JP2002020080A - Method for controlling swing of suspension hook in workboat - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method for controlling the swing of a suspension hook in a workboat capable of effectively controlling the swing of the suspension hook in a crane for pulling up a heavy article. SOLUTION: A method for controlling the swing of the suspension hook in a workboat according to this method comprises considering a time delay from the detection of the amount of the swing of the suspension hook to the start of action for controlling the swing, estimating controlled variables based upon the amount of the time delay, and controlling the swing based on the estimated controlled variables. Thus, the process from the detection of the swing to the stop by effecting the operation of an actuator for actually stopping the swing can be carried out with suitable controlled variables and good timing, thereby allowing an effective stop of the swing of the suspension hook.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hoist ship or the like,
The present invention relates to a method for controlling a hanging hook for preventing a hanging hook from being shaken by the influence of a wave or the like when a heavy object is suspended by the hoisting device in various work boats having the hoisting device.

[0002]

2. Description of the Related Art In the construction of harbors and the like, heavy loads are lifted by a work boat having a lifting device such as a hoist ship. This suspending work is usually performed in a stopped state, and the hull sways under the influence of waves in stormy weather, and accordingly, a suspending device (suspending hook) for suspending a heavy object also swings.

As one measure for preventing such swing of the hanging hook, Japanese Patent No. 275856 by one of the present applicants has been proposed.
No. 8 discloses a suspension hook anti-sway device.

In such an apparatus, when controlling the swinging of the hanging hook, the swinging (displacement) is detected by a sensor or the like, and the control amount is obtained by an arithmetic unit based on the detected displacement amount. This is performed through a process of operating an anti-sway actuator depending on the amount. However, in this series of processes, there is a time delay from the detection of the displacement to the operation of the actuator, so that there is a problem that it is difficult to perform effective anti-sway control.

[0005]

SUMMARY OF THE INVENTION The present invention solves the above-mentioned problems and provides a suspension system for a work boat which controls the suspension of the suspension hook by predicting the displacement of the suspension hook in consideration of the time delay. It is an object of the present invention to propose a method of controlling the swing of a hook.

[0006]

In other words, a method for controlling the suspension of a hanging hook in a work boat according to the present invention is provided for controlling the swing of the suspension hook of the lifting apparatus in a work boat equipped with a lifting device. Detection delay time (t) generated when detecting the relative displacement of the hook with respect to the work boat (t
₁ ), a calculation delay time (t ₂ ) generated when calculating the control amount of the hanging hook based on the relative displacement, and a control delay generated when controlling the hanging hook based on the control amount. Total delay time, which is the sum of time (t ₃ )

[Mathematical formula-see original document] The step of obtaining Δt = t ₁ + t ₂ + t ₃ and the relative displacement value s (t) with respect to the relative displacement value s (t) at the time of detection of the hanging hook.
Time change of

S '(t) = s (t) -s (t-.DELTA.t) and the amount of time change of s' (t)

[Mathematical formula-see original document] s "(t) = s '(t) -s' (t- [Delta] t);
From the time change s '(t) of (t) and the time change s "(t) of s' (t), a predicted value s (t + Δt) of the relative displacement value of the hanging hook after the total delay time Δt is obtained. ),

S (t + Δt) = a ₁ * s (t) + a ₂ * s ′ (t) *
Δt + a ₃ * s ″ (t) * Δt ² * 0.5.

The method for controlling the suspension of a hanging hook in a work boat according to the present invention takes into account the time delay from the detection of the displacement of the suspension hook, ie, the amount of the sway, to the operation for suppressing the sway. The control amount is predicted based on the time delay amount, and the anti-sway control is performed based on the predicted control amount. Therefore, the process from the detection of the sway to the stop of the sway by operating the actuator for the actual sway stop can be performed with an appropriate control amount and at a good timing. Can be effectively prevented.

Further, in the method for controlling the suspension of a hanging hook in a work boat according to the present invention, the values of the coefficients a ₁ , a ₂ , a ₃ for obtaining the predicted value of the relative displacement of the hanging hook are determined by:
It is characterized in that it is set in accordance with the fluctuation cycle of the relative displacement of the hanging hook. Therefore, it is possible to perform appropriate anti-swing control according to the swing state of the hanging hook.

[0009]

Preferred embodiments of the present invention will be described below with reference to the accompanying drawings.

FIG. 1 shows an example of a work boat for controlling the suspension of a hanging hook according to the present invention. The illustrated work boat 1 includes a hoist 3 rotatably provided on a deck of a hull 2.
Equipped. The hoist 3 includes a winch box 4, a raised jib 5, and a suspension hook 7 suspended from a tip of the jib 5 by a wire rope 6. The drawing shows a state in which the work boat 1 is moored by the mooring line 8.

The hoist 3 is further provided with a device 9 for preventing the suspension hook 7 from swinging. Anti-swing device 9
A beam 12, which is disposed between the two columns 10, and which is rotatably supported by the column 10 by a rotating shaft 11,
A linear guide 14 swayably supported by a rotating shaft 13 on a beam 12, and a linear actuator 15 on the linear guide 14
Accordingly, an arm 16 that can move back and forth in the longitudinal direction of the linear guide 14 and a hook holder 17 that is rotatably connected to one end of the arm 16 are provided. In the following description, the linear guide 14, the linear actuator 15, and the arm 16
Are collectively referred to as the anti-swing arm 18.

The operation of the anti-swing device 9 is as follows. That is, when the suspension hook 7 swings in the horizontal direction, the swing-preventing arm 18 is swung in the horizontal direction according to the degree of the swing (displacement), and the arm 16 is moved linearly, for example, based on a control procedure described later. The hook holder 17 is moved by moving the actuator 15 along the linear guide 14, in other words, by expanding and contracting the swing-preventing arm 18, thereby suppressing the swing of the hanging hook 7.

FIG. 2 is a block diagram schematically showing the configuration of a swing-prevention control device for performing swing-prevention control of a hanging hook using the method according to the present invention. In this control device,
A signal relating to the sway of the hull and the suspension hook from the motion signal input unit 21 is converted into data that can be calculated by the signal conversion unit 22 (for example, A / D conversion). The amount of displacement is predicted, and a signal for operating the anti-swing arm 18 of the anti-sway device 9 is output from the signal output unit 24 based on the predicted amount. The linear actuator 15 operates based on the output signal, and the swinging arm 18 expands and contracts, thereby suppressing the swinging of the suspension hook 7. The sway signal input unit 21 is a sway measurement device and an accelerometer provided on the hull of the work boat 1.

FIG. 3 schematically shows the horizontal displacement of the hanging hooks when controlling the swinging of the hanging hooks by using the method according to the present invention. Here, the coordinate axes of the XY plane are set to the X-axis in the bow direction and the Y-axis in the shore direction. Therefore, the displacement of the hanging hook 7 in the X-axis direction is x, and the displacement of the hanging hook 7 in the Y-axis direction is y. The values of x and y are, as shown in FIG. 4, the Roll, Pitch, Yaw, Surge, and Sway of the work boat 1.
Are obtained from the displacement amounts of the respective motion components by the procedure described later. The displacement amount in each of these motion components is detected by the above-mentioned motion signal input unit 21 (see FIG. 2). Further, these displacement amounts are relative displacements with respect to the hull 2.

FIG. 5 is a flowchart showing a procedure for controlling the suspension of the hanging hook using the method according to the present invention. Hereinafter, the procedure will be described.

First, in step 31, measurement data, that is, from the above-mentioned sway signal input unit (hull sway measurement device and accelerometer) 21, the above-mentioned Roll, Pitch, Yaw, Surge, S
The amount of displacement in each motion component of the way is input to the calculation unit 23 via the signal conversion unit 22. The input displacement amount is
It is input every certain time (sampling time).

In the following step 32, the displacement of the hanging hook in the X-axis and Y-axis directions is calculated based on the input data. The values of these displacements are obtained for each displacement in each of the motion components Roll, Pitch, Yaw, Surge, and Sway that are input at each sampling time described above.

In the method according to the present invention, when determining the control amount for operating the anti-swing arm (see FIG. 2) to suppress the swing of the hanging hook, the swing of the hanging hook is detected and then the actual swing is detected. The delay time until the stop arm is operated is taken into account. That is, a detection delay time (t ₁ ) generated when detecting a relative displacement of the hanging hook with respect to the work boat, and a calculation delay time (t ₂ ) generated when calculating a control amount based on the relative displacement, The sum total (total delay time) of the control delay time (t ₃ ) generated when controlling the anti-swing arm based on the control amount

Δt = t ₁ + t ₂ + t ₃ is obtained, and the control amount of the anti-sway arm is calculated using the total delay time Δt as described later. Each of these delay times t ₁ , t ₂ , t ₃ is a time constant that can be generally measured.

Next, with respect to the relative displacement value s (t) of the hanging hook at a certain detection time t, the amount of time change (corresponding to speed) of this relative displacement value.

S '(t) = s (t) -s (t-.DELTA.t) and the amount of time change of s' (t) (corresponding to acceleration)

S "(t) = s '(t) -s' (t-.DELTA.t) is obtained. S (t),
Based on s ′ (t) and s ″ (t), the control amount of the anti-sway arm is determined in each step described later.
(t), s' (t), and s "(t) are the values of Ro
It is obtained for each of the motion components of ll, Pitch, Yaw, Surge, and Sway. For convenience of explanation, suffixes and the like corresponding to each motion component are omitted.

In the next step 33, the swing period T (t) of the hanging hook is determined. The specific procedure will be described later.

In the suspension hook swing control method according to the present invention, s (t), s' (t), and s "(t) obtained for each motion component of the hull in step 32 described above are used. The predicted value of the displacement of the hanging hook after the lapse of the total delay time Δt from the detection time t is

S (t + Δt) = a ₁ * s (t) + a ₂ * s ′ (t)
* Δt + a ₃ * s "(t) * Δt ² * 0.5 where coefficients a ₁ , a ₂ , a
₃ takes any real value.

In step 34, the coefficients a ₁ , a ₂ , a
₃ is intended to determine the, here by using a fuzzy inference, for example, as shown in FIG. 6 is obtained in the form of a graph to the period of modulation. In the figure, when the swing period T of the hanging hook is short, each coefficient a ₁ ,
While a ₂ and a ₃ fluctuate relatively largely, in a long cycle (10 sec or more), each coefficient takes an almost constant value. The procedure for obtaining these coefficients will also be described later. These coefficients are also determined for each motion component of the hull described above.

In step 35, according to the above equation,
The predicted values x (t + Δt) and y (t +
Δt) is calculated, and a control amount for operating the anti-swing arm is obtained based on the obtained value. Here, these prediction values are determined for each motion component of the hull,
The predicted value of the final displacement (ie, x (t + Δt), y (t
+ Δt)) is obtained as the sum of the predicted values obtained for each of these motion components. Specifically, the motion components of the hull, that is, the predicted values obtained for each component of Roll, Pitch, Yaw, Surge, and Sway

Roll: s _R (t + Δt) Pitch: s _P (t + Δt) Yaw: s _Y (t + Δt) Surge: s _S (t + Δt) Sway: s _W (t + Δt)

X (t + Δt) = s _P (t + Δt) + s _S (t + Δt) y (t + Δt) = s _R (t + Δt) + s _Y (t + Δt) +
s _W (t + Δt).

Thereafter, at step 36, the control amount of the anti-sway arm is output. That is, the predicted value x of the displacement of the hanging hook
The anti-swing arm is operated by the control amount obtained based on (t + Δt) and y (t + Δt).

Finally, at step 37, it is determined whether or not to end the anti-sway control. More specifically, for example, a worker who performs the anti-swing operation monitors the state of the sway of the hanging hook, and when the operator determines that the sway has subsided, presses the control end button or the like. At this time, if the control ends, the anti-sway control ends. On the other hand, if it is determined that the control, that is, the suspension of the hanging hook is not completed, the process returns to step 31 and the above-described processing is performed again.

In the above-described control, the measurement is performed for a plurality of cycles of the shaking, whereby the calculation of the shaking cycle and
This is for predicting the swing (displacement) and calculating the control amount for preventing the swing.

In the method of controlling the suspension of the hanging hook according to the present invention, the measurement data, that is, the motion component (R
oll, Pitch, Yaw, Surge, Sway) are sampled every 50 ms. At that time, the start of sampling
As shown in FIG. 7, a point in time when s ′ (t) at a certain point is close to 0 (for example, in the figure, a point transitioning from a negative value to a positive value), sampling is started from this point. afterwards,
As described above, sampling is performed every 50 ms, and s ′ (t)
The sampling ends when the direction in which the value f changes becomes the same as the sampling start time (in the figure, the point again transitioning from a negative value to a positive value). As a result, as is clear from FIG. 7, the time from the start to the end of this sampling is the swing period T (t) of the hanging hook. When determining the swing period T (t), the number of times the above-described sampling is performed is counted, and is determined based on the count value.

FIG. 8 is a flowchart showing a processing procedure for obtaining the swing period T (t) of the hanging hook. Hereinafter, this procedure will be described. The routine for performing this process is as follows.
The process is performed each time the anti-sway control process (see FIG. 5) is performed once.

First, at step 41, s' at the current time point
The values of (t) and s "(t) are examined, and when the value of s '(t) is 0 and s" (t) is positive, that is, s' (t) is as shown in FIG. The point where the transition from a negative value to a positive value begins (displacement s
If a curve showing (t) is drawn, this curve becomes a “valley”), that is, it is determined whether or not it is a point where one cycle of shaking starts. Then, go to step 42. On the other hand, when one cycle of the shaking is not the starting point, that is, when it is a point in the middle of one cycle of the shaking,
Proceed to step 43.

In step 42, the number of samplings in one cycle of the shaking is counted. Specifically, the following procedure is performed. Here, a variable n for counting a cycle (number of times of shaking) from the start of shaking detection, and a variable count indicating the number of times of sampling in one cycle are defined in advance. Note that the initial values of these variables are 0. As described above, in the routine of FIG. 8, when the anti-sway control process shown in FIG. 5 is started, the process is performed a plurality of times every sampling number (50 ms), and the process of FIG. Because it is repeated in minutes, to find the cycle,
Each time the process is performed once, these variables n and count basically increase either n or count of the numerical value to be substituted.

In step 42, after completing the measurement for one cycle up to that time, a process for starting a new measurement for one cycle is performed. Therefore, first, the variable coun
The sampling number counted in the previous cycle (n), which is substituted for t, is substituted for a variable Tc (n). Then, the value of the variable n for counting the cycle (the number of times of shaking) is increased by one. Further, in order to count the number of times of sampling in a new one cycle, the value of the variable count is temporarily set to 0. Thereafter, the flow advances to step 44.

On the other hand, in step 43, in the previous step 41,
Since it is determined that the present time is in the middle of one cycle of the shaking, the value of the number of times of sampling count is increased by one assuming that the sampling of the measurement data is to be continued, and then the process proceeds to step 44.

At step 44, the time count value T
A moving average _TCV of _C (n) is obtained. Here, the value of the variable n that counts the previous cycle (the number of times of shaking) is expressed by T
The value of _CV is

Equation 15] _{T CV = 300 (n = 0} ) T CV = T C (1) (n = 1) T CV = [T C (n-1) + T C (n)] / 2 (n> 1) And

Further, in step 45, the swing period T (t) of the hanging hook is

T (t) = T _CV / 20 The process is terminated.

FIG. 9 shows the relationship between sampling, counting of the number of times, and the period of fluctuation in the calculation of the period T (t). As shown in the figure, at the start of the measurement of the shaking, the value of the number of repetitions n of the shaking is 1, and the sampling is performed every 50 ms during one cycle from this time, and the value of the variable count is set at each sampling. Are added one by one. At the time when the next second cycle starts, the value of n becomes 2, the value of the variable count up to that value is substituted for the variable T _C (n), and then the value of count is returned to 0. Further, the variable _{T CV} value of _{T C} (1) is substituted. This procedure is repeated for each cycle of the shaking.

FIG. 10 is a flowchart showing a procedure for obtaining the coefficients a ₁ , a ₂ , and a ₃ when calculating the above-described predicted value of the displacement. Next, this procedure will be described.

First, in step 51, the swing period T (t) of the hanging hook is classified into seven fuzzy inference conditions from "very slow" to "very fast" according to the value. Here, the lower line is a membership function for fuzzy inference.

In the following step 52, the weighting coefficient a is classified into 13 levels from L01 to L13 according to the value. The lower line is a membership function for fuzzy inference. Here, the values classified in this way are specifically determined empirically by repeatedly performing a model experiment, a computer simulation, or the like. In actual control, a variable table is previously stored in a program. Shall be stored in

Thereafter, in step 53, fuzzy inference is performed on the swing period T (t) of the hanging hook, and inference results fa ₁ , fa ₂ and fa ₃ corresponding to each case of T (t) are obtained.

Then, in step 54, the inference result obtained earlier
Coefficients a ₁ , a ₂ , and a ₃ are obtained based on fa ₁ , fa ₂ , and fa ₃ . Specifically, fa ₁ , fa ₂ , and fa ₃ are represented by a ₁ ,
With respect to a ₂ and a ₃ , linear conversion is performed using the following equation.

[Number 17] _{y = y 1 + (y 2} -y 1) * (x-x 1) /
(X ₂ −x ₁ ) x ₁ <x <x ₂ , y ₁ <y <y _{2 In} other words, this equation is expressed as fa ₁ , fa ₂ , fa ₃ and a ₁ , a ₂ , a
Applying to ₃ ,

A ₁ = a ₁₁ + (a ₁₂ −a ₁₁ ) * (fa ₁
−fa ₁₁ ) / (fa ₁₂ −fa ₁₁ ) a ₂ = a ₂₁ + (a ₂₂ −a ₂₁ ) * (fa ₂ −fa ₂₁ )
_{/ (Fa 22 -fa 21) a} 3 = a 31 + (a 32 -a 31) * (fa 3 -fa 31)
/ Become (fa ₃₂ -fa _31). By using this equation, the coefficients a ₁ , a ₂ ,
The value of a ₃ can be obtained. here,

[Equation 19] fa ₁₁ <fa ₁ <fa ₁₂ , a ₁₁ <a ₁ <a ₁₂ fa ₂₁ <fa ₂ <fa ₂₂ , a ₂₁ <a ₂ <a ₂₂ fa ₃₁ <fa ₃ <fa ₃₂ , a ₃₁ < it is _{a 3} <a _32.

By the way, in the above equations, fa ₁ , f
When a ₂ and fa ₃ are applied to the classification obtained in the previous step 52, the range of values that can be obtained is as follows.

[Number 20] _{-1.0 <fa 1 <1.0, -1.0} <fa 2 <1.0, a -1.0 <fa ₃ <1.0. That is,

Equation 21] _{fa 11 = fa 21 = fa 31} = -1.0, fa 12 = fa
₂₂ = the fa ₃₂ = 1.0.

On the other hand, here, for example, the range of a ₁ , a ₂ , a ₃

0.9 <a ₁ <1.0, 0.5 <a ₂ <1.0, 1.0 <a ₃ <1.2 That is,

A ₁₁ = 0.9, a ₁₂ = 1.0, a ₂₁ = 0.5,
Assuming that a ₂₂ = 1.0, a ₃₁ = 1.0, and a ₃₂ = 1.2, the above equations for calculating a ₁ , a ₂ , and a ₃ are as follows.

Equation 24] _{a 1 = 0.9 + 0.1 * (} fa 1 +1.0) /2.0 a 2 = 0.5 + 0.5 * (fa 2 +1.0) /2.0 a 3 = 1.0 + 0.2 * (fa 3 +1 .0) /2.0. A ₁ , a ₂ , a ₃ shown in the graph shown in FIG.
It is obtained from these equations. That is, according to the above-described processing procedure, the coefficients a ₁ , a ₂ , and a ₃ corresponding to the swing period of the hanging hook as shown in FIG. 6 can be obtained. Note that the above-described coefficients a ₁ , a ₂ , a ₃
Is also empirically determined based on model experiments and computer simulations.

FIGS. 11 to 13 show the results of an experiment of controlling the swinging of the hanging hook of the work boat using the method according to the present invention.

First, FIG. 11 shows the hanging hook in the Y-axis direction (FIG. 3).
3) shows a measured value of the displacement and a predicted value of the displacement based on the measured value. The abscissa in the figure shows the time on a scale of 6 seconds, and the ordinate shows the displacement of the hanging hook on a scale of 4 cm.
It is shown by. In the calculation of the predicted value shown,

S (t + Δt) = a ₁ * s (t) + a ₂ * s ′ (t)
* Δt + a ₃ * s "(t) * Δt ² * 0.5 The coefficients a ₁ , a ₂ , and a ₃ are all set to 1, ie,

It is assumed that a ₁ = a ₂ = a ₃ = 1. As is clear from the figure, the predicted value of the displacement,
The measured value (actual displacement of the hanging hook) after the delay time Δt is in good agreement with the result, indicating that a sufficient prediction can be obtained. Here, since the period of the fluctuation in the Y-axis direction is long, good results are obtained by setting all the values of the coefficients a ₁ , a ₂ , and a ₃ to 1.

Next, FIG. 12 shows the measured value of the displacement in the Y-axis direction and the predicted value of the displacement based on this measured value, as in FIG. ing. Again, the values of the previous coefficients a ₁ , a ₂ , a ₃ are all set to 1
However, unlike FIG. 11, it can be seen that an error occurs between the predicted value and the measured value because the period of the fluctuation is short.

Therefore, the values of the coefficients a ₁ , a ₂ and a ₃ are shown in FIG.
FIG. 13 shows the result of calculating the predicted value based on the calculated value. As is clear from the figure, it has been shown that good prediction can be performed by setting appropriate values of the coefficients a ₁ , a ₂ , and a ₃ according to the period of fluctuation.

As described above, the suspension hook swing control method for a work boat according to the present invention makes it possible to predict the swing of the suspension hook with high accuracy, and to perform appropriate swing prevention control based on the prediction. Becomes possible.

Therefore, it is possible to effectively suppress the hanging hooks in lifting work of a heavy object by a work boat in harbor construction or the like and the swing of the heavy object lifted by the hanging hooks, thereby improving the safety and efficiency of the work. It is possible to increase.

The present invention is not limited to the above-described embodiment, but can be applied to, for example, anti-sway control of a loading crane in a cargo ship or the like.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating an example of a work boat that performs swing stop control of a hanging hook according to the present invention.

FIG. 2 is a block diagram schematically illustrating a configuration of a swing control device according to the present invention.

FIG. 3 is a plan view schematically showing a swing direction of a hanging hook.

FIG. 4 is a diagram showing a coordinate system and a swing direction of a hull.

FIG. 5 is a flowchart showing a processing procedure for controlling the suspension of the hanging hook according to the present invention.

FIG. 6 is a graph showing a relationship between a coefficient used in an arithmetic expression for estimating a displacement of a hanging hook and a swing cycle.

FIG. 7 is a diagram schematically showing data sampling and its timing in the anti-sway control.

FIG. 8 is a flowchart showing a processing procedure for obtaining a swing cycle in swing suspension control of a hanging hook.

9 is a diagram schematically showing a relationship between sampling of measurement data, counting of the number of times, and a swing cycle in the processing procedure of FIG. 8;

FIG. 10 is a flowchart showing a processing procedure for obtaining a coefficient in the swing hook swing prevention control.

FIG. 11 is a graph showing a predicted value of the displacement of the hanging hook obtained by the method according to the present invention and an actual measured value.

FIG. 12 is a graph showing a predicted value of the displacement of the hanging hook obtained by the method according to the present invention and an actual measured value.

FIG. 13 is a graph showing a result obtained when the prediction is performed by changing a coefficient of an arithmetic expression for predicting the displacement of the hanging hook under the same conditions as in FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Work boat 2 Hull 3 Hoist 4 Winch box 5 Jib 6 Wire rope 7 Hanging hook 8 Mooring line 9 Mooring device 10 Post 11, 13 Rotary axis 12 Beam 14 Linear guide 15 Linear actuator 16 Arm 17 Hook holding arm 18

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Satoru Shiraishi 3-1-1, Nagase, Yokosuka City, Kanagawa Prefecture Inside the Port and Harbor Research Institute, Ministry of Transport (72) Inventor Etsuyoshi Oda 17-1 Niijima, Harima-cho, Kako-gun, Hyogo Prefecture Yorin Construction Co., Ltd. (72) Inventor Naoshi Nishihara 17-1 Niijima, Harima-cho, Kako-gun, Hyogo Yorin Construction Co., Ltd. (72) Inventor Yusuke Nakatsu 20-8, Tennocho, Takatsuki-shi, Osaka (72) Invention Person Xue Saekuni 1-35, Yawatacho, Takatsuki-shi, Osaka Jolly Maison Takatsuki 3F, 2nd floor F-term (reference) 3F204 AA01 BA02 CA03 DA10 EA01 3F205 AA10 BA06

Claims (2)

[Claims] 1. A detection delay time (t) generated when detecting a relative displacement of the hanging hook with respect to the work boat in controlling the swing of the hanging hook of the hoist in the work boat equipped with the hoist. ₁ ), a calculation delay time (t ₂ ) generated when calculating the control amount of the hanging hook based on the relative displacement, and a control delay generated when controlling the hanging hook based on the control amount. time (t ₃₎ the total delay time [number 1] which is the sum of the Δt = _t 1 ₊ t 2 + and determining the t _3, the relative displacement value in the detection point in the said suspending hook s
With respect to (t), the time change amount of the relative displacement value s (t) s '(t) = s (t) -s (t-Δt) and the time change of this s' (t) S "(t) = s' (t) -s'(t-.DELTA.t); and the relative displacement value s (t) and the time change s' of s (t).
From (t) and the time variation s ″ (t) of s ′ (t), a predicted value s (t + Δt) of the relative displacement value of the hanging hook after the total delay time Δt is given by: t + Δt) = a ₁ * s (t) + a ₂ * s ′ (t) *
Δt + a ₃ * s ”(t) * Δt ² * 0.5. A method for controlling the suspension of a hanging hook on a work boat, comprising: 2. A predicted value of a relative displacement of the hanging hook is calculated.
Coefficient a₁, A ₂, A₃Value of the hanging hook
The characteristic is that it is set according to the fluctuation cycle of the relative displacement of the
2. The swing of the suspension hook in the work boat according to claim 1.
Stop control method.