JP2009263069A - Crane system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a crane system efficiently operating a plurality of cranes. <P>SOLUTION: A system controller 5 is provided with an electricity-receiving part 4; a transmitting/receiving part for receiving electric power of the plurality of cranes; and a crane maximum electric power production part for producing the crane maximum electric power corresponding to cargo work command such that the electric power of the electricity-receiving part does not exceed the maximum electric power. The crane is provided with a crane controller for producing a speed profile of a rolling-up part/a traveling part/a lateral advancement part/a standing-falling part based on an operation signal, the cargo work command and the maximum electric power, producing position instruction from this, transmitting the position instruction to an inverter of respective parts and receiving state information from the inverter; a converter for producing a first DC power source from a commercial power source; a plurality of inverters for producing AC power source from the first DC power source based on the position instruction and driving the motor of the rolling-up part/the traveling part/the lateral advancement part/the standing-falling part; a chopper positioned between the first DC power source and the second DC power source and converting the electric power in a dual-direction; an electricity accumulation part connected to the second DC power source. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a crane system that uses a commercial power source and a power storage unit to realize energy saving.

Conventional crane systems aimed at energy saving are disclosed in Patent Documents 1 and 2.
8 and 9 are block diagrams of the power supply system of the crane apparatus disclosed in Patent Document 1. FIG. 8 and 9, reference numeral 101 denotes an engine which can control the rotational speed in relation to the generated power. Reference numeral 102 denotes a power generator, which is composed of a generator alone or a converter. In order to cope with the charging of the battery 103 and sudden changes in load of each electric motor and long-time operation, the generator is configured as a single generator that generates a low-voltage and large current, or a device that includes a high-voltage generator and a current converter. The The battery 103 is provided when power supply from the power generation apparatus 102 to each electric motor or the like is insufficient, or for backup of the power generation apparatus 102.

  An electric power controller 104 charges the battery 103 with the electric power generated by the power generation apparatus 102, and also serves as a load electric motor for expansion and contraction electric cylinder (attachment electric motor) 107A, electric motor for undulation electric cylinder 107B, electric motor for turning The generator 106, the traveling motor 105, and the winch motor generator 108 are appropriately controlled to supply power from the power generation apparatus 102 and the battery 103, and in some cases, the electric motor 107A for the telescopic electric cylinder that becomes a load, and the electric cylinder for the undulation The power of the generator 107, the turning motor generator 106, the winch motor generator 108, and the battery 103 is appropriately fed to the electric motor 107B, the traveling motor 105, and the load suddenly increases. , Power supply control to increase or decrease the generated power of the power generation apparatus 102 That.

Depending on the urgency of the load, the power of the power generation apparatus 102 may be controlled not to be supplied to the battery 103 but to be supplied only to a specific load. As the control mode of each electric motor or the like in the power controller 104, there are ones that place importance on torque, and those that place importance on rotation accuracy.
The traveling motor 105 is a motor having a relatively large torque and good starting characteristics so that the traveling motor 105 can travel even when a load is applied to the crane.
The turning motor generator 106 operates as a motor during the turning operation, and operates as a generator having an electromagnetic brake action during the turning end operation to generate regenerative power. The generated electric power is supplied to the battery 103 via the power controller 104. Charge. By using a motor generator, regenerative power can be generated by a brake operation and fine control can be performed.

  The electric motor for expansion / contraction electric cylinder 107A is a drive source for extending / contracting the boom, and the electric motor for raising / lowering electric cylinder 107B is a drive source for raising / lowering the boom, each of which is a piston / cylinder in a conventional hydraulic system. It is a drive source for driving the expansion / contraction / undulation operation mechanism. The telescopic and undulating mechanism consists of a ball screw and a ball nut. One of the ball screws has a drive shaft. The tip of the drive shaft is supported by a bearing on the main body and connected to an electric motor via a gear mechanism. A sliding cylinder is integrally coupled to the, and the sliding cylinder is configured as a mechanism for driving in a linear direction.

  FIG. 10 is a configuration diagram of a crane control system disclosed in Patent Document 2, and FIG. 11 is a flowchart showing a control method. The crane control system 201 can be mounted on the crane main body, and stores the power from the commercial power source 208 and the regenerative power from the crane motor 207, the power storage unit 202, the power storage amount of the power storage unit 202, and the power supply from the commercial power source 208 A control unit 203 that monitors the amount and controls switching of charging / discharging to the power storage unit 202; a conversion unit 204 that converts supply power from the commercial power source 208 and regenerative power from the motor 207 into a power storage unit so that the power can be stored; Provided between the power supply means 205 that supplies the electric power converted by the conversion means 204 to the motor 207 and supplies the regenerative power from the motor 207 to the conversion means, the power storage means 202, and the conversion means 204. Safety means 206 for preventing application of voltage due to natural discharge.

The power storage means 202 is a well-known battery such as a lithium battery or an electric double layer capacitor. The control means 203 is a power storage means 202 and a detection means 231 for detecting power from the commercial power source 208, and a threshold of several power storage amounts. A storage means 232 for storing a value, and an electric circuit comprising a comparison means 233 for comparing the measured value of the amount of electricity stored in the electricity storage means with a threshold value, and the amount of electricity stored in the electricity storage means 202 and the amount of power supplied from the commercial power source 208 And charging / discharging to the power storage means 202 is performed.
When the amount of power stored in the power storage unit 202 exceeds the upper limit, the control unit 203 stops charging the power storage unit 202 to prevent overcharging.

Further, when the amount of electricity stored in the electricity storage means 202 exceeds the lower limit, or when some abnormality occurs in the electricity storage means 202, the maximum operation speed of the crane is automatically controlled, and the power of the commercial power supply 208 does not exceed a certain amount. To control. If any abnormality occurs in the commercial power supply 208, the crane is immediately stopped. The conversion unit 204 includes a D C -D C converter, and is configured to convert the supply power from the commercial power supply 208 and the supply power from the motor 207 so that the storage unit 2 can store the power. The power supply means 205 includes a converter / inverter, and is configured to supply the electric power converted by the conversion means 204 to the motor 207 and supply the regenerative current from the motor 207 to the conversion means 204.
The safety means 206 is formed of a contactor and is provided between the power storage means 202 and the conversion means 204 so as to prevent application of voltage due to long-term natural discharge of the power storage means 202 when the crane is not used. Thus, the circuit can be separated.

FIG. 11 is a flowchart of the crane control system disclosed in Patent Document 2. In the storage unit 232 of the control unit 203, a threshold value for the amount of power stored in the power storage unit 202 is set. Three values are set as a first threshold value, a second threshold value, and a charging threshold value. The first threshold value is a threshold value that indicates the minimum value of the amount of power that drives the crane motor 207 by the power storage means 202 alone, and the second threshold value is the power supply means 202 and the commercial power supply for the crane motor 207. 208 is a threshold value that indicates the minimum value of the amount of power that is driven in combination with 208, and the charging threshold value is a threshold value that determines whether or not the power storage means 202 is charged from the commercial power source 208.
The optimum value of each threshold value is changed in consideration of the crane operation pattern ratio and power consumption tendency.

First, in step 300, it is determined whether or not the crane is on standby. If YES, the procedure proceeds to procedure 310, and if NO, the procedure proceeds to procedure 400. In step 310, it is determined whether or not the charged amount is equal to or less than the charging threshold value. If YES, charging / discharging is switched by the control means 203, and the commercial power supply 208 is charged until the specified amount is reached. Do. During power storage, the charge threshold value is ignored and power storage is performed. If NO, return to procedure 300. In step 400, it is determined whether or not the amount of power stored in the power storage means 202 is equal to or greater than the first threshold value. If YES, the motor 207 is driven only by the power from the power storage means 202. In the case of N 2 O, go to the next procedure 500. In step 500, it is determined whether or not the amount of power storage is equal to or greater than the second threshold value. If YES, the motor 207 is driven by the combined use of power from the power storage means 202 and power from the commercial power source 208. In the case of NO, the motor 207 is limitedly driven only by the electric power from the commercial power source 8.
JP 2001-206673 A JP 2007-166775 A

However, all the conventional crane systems are limited to one crane, and there is no mention of a plurality of cranes.
An object of the present invention is to provide a crane system that efficiently operates a plurality of cranes.

In order to solve the above problem, the present invention is as follows.
The invention according to claim 1 is a system controller that generates a cargo handling command based on a program and an operation signal from a crane, transmits the cargo handling command to a plurality of the cranes, and receives status information from the crane, and receives the cargo handling command, A plurality of cranes that move a load based on a cargo handling command and the operation signal and transmit state information to the system controller; an HMI that generates the program of the system controller and monitors the state information of the crane; and a commercial power supply A power receiving unit that receives the power and supplies the commercial power to the crane, wherein the system controller is configured to receive power from the power receiving unit and the plurality of cranes, and power reception unit power is preset. Corresponding to the cargo handling command so as not to exceed the maximum power A crane maximum power generation unit that generates lane maximum power, and transmits the maximum power from the transmission / reception unit to the crane. The crane lifts the hoist according to the operation signal, the cargo handling command, and the maximum power. A crane controller that generates a speed profile of a traveling part, a transverse part, and a undulating part, generates a position command from the speed profile, transmits the position command to an inverter of each part, and receives state information from the inverter; and the crane An operation panel for generating an operation signal for manual operation, a converter for generating a first DC power supply from the commercial power supply, an AC power supply from the first DC power supply based on the position command, A plurality of inverters for driving the motors of the traveling unit, the traversing unit, and the undulating unit, and between the first DC power source and the second DC power source. A chopper for converting power in a direction, is characterized in that and a power storage unit connected to the second DC power source.

According to a second aspect of the present invention, in the crane system according to the first aspect, the inverter generates a position control unit that generates a speed command from the position command and the motor position, and generates a torque command from the speed command and the motor speed. A speed control unit, a torque control unit that controls an inverter current based on the torque command, and a motor speed generation unit that generates the motor speed by pseudo-differentiating the motor position. It is.
According to a third aspect of the present invention, in the crane system according to the first or second aspect, the inverter at the upper part of the winding calculates a load from the torque command at a stop or at a constant speed and calculates a hoisting amount from the motor position. The load is calculated and the amount of hoisting is transmitted to the crane controller.
According to a fourth aspect of the present invention, in the crane system according to the first aspect, the power receiving unit and the crane include a transmission / reception unit that calculates used power and transmits the power to a system controller.

According to a fifth aspect of the present invention, in the crane system according to the first aspect, the power storage unit has a capacity capable of storing the potential energy of the maximum hoisting amount of the load of the crane.
According to a sixth aspect of the present invention, in the crane system according to the first aspect, the crane controller monitors a remaining power storage amount of the power storage unit, and charges when the remaining power storage amount reaches a preset charge prohibition level. The operation is prohibited, and the chopper is operated so as to inhibit discharge when a preset discharge inhibition level is reached.
According to a seventh aspect of the present invention, in the crane system according to the first aspect, the crane controller calculates an unwindable amount of the hoisting portion from the remaining power storage amount and the load, and the system controller as one of the state information amounts It is characterized by transmitting to.
According to an eighth aspect of the present invention, in the crane system according to the sixth aspect, the crane controller is configured such that the electric energy reaches the maximum electric energy and the remaining electric energy stored in the power storage unit does not reach the discharge prohibition level. Is characterized in that the chopper is operated so that the power storage unit is discharged.

According to a ninth aspect of the present invention, in the crane system according to the sixth aspect, the crane controller is configured such that the power amount reaches a maximum power amount and the remaining power storage amount of the power storage unit reaches a discharge prohibition level. Is characterized in that the crane speed is halved and the speed halved status information is transmitted to the system controller.
The invention according to claim 10 is the crane system according to claim 1, wherein the crane controller discharges the power storage unit until reaching a discharge prohibition level at the time of hoisting, and prohibits discharge when reaching the discharge prohibition level, At the time of lowering, the power storage unit is charged until reaching the charge prohibition level, and when the charge prohibition level is reached, the chopper is operated so as to prohibit charging.
According to an eleventh aspect of the present invention, in the crane system according to the first aspect, the crane controller includes a position control unit that generates a speed command from the position command and the motor position, and transmits the speed command to an inverter of each unit. And receiving state information from the inverter.

  According to the present invention, a crane system for efficiently operating a plurality of cranes can be provided.

  Hereinafter, specific examples of the method of the present invention will be described with reference to the drawings.

First, the configuration will be described.
FIG. 1 is a block diagram showing the configuration of the crane system of the present invention. In FIG. 1, 1-3 are a 1st crane, a 2nd crane, and an nth crane. Here, n is an arbitrary integer. Reference numeral 4 denotes a power receiving unit, 5 denotes a system controller, 6 denotes an HMI (human machine interface), and 7 denotes a commercial power source.
FIG. 2 is a block diagram showing the configuration of the crane. In FIG. 2, 10 is a crane controller, 11 is an operation panel, and 12 is a converter. Further, 13 is a winding inverter, 14 is a winding motor, 15 is a winding machine, 16 is a traveling inverter, 17 is a traveling motor, and 18 is a traveling machine. Further, 19 is a traverse inverter, 20 is a traverse motor, 21 is a traverse machine, 22 is a hoisting inverter, 23 is a hoisting motor, and 24 is a hoisting machine. Reference numeral 25 denotes a charge / discharge unit, and 26 denotes a power storage unit. In FIG. 1, CNV is a converter, CNT is a controller, OPP is an operation panel, ChP is a chopper, BTR is a power storage unit, INV is an inverter, M is a motor, an arrow is a winding part of a crane, a traveling part, a traversing part, and a undulating part. .
FIG. 3 is a block diagram showing the configuration of the system controller 5. In FIG. 3, 31 and 34 are transmission / reception units, 32 is a program analysis unit, 33 is a command generation unit, 35 is a maximum power generation unit, 36 is a state information analysis unit, and 37 is an alarm generation unit.

FIG. 4 is a block diagram showing a configuration of the power receiving unit 4. In FIG. 4, 41 is a transmission / reception unit, 42 is a voltage detection unit, 43 is a current detection unit, and 44 is a power calculation unit.
FIG. 5 is a block diagram showing the configuration of the converter 12. In FIG. 5, 51 is a diode bridge, 52 is a voltage detection unit, 53 is a current detection unit, 54 is a power calculation unit, and 55 is a transmission / reception unit.
FIG. 6 is a block diagram showing the configuration of the crane controller. In FIG. 6, 61 and 64 are transmission / reception units, 62 is a speed profile generation unit, 63 is a position command / speed command generation unit, 65 is an electric power calculation unit, 66 is an unwindable amount calculation unit, 67 is a storage amount calculation unit, 68 is a charge / discharge control unit, 69 is a load calculation unit, and 70 is a hoisting amount calculation unit.
FIG. 7 is a block diagram showing the configuration of the inverter. In FIG. 7, 81 is a transmission / reception unit, 82 is a position control unit, 83 is a speed control unit, 84 is a torque control unit, and 85 is a motor speed generation unit.

Next, the operation will be described.
The operator acquires state information of each crane through the HMI, and determines an optimum cargo handling schedule by using a scheduling function in consideration of interference prevention and high-efficiency operation provided in the HMI.
The system controller reads a cargo handling schedule, parameters, and operation signals of each crane from the HMI, executes a command generation program, and generates a speed profile of each part (winding, traveling, traversing, undulation) of the plurality of cranes. At the same time, the maximum power for each crane is determined based on the load and speed profile acquired from the set parameters and state information, and transmitted to each crane. Further, a positioning command is generated from the speed profile, transmitted to each crane, and status information is received from each crane. Here, the state information includes the posture of each crane, the amount of hoisting of the hoisting part, the load, the current power consumption, the position of each part, the speed, the torque command, the charged amount, the abnormality information, and the like. Moreover, when the priority of the operation signal of each crane is high, the cargo handling schedule is changed.

The power receiving unit 4 receives a three-phase AC voltage from the commercial power source 7 and distributes the power to the cranes 1 to 4. Further, the power receiving unit 4 detects a three-phase AC voltage / current for each calculation cycle by the voltage detection unit 42 and the current detection unit 43, and multiplies the voltage and current of the same phase by the power calculation unit 36 to add the three phases. Calculate power.
P = Vr * Ir + Vs * Is + Vt * It (1)
Here, Vr, Vs, and Vt are phase voltages of the R phase, S phase, and T phase, respectively, and Ir, Is, and It are phase currents of the R phase, S phase, and T phase, respectively. The calculated received power is transmitted as a response to the status information request command of the system controller.

  The converter 12 converts the distributed three-phase AC voltage to DC, supplies power to the inverters of each part, detects the DC voltage and DC current, stores them in the transmission buffer memory, and transmits the status information request command of the crane controller. The response is sent to the crane controller. Here, the DC current and the DC voltage can be multiplied to obtain power consumption, and the power can be transmitted as state information.

  The crane controller creates the speed profile of the hoist, travel part, traverse part, and undulation part based on the movement command and maximum power of the cargo handling command, generates position commands for each control time from the speed profile, and sends them to the inverters of each part. Send a position command. Also, status information such as position, speed, torque command, and abnormality information is received from each inverter. In addition, the crane controller monitors the remaining power storage amount of the power storage unit, prohibits the chopper charging operation when the remaining power storage amount reaches a preset charge prohibition level, and when it reaches a preset discharge prohibition level Prohibit chopper discharge.

  Further, the crane controller calculates the amount that the upper part can be unwound from the remaining power storage amount and the load, and transmits it to the system controller as one of the state information amounts. The crane controller operates the chopper so that the power storage unit is discharged when the power amount reaches the maximum power amount and the remaining power storage amount of the power storage unit does not reach the discharge prohibition level. Furthermore, the crane controller halves the crane speed when the electric energy reaches the maximum electric energy and the remaining electric energy stored in the power storage unit has reached the discharge prohibition level, and transmits the speed halved status information to the system controller. To do.

  In addition, the crane controller monitors the hoisting amount at the upper part of the hoist, and at the time of hoisting, operates the chopper to discharge the power storage unit if the remaining power storage amount of the power storage unit has not reached the discharge prohibition level. If it reaches, the chopper is operated so as to inhibit discharging, and at the time of lowering, the chopper is operated so as to charge the electricity storage unit if the remaining electricity storage amount of the electricity storage unit does not reach the charge inhibition level, and charging is performed. If the reaching level of the prohibition level is reached, the chopper is operated so as to prohibit charging.

  Furthermore, the crane controller reads the remaining power storage amount of the power storage unit. When the power storage unit is a battery, the remaining power storage amount is calculated by reading the voltage and referring to a voltage / remaining power storage amount table using the stored temperature as a parameter.

  Each part inverter generates a speed command from the position command and the motor position in the position control unit, and generates a torque command from the speed command and the motor speed in the speed control unit. The torque control unit converts the torque command into a current command, generates a PWM signal from the current command and the motor current, drives the power conversion unit, and passes the current through the motor. The motor speed generation unit generates a motor speed by pseudo-differentiating the motor position. The hoisting inverter calculates the hoisting amount from the motor position, calculates the load from the hoisting amount and the torque command, and transmits the hoisting amount and the load as state information to the crane controller. Position information, speed, and torque commands may be transmitted to the crane controller as state information, and the hoisting amount and load may be calculated by the crane controller. Determined by system design choice.

  The chopper receives an operation command from the crane controller and charges or discharges the power storage unit. The power distribution with the commercial power source when discharging is normally compensated for the amount of power exceeding the maximum power amount of the commercial power source with the discharge of the power storage unit, and the hoisting power is discharged during winding and unwinding, Charge the winding power. Also, the appropriate charging amount of the charging unit is determined by the amount of hoisting, and when the hoisting amount is 0, the battery is charged to almost the charging prohibition level, and when the hoisting amount is maximum, the remaining charge amount is the potential of the load. Make sure that all energy is absorbed.

The power storage unit is selected to have a capacity capable of absorbing all potential energy determined by the maximum hoisting load and hoisting amount. For example, if mass M (kg), winding amount H (m), gravitational acceleration g (m / s ² ), and power storage unit voltage E (V), at least M × H × g / E / 3600 (AH) Capacity is needed.

  Since the crane system of the present invention has high power efficiency, it can be expected to be applied not only to a crane but also to all systems that handle a plurality of elevators.

The block diagram which shows the structure of the crane system of this invention The block diagram which shows the structure of the crane of this invention The block diagram which shows the structure of the system controller 5 of this invention The block diagram which shows the structure of the power receiving part of this invention The block diagram which shows the structure of the converter of this invention The block diagram which shows the structure of the crane controller of this invention The block diagram which shows the structure of the inverter of this invention Block diagram of power supply system of conventional crane equipment Block diagram of power supply system of conventional crane equipment Configuration diagram of conventional crane control system A flowchart showing a conventional crane control method

Explanation of symbols

1, 2, 3 1st crane, 2nd crane, nth crane 4 Power receiving unit 5 System controller 6 HMI
7 Commercial Power Supply 10 Crane Controller 11 Operation Panel 12 Converter 13 Hoisting Inverter 14 Hoisting Motor 15 Hoisting Machine 16 Traveling Inverter 17 Traveling Motor 18 Traveling Machine 19 Traversing Inverter 20 Traversing Motor 21 Traversing Machine 22 Unfolding Inverter 23 Hoisting motor 24 Hoisting machine 25 Charging / discharging unit 26 Power storage unit 31, 34 Transmission / reception unit 32 Program analysis unit 33 Command generation unit 35 Maximum power generation unit 36 State information analysis unit 37 Alarm generation unit 41 Transmission / reception unit 42 Voltage detection unit 43 Current detection unit 44 power calculation unit 51 diode bridge 52 voltage detection unit 53 current detection unit 54 power calculation unit 55 transmission / reception unit 61, 64 transmission / reception unit 62 speed profile generation unit 63 position command / speed command generation unit 65 power calculation unit 66 Calculation unit 67 Storage amount calculation unit 68 Charge / discharge control Unit 69 load calculation unit 70 hoisting amount calculation unit 81 transmission / reception unit 82 position control unit 83 speed control unit 84 torque control unit 85 motor speed generation unit

Claims (11)

A system controller that generates a cargo handling command based on a program and an operation signal from a crane, transmits the cargo handling command to a plurality of cranes, and receives status information from the crane, and receives the cargo handling command based on the cargo handling command and the operation signal A plurality of cranes that move loads and transmit state information to the system controller, an HMI that generates the program of the system controller and monitors the state information of the crane, and receives a commercial power supply to the crane to receive the commercial In a crane system comprising a power receiving unit that supplies power,
The system controller includes: a transmission / reception unit that receives power from the power reception unit and the plurality of cranes; and a crane maximum that generates crane maximum power corresponding to the cargo handling command so that the power reception unit power does not exceed a preset maximum power. An electric power generation unit, and transmits the maximum power from the transmission / reception unit to the crane,
The crane generates a speed profile of a hoisting part, a traveling part, a traverse part, and an undulating part based on the operation signal, the handling command, and the maximum power, generates a position command from the speed profile, and sends the position command to the inverter of each part. A crane controller that transmits a position command and receives status information from the inverter; an operation panel that generates an operation signal for manually operating the crane; a converter that generates a first DC power supply from the commercial power supply; A plurality of inverters for generating an AC power source from the first DC power source based on the position command and driving the motors of the hoisting unit, the traveling unit, the traversing unit, and the undulating unit, and between the first DC power source and the second DC power source A crane system comprising: a chopper for converting power bidirectionally; and a power storage unit connected to the second DC power source.   The inverter controls a current of the inverter based on the position control unit that generates a speed command from the position command and the motor position, a speed control unit that generates a torque command from the speed command and the motor speed, and the torque command. The crane system according to claim 1, further comprising: a torque control unit; and a motor speed generation unit that generates the motor speed by pseudo-differentiating the motor position.   The inverter at the upper part calculates a load from the torque command at a stop or at a constant speed, calculates a hoisting amount from the motor position, and transmits the load and the hoisting amount to the crane controller. The crane system according to claim 1 or 2, characterized in that:   The crane system according to claim 1, wherein the power reception unit and the crane include a transmission / reception unit that calculates used power and transmits the power to a system controller.   The crane system according to claim 1, wherein the power storage unit has a capacity capable of storing a maximum amount of potential energy of the crane.   The crane controller monitors a remaining power storage amount of the power storage unit, prohibits a charging operation when the remaining power storage amount reaches a preset charge prohibition level, and discharges when a preset discharge prohibition level is reached. The crane system according to claim 1, wherein the chopper is operated so as to prohibit the movement.   2. The crane system according to claim 1, wherein the crane controller calculates an unwindable amount of the hoisting portion from the remaining power storage amount and the load, and transmits the calculated amount as a state information amount to the system controller.   The crane controller operates the chopper so that the power storage unit discharges when the power amount reaches a maximum power amount and the remaining power storage amount of the power storage unit does not reach a discharge prohibition level. The crane system according to claim 6.   The crane controller halves the crane speed when the power amount reaches the maximum power amount and the remaining power amount of the power storage unit has reached the discharge prohibition level, and sends the speed halving status information to the system controller. The crane system according to claim 6, wherein the transmission is transmitted.   The crane controller discharges the power storage unit until reaching the discharge prohibition level at the time of hoisting, prohibits discharging when reaching the discharge prohibition level, and charges the power storage unit until reaching the charge prohibition level at the time of lowering, The crane system according to claim 1, wherein the chopper is operated so as to prohibit charging when a charging prohibition level is reached. The said crane controller is provided with the position control part which produces | generates a speed command from the said position command and a motor position, The said speed command is transmitted to the inverter of each part, A status information is received from the said inverter. The crane system according to 1.

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