JP2007254082A - Method for automatically loading-exchanging hanging load hung to hanging load rope by crane or bagger by hanging load oscillation damping device and track setting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To perform loading-exchanging of so called teach-in operation for a crane or a bagger, especially a port movement crane in a method for loading-exchanging a hanging load hung to a hanging load rope of the crane or the bagger attached with a turning device, a derricking device and a winding up device. <P>SOLUTION: A control device of computer control having the track setting device, an obstacle monitoring device and status control device with front control is provided. A working space is determined by selecting two points, one of the two points is determined as a target point by designating a direction using a manual lever, and a target speed is specified for the turning device and the derricking device by a manual lever signal. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a method of automatically reloading a suspended load suspended on a suspended rope of a crane or a bagger, having a computer-controlled control device and a trajectory setting device for damping swinging of the suspended load. is there.

  The present invention includes a suspended load swing damping device in a crane or a bagger that allows movement of a suspended load suspended from a rope with at least three degrees of freedom. This type of crane or bagger has a turning device that can be mounted on a chassis, and the turning device serves to rotate the crane or bagger. Furthermore, a tilting device for leveling or tilting the crane jib is provided. The crane or bagger includes a hoisting device for raising or lowering the suspended load suspended from the rope. This type of crane or bagger is used in various forms. Examples here are harbor moving cranes, shipboard cranes, coastal cranes, caterpillar cranes, or rope buggers.

  When transshipping a suspended load suspended on a rope using this type of crane or bagger, on the one hand the movement of the crane or bagger itself, but also rocking due to external disturbance factors such as wind Will occur. Already, efforts have been made in the past to suppress pendulum swings in suspended cranes.

  For example, Patent Document 1 describes an arrangement for automatically suppressing a pendulum motion of a suspended load suspended by a rope at a rope suspension point movable on a horizontal plane with at least one horizontal coordinate. The speed of the rope suspension point in the coordinate system is adjusted in the horizontal plane by the control circuit in relation to the amount derived from the operating angle with respect to the vertical of the suspended load rope.

  Patent Document 2 shows an arrangement that suppresses pendulum swinging of a suspended load that is suspended from a crane trolley using a rope, and is provided with a rotation speed device and a path control device for driving the trolley. And a control arrangement that accelerates the trolley during the first half of the trolley travel path and decelerates during the second half of this path in consideration of the swing time so that the swing of the suspended load is exactly zero at the target point. Is attached.

  In Patent Document 3, during the time of acceleration or braking, the movement of the suspended load carrier is automatically controlled by suppressing the swing that occurs when the suspended load is accelerated or braked. A device to be attached to a hoisting device is disclosed. The underlying idea is based on a simple mathematical pendulum. Trolley mass and suspended mass are not included to calculate motion. Coulomb speed proportional friction in trolley drive or bridge drive is not considered.

  In order to make it possible to carry the load body from the fixed position to the destination as soon as possible, Patent Document 4 moves the traveling trolley and the suspended carrier at the same speed during inertial traveling, and swings and attenuates in the shortest time. To achieve this, it is proposed to use a computer to control the speed of the trolley drive motor. The computer disclosed in Patent Document 4 operates according to a computer program for solving a differential equation applied to a two-mass oscillation system formed by a traveling trolley and a load body and not damped. Coulomb speed proportional friction in bridge drive is not considered.

  In the method disclosed in Patent Document 5, the speed between the target points is selected on the path so that the amplitude of the oscillation is always zero after leaving half of the entire path between the start point and the target point.

  The method for attenuating the swinging pendulum swing disclosed in US Pat.

  Patent Document 7 deals with a method for adjusting and controlling a suspended load that moves in a pendulum. At that time, the first control circuit generates a deviation between a theoretical position and an actual position of the suspended load. This is derived, multiplied by a correction factor and added to the theoretical position of the movable carrier. In the second control circuit, the theoretical position of the movable carrier is compared with the actual position, multiplied by a constant and added to the theoretical velocity of the movable carrier.

  Patent Document 8 deals with a method of controlling an electric traveling drive device of a hoisting device that winds up a suspended load suspended from a rope, and an equation explained based on dynamics causes a change in a target speed of a crane trolley. And give to speed and current control device. Further, the computer device related to the position control device can be extended to load.

  The control methods disclosed in Patent Literature 1, Patent Literature 6 and Patent Literature 7 require a rope angle sensor to attenuate the pendulum motion of the suspended load. This sensor is also required in the extended embodiment according to US Pat. Since this rope angle sensor causes a significant increase in cost, it would be advantageous if the pendulum movement of the suspended load could be canceled without this sensor.

  The method of U.S. Pat. No. 6,053,836 in the basic version likewise requires at least the speed of a crane trolley. Even in Patent Document 2, a large number of sensors are required for damping the suspended pendulum motion. In Patent Document 2, at least the rotational speed and position of the crane trolley must be measured.

  Patent Document 5 also requires at least the position of a trolley or a bridge as an additional sensor.

  As an alternative to this method, for example, another approach published in Patent Document 3 and Patent Document 4 proposes to solve the differential equation underlying the system in order to suppress the pendulum movement of the suspended load, Based on this, the control method for the system is examined. At that time, in the case of Patent Document 3, the rope length is measured, and in the case of Patent Document 4, the rope length and the suspended load mass are measured. However, this system does not take into account the effects of friction that should not be ignored in crane systems with sticky friction and friction proportional to speed. Also, Patent Document 8 does not consider the friction term and the attenuation term.

  A crane or bagger for transferring a suspended load suspended from a suspended rope, which can move the suspended load over at least three degrees of freedom of movement, appears actively during the movement. In order to be able to dampen the pendulum movement of the suspended load and to further improve it so that the suspended load can be accurately guided to a defined trajectory, the applicant has already described in his document US Pat. It has been proposed to provide a computer-controlled control device on the crane or bagger to damp the movement, which includes a trajectory setting module (hereinafter referred to as trajectory setting device for short), a centripetal force canceling device, and at least a pivoting device. Axis control device for hoisting, shaft control device for hoisting device, shaft control device for hoisting device To have.

When transshipping suspended loads, it is essential to connect the two target points as quickly and accurately as possible using a crane or bagger, for example a port mobile crane. One of the target points is an object to be unloaded, and the other point is an object to be loaded. Fully automated transshipment of suspended loads is called so-called teach-in operation.
German Patent Application Publication No. 1278079 German Patent Application No. 20222745 German Patent Application No. 3210450 German Patent Application No. 3228302 German Patent Application No. 3710492 German Patent Application Publication No. 3933527 German Patent Application Publication No. 69119913 German Patent Application Publication No. 4402563 German Patent Application Publication No. 10064182

  The object of the present invention is to obtain a method of transshipment of so-called teach-in operation for cranes or baggers, in particular harbor mobile cranes.

  The solution is obtained from a combination of features of the invention as defined in claim 1.

  Special features of the invention result from the invention as defined in the dependent claims.

  The fully automatic trajectory setting device is incorporated into an active suspended pendulum motion damping system for harbor mobile cranes. At that time, the demand for the crane operator to come and go between the two points in the work space as a starting point for the development of fully automatic operation. As shown in FIG. 1, these two points are defined by the driver. One of the two points is defined as the target point according to the direction determined in advance by the manual lever. The goal is to connect the target points as quickly and accurately as possible, and minimize suspended swings. Furthermore, the target speed for the turning device and the hoisting device is defined by a manual lever signal. This allows the crane operator to maintain control over the harbor moving crane even in fully automatic operation. Since suspended loads can move freely in the entire work space without being tied to a specific fixed-angle track, obstacles in the work space can be bypassed. At that time, the active suspended load pendulum motion damping system works to minimize suspended load swinging as described in US Pat. If it is necessary to leave the workspace, the crane operator must operate the appropriate button. This mode of operation, so-called teach-in operation, provides a high transshipment capability and minimizes the demands on the crane operator. Other cranes in fully automatic operation are similar to those in semi-automatic operation where manual lever signals are used for crane control and active suspended pendulum motion damping is used to minimize suspended swings. Work. Thereby, the dynamic behavior of the crane remains computable and familiar to the crane operator.

  Further details and advantages of the invention will be explained below using the figures.

Control of the crane is realized by a swing damping device (Patent Document 9) placed below. The partial structure for the swivel device and the hoisting device is basically made up of a constant angle trajectory generator, a trouble monitoring device, and a state control device with pre-control (see FIG. 2). In fully automatic operation, not only the manual lever signals ψ ' _Dziel and r' _AlZiel but also the start / target points in the workspace are used. Using this information, a transformation reference signal for the suspended load speed is calculated in the rotational and radial directions. In the trajectory setting device, a target constant angle trajectory is created from the reference signal, which is pre-controlled by a shaft control device for a turning device and a hoisting device, and converted into a control voltage corresponding to hydraulic drive.

As shown in FIG. 1, two points determined by the crane operator in the work space are projected onto the ψ _D- ^-r _Al plane. Using it, the target position of the suspended load can be divided into elements ψ _D-Ziel and r _Al-Ziel . FIG. 2 shows that this factor is taken into account in the axis control device for the swivel device and the hoisting device. The target position on the right or left of the crane operator is defined as the target point according to each operation of the manual lever, and is divided into the elements mentioned above.

-Structure and function of fully automatic trajectory setting device for swivel device-
The idea underlying the fully automatic trajectory setting device is to transform the reduced manual lever signal according to the rotation range remaining up to the target position ψ _D-Ziel and the required brake distance. When the crane operator operates the manual lever, it first accelerates using the ramp provided in the track planner. If the remaining rotation range is larger than the rotation angle required for deceleration, it is a step that moves at the maximum speed given in advance. On the other hand, if the rotational range is considerably small, the acceleration step directly leads to the brake step. As shown in FIG. 3, the remaining range must first be determined by the difference between the target position and the actual position. In order to find the correct timing to start deceleration, the required braking distance is counted. Depending on the direction of rotation, the difference between the remaining rotation range and the braking distance will be negative or positive for the correct deceleration timing. In order to improve the behavior of the harbor moving crane when moving to the target position, the simplified manual lever signal ψ ^' _Dzielred is not set to zero for the first time when the deceleration point is reached, but a suitable reference table This timing is already reduced when approaching.

As shown in FIG. 4, first, in the block “change in manual lever signal”, the direction of rotation is determined using the sign of the reduced manual lever signal ψ ^′ _Dzielred . In order to make the fully automatic trajectory setting device powerful against the rope length change, the crane is already braked before the actual deceleration timing is reached. At that time, the difference between the position deviation and the brake distance is converted into a coefficient between 0 and 1 through a collation table. If the distance to the deceleration timing, which is the rotation angle that must be applied to reach the target angle, is greater than 25 °, the reduced manual lever signal is determined as 1 and within the trajectory setting device It is converted to the target constant angle trajectory. As the distance decreases, the manual lever signal decreases non-linearly. When the signal diff becomes negative, the coefficient for weighting the reduced manual lever signal becomes zero, thereby reaching the deceleration timing.

State control device for a pivoting device has no connection with the position, that is, the rotation angle [psi _D is not fed back, there is provided a P control device for feeding back positional deviation. However, the set amount of the P control device is switched on only when it passes the target point (see FIG. 5). Thereby, the achievement of the target angle is guaranteed only for t → ∞. The amplification of the P control device is determined using a fixed factor P _Factor that is weighted by the absolute value of the manual lever signal. The manual lever signal is normalized by −1 to 1. This allows the P-control device to adapt to the dynamics of the system.

The basis for calculating the brake distance is a general solution that forms the state space model of the controlled sub-system, swivel. The solution of the equation of state is divided into two parts: a uniform solution and a partial solution. At that time, the partial decomposition can be approximated to the swivel device by the relationship shown in the equation (1). The first part of the brake distance ψ _Dbrems1 is calculated by taking into account the measured rotational speed ψ _D and the maximum acceleration ψ ^″ _D-max .

The second part of the brake distance ψ _Dbrems2 is obtained from calculating the uniform solution of the controlled partial system, swivel.

-Controlled partial system, uniform solution of swivel device-
The tangential suspended load swing damping device provided for the swivel device causes the crane to counteract the rotational direction. The state control movement, which is determined by the position of the poles, has a significant effect on the braking distance required for the swivel device. In order to determine the turning angle obtained when operating the controlled system, a uniform solution of this system is calculated. Using the uniform solution shown in Equation (2), all states can be determined by measuring the initial state.

If this happens A _R is the system matrix of the controlled system. Using the four states, ie, the turning angle, turning angle speed, tangential rope angle, tangential rope angle speed, and hydraulic circulation proportional valve control voltage, as input, the following input and state vectors are obtained.

Using this definition, the state space of the swivel device is
Using a = l _A * cos (ψ _A ) / l _S and b = K _VD * 2 * π / i _D * V _MD * T _D

At that time, l _A is the jib length, l _S is the free pendulum length, i _D is the conversion ratio, V _MD is the suction capacity of the hydraulic motor, T _D is the deceleration time of the hydraulic drive, and K _VD is the pump transfer current Is a proportional constant between the control voltage and ψ _A is the tilt angle of the jib. The output of the system is the unloading of suspended loads. Whereby the output matrix C _D is obtained by the following.

In order to calculate the turning angle obtained when operating the controlled system, equation (2) needs to be solved for the first state (ψ _D ). To do this, the system matrix of the controlled system is first calculated using a feedback matrix K = [0 k ₂ k ₃ k ₄ ], whose elements are determined by predetermined poles. (Equation (6)). The first amplification of the feedback matrix is zero because one of the four poles is given zero, so that the swivel state control device has no connection to the position.

Then, when the transition matrix Φ = e ^{A R (t−t0)} is calculated and the limit value for t → ∞ is taken into consideration, the following first row elements are obtained.

The remaining three non-zero poles of the controlled partial system, swivel, are symbolized by l ₁ , l ₂ , l ₃ .

  Using equation (2) and the elements of the transition matrix, a uniform solution of the controlled system for the angle of rotation is determined. Equation (8) shows the relationship.

This calculation makes it possible to take into account the dynamic characteristics of the swivel control in the fully automatic trajectory setting device. The rotation angle ψ _Dhom is calculated dynamically and interpreted as an additional part of the brake distance ψ _Dbrems2 . As a result, it is possible to create a constant-angle trajectory that leads to the correct movement to the target point.

-Structure and function method of fully automatic trajectory setting device for hoisting device-
In contrast to the swivel control, the undulation device feeds back the tilt angle ψ _{A of the} jib. Thereby, by attaching a state control device with a position connection, it is guaranteed that the prescribed position for t → ∞ is reached, and the fully automatic trajectory setting device is essentially simplified (see FIG. 6). Similar to the swivel trajectory setting device, in the block “change in manual lever signal”, the reduced manual lever signal r ′ _ALZielred is adjusted to decelerate the movement of the _hoisting device to the correct timing in order to reach the target position. The change in the radial target speed in the fully automatic operation is converted into a target constant-angle trajectory r _Alref in the trajectory setting device as shown in FIG.

The deceleration point t _Verzogerung is then obtained by evaluating the sign of the difference between the target radius and the deviation with respect to the required brake path according to the direction (see FIG. 7). In addition, a so-called approach slowing range is introduced in order to improve the positioning accuracy and minimize over-swing. In this range, 5% of the maximum speed is specified. The timing t _Kriech is determined using the parameter d _Kriech-WW described in FIG. By adjusting the parameter according to the difference between the position deviation and the brake distance, the timing t _Kriech is obtained using the evaluation according to the sign direction.

The deceleration approach timing t _Kriech serves as a reference for determining when the reduced manual lever signal is changed from the specified maximum speed to 5% of the maximum speed. Thereby, the course of the transformation manual lever signal schematically shown in FIG. 8 is obtained.

  The braking distance of the hoisting device is determined as follows, including the actual speed and maximum acceleration of the jib in the radial direction.

  Since the axis control device of the hoisting device is fixed in position, it is not essential to consider the dynamics of the controlled system in the form of a uniform solution of the system and the position deviation fed back via the P control device.

It is a projection drawing of a crane. It is a block diagram which shows the partial structure for a turning apparatus and a raising / lowering apparatus. It is a block diagram which shows the structure of a fully automatic turning apparatus track | orbit setting apparatus. It is a block diagram which shows the structure of the lever signal transformation for turning apparatuses. It is a block diagram which shows P circulation decided by a direction. It is a block diagram which shows the structure of a fully automatic hoisting device track setting device. It is a block diagram which shows the structure of the lever signal transformation for hoisting devices. It is a graph which shows the example of progress of the created target speed.

Claims (6)

A turning device for turning a crane or a bagger;
A hoisting device for leveling or tilting the jib,
A hoisting device for raising or lowering a suspended load suspended from a rope;
A computer-controlled control device having a trajectory setting device, a fault monitoring device and a state control device with a pre-control to attenuate the pendulum movement of the suspended load;
A method of transshipping a suspended load suspended from a suspended load rope of a crane or a bagger,
Determining a workspace by selecting two points;
Determining one of the two points as a target point by specifying the direction using a manual lever;
Defining a target speed for the swivel device and the hoisting device by means of a manual lever signal. Read not only the manual lever signal but also the start or target point in the workspace,
Based on this information, the reference signal for the suspended load speed is calculated in the rotation direction and radial direction,
At that time, the trajectory setting device creates a target constant angle trajectory from the reference signal,
2. A method according to claim 1, characterized in that in the shaft control device for the swivel device and the hoisting device, the control voltage is converted to a corresponding control voltage for the drive device. 3. A method according to claim 1 or 2, characterized in that the target position of the suspended load can be divided into elements which are taken into account respectively by the pivot control or the shaft control device for the hoisting device. 4. A method according to claim 3, characterized in that, in a fully automatic trajectory setting device, the reduced manual lever signal is transformed according to the range of rotation remaining up to the target position and the required brake distance. 5. A method according to claim 3 or 4, characterized in that in a fully automatic trajectory setting device, the reduced manual lever signal is adapted to slow down the movement of the hoisting device to reach the target position. 6. The method according to claim 5, wherein a so-called deceleration approach range in which the hoisting device is slightly slower than the maximum speed is provided as a safety range during deceleration.

Images