JP2001048467A - Sway control device for crane - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide the sway control device for a crane for reducing the cost for detecting a sway angle. SOLUTION: This control device is provided with a calculator 21 for calculating a first torque component from a motor speed order value and the motor speed of a real machine, a crane model 22 for mimic-calculating the sway angle of a carrying article from the acceleration found out from the motor speed of the real machine and wind up rope length, a convertor 23 for converting this mimic swing angle to a second torque component by a carrying article weight, a mimic calculation correction circuit 24 for correcting the mimic sway angle by returning the torque difference between the mimic calculation torque obtained by the composition of a first and second torque component and the motor torque order value in the crane real machine to a crane model and a swing stop control amount calculation part 3 for finding out the swing stop control amount based on this corrected mimic sway angle. The motor speed order value added this sway control amount to the speed order value is outputted to the crane real machine 1.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an anti-sway control device for a crane for preventing the load from swaying when the vehicle is traversing, and more particularly to an anti-sway control device for a crane that reduces the cost for detecting the deflection angle. It is.

[0002]

2. Description of the Related Art In a crane in which a load is hung by a hoisting rope hanging from a trolley, it is necessary to suppress the deflection of the load caused by the traverse.
It is useful to detect the swing angle of the conveyed object in order to perform the steadying control.

[0003] In Japanese Patent Application No. 9-353655, the deflection angle,
The length of the hoisting rope, the traversing position of the trolley, and the like are detected, the shake energy is calculated from these values, and the traverse speed for canceling the shake is calculated.

In order to detect the deflection angle, a marker or a light emitting pointer is provided on a spreader for holding a load, and an image or a light receiving signal obtained from an image pickup device or a light receiving device installed on the trolley is processed to thereby provide a marker or a light emitting pointer. Detect the position of. The deflection angle can be determined from this position and the length of the hoisting rope.

[0005]

The means for detecting the deflection angle in the prior art has the following problems. That is, when a marker is used, it may be difficult to detect the position due to dirt or fading of the marker. Therefore, it is necessary to maintain and manage the sharpness of the marker. When using a light emitting pointer, it is necessary to supply power to the spreader, and it is necessary to manage the optical axis alignment because position detection becomes impossible if there is an optical axis deviation from the light receiver. In addition, since devices such as an imaging device, an image processing device, a light emitting pointer, and a light receiver are used, the cost of the anti-vibration control device increases.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a crane steady rest control device which solves the above-mentioned problems and reduces the cost for detecting the swing angle.

[0007]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention relates to a method for suspending a load on a hoisting rope hanging from a trolley, and moving the load on the trolley in accordance with a desired speed command value. In a steadying control device for a crane that eliminates runout, a motor speed command value output to a crane actual machine including the trolley and a motor that traverses the trolley, and a motor speed actually generated in the actual crane machine, Calculator to calculate the first component of torque from the crane, and a crane model to simulate the deflection angle of the load from the acceleration obtained from the motor speed actually generated in the actual crane and the actual hoisting rope length ,
A converter is provided for converting the simulated deflection angle into a second component of torque according to the actual weight of the conveyed object, and the first and second components of the torque are provided.
The difference torque between the simulated calculation torque obtained by synthesizing the second component and the motor torque command value used in the actual crane machine for realizing the commanded motor speed is fed back to the crane model to simulate vibration. A simulation calculation correction circuit for correcting the angle is provided, and a steady-state control amount calculation unit for obtaining a steady-state control amount for a speed command value to the trolley based on the corrected simulated deflection angle is provided. The motor speed command value added to the speed command value is output to the actual crane machine.

In order to approximate the motor torque command value to the motor torque actually generated in the actual crane machine, a bias calculator for calculating a nonlinear bias component due to friction or the like from the motor speed actually generated in the actual crane machine is provided. Is also good.

The present invention also provides a crane steadying control device for suspending a load on a hoisting rope hanging from a trolley and eliminating the load of the load when the trolley is traversed according to a desired speed command value. The first input is a motor speed command value output to an actual crane including the trolley and a motor for traversely driving the trolley, and a motor speed or motor speed actually generated in the actual crane is used as a first input. The second input, the actual load weight as the third input, the actual hoisting rope length as the fourth input, and to realize the motor torque or commanded motor speed actually occurring in the actual crane machine The fifth input is the motor torque command value used in the actual crane or the motor current actually generated in the actual crane. A swing angle estimator for simulating at least the state of the crane including the swing angle of the conveyed object by an observer or a Kalman filter is provided, and a steady rest for obtaining a steady rest control amount for a speed command value to the trolley based on the simulated swing angle is provided. A control amount calculation unit is provided to output a motor speed command value in which the steady rest control amount is added to the speed command value to the actual crane machine.

[0010]

An embodiment of the present invention will be described below in detail with reference to the accompanying drawings.

As shown in FIG. 1, the construction of the steady rest control device for a crane according to the present invention is roughly divided into three. That is, the steady rest control device is a crane actual machine 1 including a trolley, a motor for traversely driving the trolley, and a motor system electric circuit, and a swing angle for simulating the swing angle, torque, etc. of the conveyed material as various quantities indicating the state of the crane. It comprises an estimator 20 and a steady rest control amount calculation unit 3 for obtaining a steady rest control amount for a crane speed command value based on a simulated swing angle. The crane speed command value is a speed command value to the trolley output from the operation panel or the like to cause the trolley to traverse at a desired speed.

The crane actual machine 1 is, for example, the container crane shown in FIG. 2, and includes a leg 51 that can travel along the quay G, a girder 52 projecting horizontally from the leg 51 to the ship S, and a girder. A trolley 53 traversing the trolley 52, a spreader 56 suspended by a hoisting rope 54 hanging from the trolley 53, and holding a container 55, a trolley 5
A traversing drum 57 for winding the traversing rope connected to 3;
A motor (not shown) for driving the traverse drum 57, a hoist drum 58 for winding the hoisting rope 54, a motor (not shown) for driving the hoist drum 58 to rotate, and a motor speed outputted to the actual crane 1 It comprises a motor system electric circuit (not shown) for driving the motor according to the command value.

Although not shown, the crane actual machine 1 has a motor speed sensor for detecting a motor speed actually generated in the actual crane machine 1 and a rotational speed for detecting the motor revolution speed actually occurring in the actual crane machine 1. A sensor, a weight sensor for detecting a hoisting load as the weight of the load (the container 55 and the spreader 56), a rope length sensor for detecting a hoisting amount as a hoisting rope length, and the like are provided.

The deflection angle estimator 20 comprises a calculator 21, a crane model 22, a converter 23, a simulation correction circuit 24, and a bias calculator 25.

The calculator 21 mainly determines the traverse motion of the trolley 53 from the motor speed command value output to the actual crane 1 and the motor speed actually generated in the actual crane detected by the motor speed sensor. The first torque component to be calculated is calculated.

The crane model 22 solves an equation of motion by a model in which a simple pendulum having a length 1 and a mass m is attached to a moving object having a mass M, and incorporates an arithmetic expression that simplifies the solution. The acceleration expression obtained from the motor speed detected by the motor speed sensor and the actual hoisting rope length detected by the rope length sensor are substituted into the calculation formula to simulate the deflection angle θ of the conveyed object. A crane model is a simplified model of a conveyed object that is simplified to a simple pendulum model. When giving priority to improving the estimation accuracy over the calculation cost, a two-point pendulum model or the like that is more complicated than the simple pendulum model may be used as the crane model.

The converter 23 converts the deflection angle into a second torque component mainly related to the pendulum movement by using the weight of the conveyed object and a predetermined conversion coefficient.

The simulation calculation correction circuit 24 realizes an adder 26 that obtains a simulation calculation torque that would occur in the actual crane 1 by combining the first and second torque components, and a commanded motor speed. For obtaining a differential torque from a motor torque command value used in the crane actual machine 1, for example, a motor system electric circuit in the crane actual machine 1.
And a return path for returning the differential torque to the crane model 22 to correct the simulated deflection angle.

The bias calculator 25 calculates a non-linear bias component due to friction or the like from the motor speed actually generated in the actual crane 1 in order to bring the motor torque command value closer to the motor torque actually generated in the actual crane 1. Is what you do.

Reference numeral 28 denotes an approximate differentiator for calculating the motor acceleration by approximately differentiating the motor speed. 29
Is a low-pass filter for removing high-frequency components included in the differential torque. Reference numeral 30 denotes an element for providing a feedback gain K. 31 is a subtractor for subtracting a non-linear bias component from the motor torque command value.

In this steady rest control device, the trolley 5
If the conveyed object sways during the traverse of 3, the load corresponding to the sway angle is applied to the trolley 53. As a result, the torque and speed of the motor are affected. Therefore, the deflection angle can be obtained from the torque and speed of the motor. Hereinafter, the operation of the steady rest control device will be described.

The crane model 22 simulates the swing angle of the conveyed object using the motor acceleration obtained by approximately differentiating the motor speed from the motor speed sensor by the approximate differentiator 28 and the hoisting rope length from the rope length sensor. This simulated deflection angle is input to the converter 23 together with the weight of the load from the weight sensor. The converter 23 obtains and outputs a torque component mainly related to the pendulum motion based on the simulated deflection angle and the weight of the conveyed object. The calculator 21 mainly calculates the trolley 5 from the motor speed command value and the motor speed from the motor speed sensor.
A torque component related to the traversing motion of No. 3 is obtained and output.
The adder 26 simulates the torque that would occur in the actual crane 1 by combining these two torque components.

On the other hand, a motor torque command value is extracted from the motor system electric circuit. This motor torque command value is used instead of the motor torque actually generated in the actual crane machine 1 in order to omit the provision of the torque sensor. However, the actual crane 1 has a trolley 53
Has a non-linear characteristic such as frictional resistance generated when the vehicle is traversing. Therefore, in order to approximate the motor torque command value to the actual motor torque, the bias calculator 25 calculates a nonlinear bias component based on the motor speed from the motor speed sensor, and subtracts the nonlinear bias component from the motor torque command value to determine the actual motor torque. Motor torque.

The difference unit 27 calculates a difference torque between the simulated calculation motor torque and the actual machine motor torque. This difference torque is passed through a low-pass filter 29 to remove high-frequency components, multiplied by a gain K, and returned to the crane model 22. As a result, the deflection angle simulated by the crane model 22 comes closer to the state of the actual machine.

The steady rest control amount calculation unit 3 calculates the steady rest control amount for the crane speed command value based on the simulated swing angle corrected by feeding back the differential torque as described above.
The motor speed command value in which the steady rest control amount is added to the crane degree command value is output to the crane actual machine 1.

Next, another embodiment of the present invention will be described.

As shown in FIG. 3, the steady rest control device comprises an actual crane machine 1, a swing angle estimator 2, and a steady rest control amount calculation unit 3. The crane actual machine 1 and the steady rest control amount calculation unit 3 are the same as those in FIG. The shake angle estimator 2 is provided with input terminals for the following five inputs.

Motor speed command value Motor speed or motor rotation speed Cargo weight Hoisting rope length Motor torque or motor torque command value or motor current (may be motor speed or motor rotation speed) The swing angle estimator 2 includes an observer or a Kalman filter. It is composed of what is called. This deflection angle estimator 2
A calculation unit 61 for multiplying a coefficient B by only the motor speed command value or the sum of the motor speed command value and the motor speed or the motor rotation speed; an integrator 62 for calculating a swing angle which is a crane state; A calculation unit 63 for multiplying the angle by a coefficient C to calculate a state based on a simulation operation, and a motor torque or a motor torque command value, a motor current, a motor speed, or a motor speed input as an actual machine state, A differencer 64 for taking a difference, a feedback circuit 65 for multiplying the difference by a coefficient K and feeding back to an adder / subtractor 67 provided in a stage preceding the integrator 62; Multiplied by the coefficient A
2. A feedback circuit 66 that feeds back to the adder / subtractor 67 provided in the preceding stage of Step 2.
Consists of The value input to the arithmetic circuit 61 may be only the motor speed command value, but may be the motor speed or the motor speed. It is preferable to use the motor torque as the state of the actual machine input to the differentiator 64 as long as it can be measured. Alternatively, the motor torque command value or the motor current may be used instead. Alternatively, the motor speed or the motor speed may be used instead.

In the steady rest control device shown in FIG. 3, the difference between the state based on the simulation and the state of the actual machine such as the motor torque is fed back to the input of the integrator 62. It will approach the state. Therefore, the simulated deflection angle approaches the deflection angle of the actual machine.

The swing angle estimator 2 of the steady rest control device shown in FIG.
0 is different in configuration from the shake angle estimator 2 of the steadying control device in FIG. 3, but the shake is obtained by separating and integrating the respective calculation contents in the calculator 21 to the subtractor 31 inside the shake angle estimator 20. It can be modified to a configuration equivalent to the angle estimator 2.

[0031]

The present invention exhibits the following excellent effects.

(1) Since the swing angle obtained by the simulation calculation is used for the steadying control, a sensor for determining the actual swing angle is not required.

(2) Since the deflection angle by the simulation calculation is corrected by the output of the actual machine, the reliability is high.

(3) Motor speed sensor, rotation speed sensor,
The weight sensor, the rope length sensor, and the like are provided in a general crane, and the steady rest control device of the present invention can be easily attached to such an existing crane.

[Brief description of the drawings]

FIG. 1 is a block diagram of a steady rest control device according to an embodiment of the present invention.

FIG. 2 is a configuration diagram of a container crane to which the present invention is applied.

FIG. 3 is a block diagram of a steady rest control device according to another embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Crane actual machine 2 Deflection angle estimator 3 Steady rest control amount calculation part 21 Calculator 22 Crane model 23 Transformer 24 Simulation calculation correction circuit 25 Bias calculator 53 Trolley 54 Hoisting rope 55 Container 56 Spreader

Continued on the front page (72) Inventor Yasuo Sakai 3-1-1-15 Toyosu, Koto-ku, Tokyo Ishikawajima Harima Heavy Industries, Ltd. Tokyo Engineering Center (72) Inventor Shigeki Murayama 3-1-1-15 Toyosu, Koto-ku, Tokyo Ishikawajima Harima Heavy Industries, Ltd. Tokyo Engineering Center (72) Inventor Toru Hayashi 1-19-10 Mori, Koto-ku, Tokyo Ishikawajima Harima Heavy Industries, Ltd. Koto Office F-term (reference) 3F204 AA03 BA02 CA03 DA08 EA03 EB05 EB07

Claims (3)

[Claims] 1. A crane steady rest control device for hanging a load on a hoisting rope hanging from a trolley and eliminating the load when the trolley is traversed according to a desired speed command value. And a calculator for calculating a first component of torque from a motor speed command value output to an actual crane including a motor that traversely drives the trolley and a motor speed actually occurring in the actual crane, A crane model that simulates the deflection angle of the conveyed object from the acceleration obtained from the motor speed actually generated in the actual crane and the actual hoisting rope length is provided, and this simulated deflection angle is calculated based on the actual weight of the conveyed object. A converter for converting the torque into a second component is provided to realize a simulated calculation torque obtained by combining the first and second components of the torque and a commanded motor speed. A simulation calculation correction circuit for correcting a simulated deflection angle by returning a differential torque from a motor torque command value used in the actual crane machine to the crane model, based on the corrected simulated deflection angle. Providing a steady rest control amount calculation unit for obtaining a steady rest control amount for the speed command value to the trolley, and outputting a motor speed command value in which the steady rest control amount is added to the speed command value to an actual crane machine. Crane steady rest control device. 2. A bias calculator for calculating a nonlinear bias component due to friction or the like from a motor speed actually generated in an actual crane machine in order to bring the motor torque command value closer to a motor torque actually generated in the actual crane machine. The steady rest control device for a crane according to claim 1, wherein the steady rest control device is provided. 3. A crane steady rest control device for hanging a load on a hoisting rope hanging from a trolley and eliminating the load when the trolley is traversed according to a desired speed command value. And a motor speed command value output to a crane actual machine including a motor that traverses the trolley is used as a first input, and a motor speed or motor speed actually generated in the actual crane machine is used as a second input. The third input is the actual weight of the conveyed material, the fourth input is the actual hoisting rope length, and the actual motor torque generated in the actual crane or the commanded motor speed is used in the actual crane. The motor torque command value used in the above or the motor current actually generated in the actual crane machine is used as the fifth input. A swing angle estimator for simulating the state of the crane including the swing angle of the object by an observer or a Kalman filter is provided, and a steadying control amount for obtaining a steadying control amount for a speed command value to the trolley based on the simulated swing angle. A steady rest control device for a crane, comprising a calculating unit, and outputting a motor speed command value in which the steady rest control amount is added to the speed command value to an actual crane machine.