2010-08-11 | 2010-10-21 | D-I Davit International Gmbh | Bereitschaftsboot- / Rettungsinseldavit |
| JP5830841B2 (en) * | 2010-09-10 | 2015-12-09 | シンフォニアテクノロジー株式会社 | Low oscillating offshore cargo handling system or offshore floating body equipped with the same |
| JP5615111B2 (en) * | 2010-09-17 | 2014-10-29 | 三菱重工業株式会社 | Power storage system and ship |
| JP5649178B2 (en) * | 2011-03-24 | 2015-01-07 | 大成建設株式会社 | Demolition plan decision method |
| DE102011007663A1 (en) * | 2011-04-19 | 2012-10-25 | Kirow Ardelt Gmbh | Hoist and method of operating the hoist |
| JP5516504B2 (en) * | 2011-05-23 | 2014-06-11 | 株式会社安川電機 | Cargo handling system |
| JP5450554B2 (en) * | 2011-10-07 | 2014-03-26 | 三菱重工パーキング株式会社 | Mechanical parking device, control method for mechanical parking device, and control program for mechanical parking device |
| JP6044922B2 (en) * | 2012-03-30 | 2016-12-14 | 国立研究開発法人 海上・港湾・航空技術研究所 | Ship hybrid operation system and hybrid operation ship |
| KR101925396B1 (en) * | 2012-10-29 | 2019-02-27 | 대우조선해양 주식회사 | Offshare structure and method for crane motor starting thereof |
| EP3274287B1 (en) | 2015-03-25 | 2019-10-30 | Control Solutions Enterprises, Inc. | Coordinated safety interlocking systems and methods |
| JP6706667B2 (en) * | 2016-03-16 | 2020-06-10 | 日本郵船株式会社 | Ship |
| JP6569141B2 (en) * | 2016-12-07 | 2019-09-04 | 三菱造船株式会社 | Ship navigation method and ship |
| NL2020553B1 (en) * | 2018-03-08 | 2019-09-13 | Itrec Bv | Pedestal mounted crane with flywheel energy storage |
| JPWO2021084726A1 (en) * | 2019-10-31 | 2021-05-06 | ||
| FR3126224B1 (en) * | 2021-08-17 | 2023-11-17 | Reel | Active compensation system, intended to at least partially compensate for the effect of undulatory movement on a load |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5529907U (en) * | 1978-08-11 | 1980-02-27 | ||
| JP4124855B2 (en) * | 1998-03-16 | 2008-07-23 | 東芝三菱電機産業システム株式会社 | Ship power supply |
| JP4750432B2 (en) * | 2005-02-22 | 2011-08-17 | 株式会社Ｉｈｉ | Load drive device |
-
2006
- 2006-11-17 JP JP2006312231A patent/JP4402678B2/en not_active Expired - Fee Related
-
2007
- 2007-11-14 CN CN200780050056.6A patent/CN101595028B/en not_active Expired - Fee Related
- 2007-11-14 WO PCT/JP2007/072108 patent/WO2008059884A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| CN101595028A (en) | 2009-12-02 |
| JP2008126776A (en) | 2008-06-05 |
| JP4402678B2 (en) | 2010-01-20 |
| WO2008059884A1 (en) | 2008-05-22 |
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