JP2010143682A - Cable reel controller, method for controlling cable reel, and tire type crane - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a cable reel controller, a method for controlling a cable reel, and a tire type crane for winding and rewinding a cable while stabilizing tensile force acting between a vehicle running by the cable reel and the external without being adversely affected by fluctuation of speed of the running vehicle. <P>SOLUTION: This controller 20 for the cable reel 5 includes a torque correction computing means 21 for obtaining running data Dd indicating speed or acceleration of the running vehicle and computing a torque correction value ▵T for a reference torque value Ts corresponding to a set tensile force value Ff set in advance based on the running data Dd and a torque command value computing means 22 for obtaining a torque command value Ct to be generated by a motor 5b to determine the set tensile force value Ff by correcting the reference torque value Ts by the torque correction value ▵T. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a cable reel control device, a cable reel control method, and a control device that are provided in a traveling vehicle and control a cable reel that performs connection and external connection. The present invention relates to a tire-type crane provided.

  Conventionally, a tire-type crane that travels in a predetermined lane by power feeding from an external power source is known. More specifically, the tire-type crane is provided with a traveling power supply cable for connecting to an external power source and a cable reel for winding and unwinding the traveling power supply cable. And, by winding or unwinding the traveling power supply cable with the cable reel along with the movement of the tire crane, the tire crane is powered from the external power supply via the traveling power supply cable regardless of its position, It is possible to run on its own (see, for example, Patent Document 1). Here, the cable reel includes a drum around which the traveling power supply cable is wound and a motor that rotates the drum, and the drum is rotated by the motor so that the traveling power supply cable is wound in the rotation direction, or It is possible to unwind.

By the way, the traveling power supply cable as described above is disposed between the cable reel provided in the tire crane and the external power supply, and if an excessive tension is applied, it is connected to the external power supply. The connector may be disconnected, and the traveling power supply cable or the cable reel itself may be damaged. On the other hand, when the applied tension is small or when no tension is applied, the traveling power supply cable is loosened, causing contact with the tire crane and crosstalk. Further, the tension acting on the traveling power supply cable changes in proportion to the winding radius of the traveling power supply cable wound around the drum even if the output of the motor is constant. For this reason, in the conventional cable reel, the motor is driven by the motor control device so that the output changes in proportion to the winding radius of the traveling power supply cable, and is wound and unwound by the drum.
JP 2003-137493 A

  However, in a traveling vehicle such as a tire-type crane, the traveling speed changes according to the driving operation, and also changes when a load such as a suspended load shakes or a wind blows. For this reason, the cable extended from the traveling vehicle and connected to the outside has a problem in that the tension is varied with the variation of the traveling speed of the traveling vehicle.

  The present invention has been made in view of the above-described circumstances, and is not affected by fluctuations in the traveling speed of the traveling vehicle, and stabilizes the tension acting between the traveling vehicle traveling and the outside by the cable reel. Provided are a cable reel control device, a cable reel control method, and a tire-type crane capable of winding and unwinding a cable.

In order to solve the above problems, the present invention proposes the following means.
The present invention includes a drum that is provided in a traveling vehicle and winds a cable that is connected to the outside, and a motor that rotationally drives the drum. A cable reel control device that controls a cable reel that performs unwinding, acquires travel data representing the speed or acceleration of the traveling vehicle, and corresponds to a preset tension setting value based on the travel data Torque correction calculating means for calculating a torque correction value with respect to a reference torque value, and a torque for correcting the reference torque value with the torque correction value to obtain a torque command value to be generated by the motor to obtain the tension setting value It comprises a command value calculation means.

  In addition, the present invention includes a drum that is provided in the traveling vehicle and winds a cable that is connected to the outside, and a motor that rotationally drives the drum, and the cable is wound as the traveling vehicle travels. A cable reel control method for controlling a cable reel that performs unwinding and unwinding, wherein the torque correction calculation means acquires travel data representing the speed or acceleration of the traveling vehicle and sets in advance based on the travel data A torque correction calculation step for calculating a torque correction value for the reference torque value corresponding to the tension setting value, and a torque command value calculation means correcting the reference torque value with the torque correction value, And a torque command value calculation step for obtaining a torque command value to be generated by the motor.

  According to this configuration and method, in the torque correction calculation step, travel data can be acquired by the torque correction calculation means, and a torque correction value corresponding to a change in travel speed can be obtained based on the travel data. Then, in the torque command value calculation step, the torque command value calculation means calculates the torque command value by correcting the reference torque value corresponding to the preset tension setting value with the torque correction value. In consideration of the influence, the torque command value for driving the motor of the cable reel can be accurately obtained so that the tension of the cable is set to the tension setting value. For this reason, it is possible to control the motor of the cable reel so that the cable tension is stabilized at the tension set value by removing the influence of the fluctuation of the traveling speed.

  In the cable reel control device, the torque correction calculation unit obtains a winding radius of the cable wound around the drum, and based on the winding radius and the running data, A rotation acceleration calculating unit for calculating a rotation acceleration; obtaining the winding radius; calculating a rotation mechanism inertia moment value of a rotation mechanism including the drum of the cable reel based on the winding radius; It is more preferable to have a torque correction calculation unit that calculates the torque correction value by multiplying the moment of inertia value by the rotation acceleration of the drum calculated by the rotation acceleration calculation unit.

  In the cable reel control method, in the torque correction calculation step, the torque correction calculation means acquires a winding radius of the cable wound around the drum, and the winding radius and the travel The rotation acceleration of the drum is calculated based on the data, the rotation mechanism inertia moment value of the rotation mechanism including the drum of the cable reel is calculated based on the winding radius, and the rotation mechanism inertia moment value and the drum are calculated. More preferably, the torque correction value is calculated by multiplying the rotational acceleration of the torque.

  According to this configuration and method, in the torque correction calculation step, the drum according to the traveling acceleration of the traveling vehicle corresponding to the traveling data based on the winding radius of the cable wound around the drum and the traveling data. The rotational acceleration of can be accurately calculated. Also, the rotation mechanism inertia moment value is calculated. At this time, the rotation mechanism inertia moment value of the rotation mechanism is accurately calculated in consideration of the cable wound around the drum by calculating based on the acquired winding radius. can do. Then, the torque correction value can be calculated accurately by multiplying the rotation acceleration of the drum and the rotation mechanism moment of inertia value obtained by the calculation, and the torque command value for driving the motor of the cable reel can thereby be calculated. It can be determined accurately.

  In the cable reel control apparatus, it is more preferable that the torque correction calculation means acquires the travel data on the side of the traveling vehicle on which the cable reel is provided and calculates the torque correction value. .

  In the cable reel control method, in the torque correction calculation step, it is more preferable that the torque correction calculation means obtains the travel data on the side of the traveling vehicle on which the cable reel is provided. .

  According to this configuration and method, since the torque correction calculation means obtains the travel data on the side of the traveling vehicle on which the cable reel is provided, the cable is connected to the cable based on the travel data based on the speed variation. The torque correction value for setting the acting tension as the tension set value can be calculated more accurately.

  The tire type crane of the present invention is provided with the above-described cable reel control device, a cable reel whose motor is controlled by the control device, the control device and the cable reel, and is driven by a tire traveling means. It is characterized by comprising a possible crane body.

  According to this configuration, the cable connected to the outside with respect to the crane main body traveling by the traveling means using the tire under the control of the control device is not affected by the fluctuation of the traveling speed, and the tension is set to the tension setting value. In a stable state, it can be wound and unwound by a cable reel.

In the cable reel control device of the present invention, by including the torque correction calculation means and the torque command value calculation means, the cable reel does not affect the travel speed of the travel vehicle, and the traveling vehicle traveling outside and The cable can be wound and unwound while the tension acting between them is stabilized.
Further, in the cable reel control method of the present invention, by performing the torque correction calculation step and the torque command value calculation step, the traveling vehicle traveling by the cable reel without being affected by the variation of the traveling speed of the traveling vehicle The cable can be wound and unwound while the tension acting with the outside is stabilized.
In the tire type crane of the present invention, by providing the above-described control device, the cable is pulled and disconnected from the outside as the traveling speed of the traveling vehicle fluctuates, or the connection with the crane main body or crossing is loosened. Therefore, the crane main body can be suitably traveled in a state of being connected to the outside by a cable.

  Hereinafter, an embodiment of a tire type crane according to the present invention will be described with reference to FIGS. FIG. 1 is an overall view of a tire type crane (Rubber Tired Gantry Crane) according to the present invention.

  As shown in FIG. 1, the tire-type crane 1 of the present embodiment is provided with an external power supply 2 in a traveling lane L installed on a road surface R in a container yard Y, and feeds power from the external power supply 2. In response, the container C is loaded and unloaded while traveling on the traveling lane L by the traveling means 6 using the tire 6a as a traveling vehicle. More specifically, the tire-type crane 1 includes a crane body 3 that travels on a road surface R by tires 6a, a traveling power supply cable 4 that is a cable that extends from the crane body 3 and is connected to an external power source 2, and a crane body. 3 is provided with a cable reel 5 that winds and unwinds the traveling power supply cable 4, and a control device 20 (see FIG. 2) that controls the cable reel 5.

  The crane main body 3 includes the tire-type traveling means 6, a pair of leg portions 7 that are erected substantially parallel to each other and can be traveled by the traveling means 6, and a beam portion that is installed above the leg portions 7. 8 and a suspension mechanism 9 suspended from the beam portion 8. As shown in FIGS. 1 and 2, the traveling means 6 is provided on each of the leg portions 7, and is supported by a tire 6 a that is rotatably supported around a vertical axis, and a direction adjustment mechanism that changes the direction of the tire 6 a ( (Not shown), a wheel drive motor (not shown) for driving the tire 6a, and a traveling means controller 6b for controlling the direction adjusting mechanism and the wheel drive motor. And in the traveling means control part 6b of the traveling means 6, based on the detection signal from the RTG meandering amount detection sensor (not shown) that detects the amount of deviation from the ground guideline G arranged along each traveling lane L, The direction of the traveling wheel is switched with respect to the direction adjusting mechanism, and the wheel drive motor is controlled to move laterally in the in-lane traveling direction L1 along the traveling lane L so as to follow the ground guideline G. .

  The wheel drive motor (not shown) is provided with a speed sensor 10 composed of an encoder or the like, and the traveling means control unit 6b travels the crane body 3 by the traveling means 6 in response to an input from the speed sensor 10. Getting speed. The traveling means control unit 6 b outputs traveling direction data Dd representing the traveling speed of the crane body 3 to the control device 20. The speed sensor 10 is preferably provided on a wheel drive motor (not shown) attached to the leg 7 on the side where the cable reel 5 is provided. In this way, traveling data Dd corresponding to the feeding speed of the traveling power supply cable 4 can be obtained. The travel speed represented by the travel data Dd differs depending on which direction the travel direction L1 travels, and is represented as positive when traveling on one side and negative when traveling on the other side.

  Further, as shown in FIG. 1, the pair of leg portions 7 support the beam portion 8 and the suspension mechanism 9. The beam portion 8 supports the suspension mechanism 9 so as to be suspended. The beam portion 8 is provided with a guide rail 8a so that the suspension mechanism 9 can travel along the longitudinal direction of the beam portion 8. The suspension mechanism 9 operates to load and unload the container C by receiving power from a power supply unit (not shown). More specifically, the suspension mechanism 9 includes a trolley 9a that can travel along the guide rail 8a of the beam portion 8, a spreader 9b that holds the container C, and a suspension rope 9c that suspends the spreader 9b from the trolley 9a. And a hoisting machine 9d that winds and unwinds the suspension rope 9c, and a suspension mechanism controller (not shown) that controls the operation of the trolley 9a, the spreader 9b, and the hoisting machine 9d. .

  Further, the traveling power supply cable 4 is provided with a power receiving side connector 4a at the tip, and is connected to the power supply side connector 2a of the external power source 2, thereby enabling power supply from the external power source 2. . As shown in FIGS. 1 and 2, the cable reel 5 that accommodates the traveling power supply cable 4 is provided on the outer surface of one leg portion 7. The cable reel 5 has a substantially horizontal axis, is rotatable and has a drum 5a around which the traveling power supply cable 4 is wound, and an output shaft connected to the drum 5a via a speed reducer (not shown). And a motor 5b for rotating the drum 5a. The motor 5b is connected to the control device 20 via the inverter 5c, whereby the torque command value Ct output from the control device 20 can be converted into a torque command current It and output to the motor 5b. It has become. Then, under the control of the control device 20, by driving the motor 5b and applying a predetermined torque to the drum 5a, the traveling power supply cable 4 is wound around the drum 5a as the crane body 3 travels, or It is possible to unwind. The drum 5a is provided with a winding radius detection sensor 5f that detects a winding radius Rc that is an outer diameter of the traveling power feeding cable 4 that is wound, and the winding radius Rc detected thereby is controlled. Input to the device 20.

  Next, details of the control device 20 will be described. As shown in FIG. 3, the control device 20 is based on the travel data Dd input from the travel means control unit 6b, and a torque correction that is a correction amount for the reference torque value Ts corresponding to the preset tension setting value Ff. Torque correction calculating means 21 for calculating the value ΔT, the reference torque value Ts is corrected with the torque correction value ΔT, the torque command value Ct to be generated by the motor to obtain the tension set value Ff, and the inverter 5c And a torque command value calculating means 22 for outputting to the motor 5b.

  The torque correction calculating means 21 calculates a running acceleration calculating section 23 for calculating a driving acceleration based on the driving data Dd from the driving means control section 6b, and calculates the rotational acceleration of the drum from the driving acceleration calculated by the driving acceleration calculating section 23. The rotation acceleration calculation unit 24 and the torque correction calculation unit 25 that calculates the torque correction value ΔT from the rotation acceleration calculated by the rotation acceleration calculation unit 24 are provided. The traveling acceleration calculation unit 23 is specifically a differentiator, and calculates the traveling acceleration of the crane body 3 by differentiating the traveling speed that is the input traveling data Dd. Here, the traveling acceleration is a concept including acceleration and deceleration, and expresses that the acceleration is positive and the deceleration is negative. The rotational acceleration calculation unit 24 obtains the winding radius Rc of the drum 5a from the winding radius detection sensor 5f, and multiplies the winding radius Rc by the traveling acceleration calculated by the traveling acceleration calculation unit 23. The rotational acceleration of the drum 5a of the cable reel 5 that rotates according to the traveling of the crane body 3 and feeds the traveling power supply cable 4 is calculated. Here, the rotational acceleration is a concept including acceleration and deceleration as well as the traveling acceleration, and expresses the acceleration as positive and the deceleration as negative.

  Further, in a memory (not shown), a reference inertia moment value, which is an inertia moment when the traveling power supply cable 4 is not wound around the drum 5a, and a traveling power supply cable 4 are used for the rotating mechanism including the drum 5a. The weight per unit length of the cable is stored. Then, the torque correction calculation unit 25 refers to the reference moment of inertia value and the weight per unit length of the cable from a memory (not shown), and acquires the winding radius Rc from the winding radius detection sensor 5f. Then, the torque correction calculation unit 25 considers the weight of the traveling power supply cable 4 wound around the drum 5 a from the winding radius Rc and the weight per unit length of the traveling power supply cable 4. The total moment of inertia is obtained as the rotation mechanism moment of inertia value. Then, the torque correction calculation unit 25 multiplies the rotation mechanism inertia moment value by the input rotational acceleration, thereby changing the rotational speed of the drum 5a as a torque correction value ΔT. The amount of change in torque acting on the power feeding cable 4 can be obtained. The torque correction value ΔT may be a torque correction value ΔT by giving a gain to the multiplication result of the rotation mechanism inertia moment value and the rotation acceleration.

  The torque command value calculating means 22 corrects the reference torque value Ts by correcting a reference torque value Ts, which is a reference torque value Ts that is a reference of torque to be generated as the motor 5b corresponding to the tension setting value Ff. A torque command value calculation unit 27 for calculating the command value Ct. The tension set value Ff is stored in a memory (not shown), and the traveling power supply cable 4 is not damaged due to the increased tension, or the traveling power supply cable 4 is not disconnected from the external power source 2. The size is set so that the tension does not decrease and the slackness does not occur. The reference torque calculator 26 refers to the tension setting value Ff from a memory (not shown), obtains the input winding radius Rc, and obtains the reference torque value Ts by multiplying both. Further, the torque command value calculation unit 27 corrects the reference torque value Ts with the torque correction value ΔT obtained by the torque correction calculation means 21 to obtain the torque command value Ct and outputs it to the motor 5b.

  With the configuration as described above, the control procedure of the control device 20 when winding and unwinding the traveling power supply cable 4 while applying a predetermined tension by the cable reel 5 as the tire type crane 1 travels. Details will be described with reference to FIG. As shown in FIG. 3, when the motor 5b of the cable reel 5 is driven in accordance with the traveling of the tire type crane 1, a predetermined motor generation torque Tm corresponding to the tension set value Ff is output from the motor 5b. Is done. A torque corresponding to the motor generation torque Tm from the motor 5b acts on the drum 5a around which the traveling power supply cable 4 is wound. For this reason, when the tire-type crane 1 travels in a direction away from the external power source 2 along the travel direction L 1, the traveling power supply cable 4 is unwound while the corresponding tension is applied, When traveling in the approaching direction, the corresponding tension is wound while acting. When the motor 5b is driven to wind or unwind the traveling power supply cable 4 as described above, the traveling speed measured from the traveling means control section 6b of the traveling means 6 in the crane body 3 is the traveling data. Dd is sequentially input to the control device 20.

  And the control apparatus 20 calculates | requires torque correction value (DELTA) T from the acquired driving | running | working data Dd by the torque correction calculating means 21 as a torque correction calculating step. That is, first, the travel data Dd is input to the travel acceleration calculation unit 23, and the travel acceleration is calculated by differentiating the travel data Dd. Then, the rotational acceleration calculating unit 24 calculates the rotational acceleration of the drum 5a by dividing the obtained traveling acceleration by the winding radius Rc of the drum 5a acquired from the winding radius detection sensor 5f. Next, the torque correction calculation unit 25 refers to the reference moment of inertia value and the weight per unit length of the cable from a memory (not shown), acquires the winding radius Rc from the winding radius detection sensor 5f, and rotates from these. Calculate the mechanism moment of inertia value. Then, the torque correction calculation unit 25 multiplies the rotation mechanism inertia moment value obtained by the rotation acceleration obtained by the rotation acceleration calculation unit 24 to obtain the torque correction value ΔT.

  Next, the control device 20 calculates and outputs a torque command value Ct by the torque command value calculation means 22 as a torque command value calculation step. That is, first, the reference torque calculation unit 26 refers to the tension setting value Ff stored in a memory (not shown), acquires the winding radius Rc from the winding radius detection sensor 5f, and multiplies them to obtain the reference torque value Ts. Ask. Then, the torque command value calculation unit 27 corrects the reference torque value Ts with the torque correction value ΔT to obtain the torque command value Ct. The torque command value for driving the motor 5b of the cable reel 5 can be accurately obtained so as to obtain the tension set value. For this reason, the control device 20 can control the motor 5b of the cable reel 5 so that the tension of the traveling power supply cable 4 is stabilized at the tension set value Ff by excluding the influence of the fluctuation of the traveling speed of the crane body 3. .

  FIG. 4 shows a basic traveling pattern in which the traveling means 6 accelerates to a predetermined speed, travels at a steady speed, and decelerates in the vicinity of the target position. The change over time of the torque command value is shown. As shown in FIG. 4, the tire-type crane 1 travels at an acceleration and speed according to an operation input, and as shown by times Ta, Tb, and Tc, a container that is a suspended load shakes and winds. It fluctuates under the influence of. However, like the control device 20 of the tire crane 1 of the present embodiment, the traveling speed is acquired, and based on this, the torque command value Ct output to the motor 5b of the cable reel 5 can be changed. The tension of the traveling power supply cable 4 can be stabilized at the tension set value Ff while suppressing the influence in synchronism with fluctuations in the traveling speed.

  As described above, the control device 20 for the cable reel 5 according to the present embodiment includes the torque correction calculation means 21 and the torque command value calculation means 22 so that it is not affected by fluctuations in the traveling speed of the crane body 3. The cable reel 5 can wind and unwind the traveling power supply cable 4 while stabilizing the tension acting between the traveling crane body 3 and the outside. In particular, in the control device 20 of the present embodiment, when calculating the torque correction value ΔT, the torque correction calculation unit 25 acquires the winding radius Rc, and based on the winding radius Rc, calculates the rotation mechanism inertia moment value. Thus, the torque correction value ΔT corresponding to the fluctuation of the traveling speed can be more accurately obtained from the rotation mechanism inertia moment value and the rotational acceleration. Moreover, in this embodiment, since the torque correction calculation means 21 has acquired the traveling data Dd on the side where the cable reel 5 is provided in the crane body 3, the fluctuation in speed is caused based on the traveling data Dd. Accordingly, the torque correction value ΔT for setting the tension acting on the traveling power supply cable 4 to the tension setting value Ff can be calculated more accurately.

  In the present embodiment, the traveling speed of the crane body 3 detected by the speed sensor 10 and output from the traveling means controller 6b is acquired as the traveling data Dd, and the torque correction value ΔT is determined based on the traveling speed. However, it is not limited to this. FIG. 5 shows a modification of the present embodiment. As shown in FIG. 5, the tire-type crane of this modification has an acceleration sensor 11, and the traveling means control unit 6 b uses the traveling acceleration as the traveling data Dd ′ based on the detection result from the acceleration sensor 11. Is output. In the control device 30, the torque correction calculation unit 31 includes a rotational acceleration calculation unit 32 and a torque correction calculation unit 25. Then, the rotational acceleration calculation unit 32 acquires the travel acceleration as the travel data Dd ′ directly from the travel means control unit 6b, calculates the rotational acceleration based on this, and the torque correction calculation unit 25 calculates the torque correction value ΔT. be able to. For this reason, the torque command value Ct can be similarly calculated by the torque command value calculator 22 and output to the motor 5b via the inverter 5c.

  In the above-described embodiment and its modification, the traveling speed or the traveling acceleration is detected and the torque correction value ΔT is calculated based on the detected traveling speed or the traveling acceleration. A speed command value or an acceleration command value output to a wheel drive motor (not shown) that drives 6a may be acquired as travel data, and thereby the torque correction value ΔT may be calculated.

  In the present embodiment, the cable reel 5 and the control device 20 are described as examples mounted on the tire-type crane 1. However, the present invention is not limited to this and can be applied to various traveling vehicles. It can also be applied to portal cranes that run on top. However, it is more effective for a tire-type crane that has a large variation in traveling speed and a large variation in tension due to meandering as described above. In addition, although the traveling power supply cable 4 is taken as an example of the cable extended by the cable reel 5, the present invention is not limited to this and may be applied to a communication cable or the like.

  As mentioned above, although embodiment of this invention was explained in full detail with reference to drawings, the concrete structure is not restricted to this embodiment, The design change etc. of the range which does not deviate from the summary of this invention are included.

It is a perspective view showing the whole tire type crane of an embodiment of the present invention. It is a block diagram of a tire type crane of an embodiment of the present invention. In the tire type crane of an embodiment of the present invention, it is a block diagram showing details of control logic of a control device. It is a graph which shows the relationship between time, a travel speed, and a torque command value as an example of the control result of the control apparatus of the tire type crane of embodiment of this invention. In the tire type crane of the modification of embodiment of this invention, it is a block diagram which shows the detail of the control logic of a control apparatus.

Explanation of symbols

1 Tire-type crane (traveling vehicle)
3 Crane body 4 Traveling power supply cable (cable)
DESCRIPTION OF SYMBOLS 5 Cable reel 6 Traveling means 6a Tire 5a Drum 5b Motor 20, 30 Control apparatus 21, 31 Torque correction calculating means 22 Torque command value calculating means 24, 32 Rotational acceleration calculating part 25 Torque command value calculating part

Claims (7)

A drum provided on the traveling vehicle for winding a cable for connection to the outside and a motor for rotationally driving the drum, and winding and unwinding the cable as the traveling vehicle travels A cable reel control device for controlling a cable reel,
Torque correction calculation means for acquiring travel data representing the speed or acceleration of the traveling vehicle and calculating a torque correction value for a reference torque value corresponding to a preset tension setting value based on the travel data;
A cable reel control comprising: a torque command value calculating means for obtaining a torque command value to be generated by the motor to correct the reference torque value with the torque correction value to obtain the tension setting value. apparatus. The cable reel control device according to claim 1,
The torque correction calculating means acquires a winding radius of the cable wound around the drum, and calculates a rotational acceleration of the drum based on the winding radius and the running data;
The winding radius is acquired, and based on the winding radius, the rotation mechanism inertia moment value of the rotation mechanism including the drum of the cable reel is calculated, and the rotation mechanism inertia moment value and the rotation acceleration calculation unit A control device for a cable reel, comprising: a torque correction calculation unit that calculates the torque correction value by multiplying the calculated rotation acceleration of the drum. In the cable reel control device according to claim 1 or 2,
The control device for a cable reel, wherein the torque correction calculation means acquires the travel data on the side of the traveling vehicle where the cable reel is provided and calculates the torque correction value. A drum provided on the traveling vehicle for winding a cable for connection to the outside and a motor for rotationally driving the drum, and winding and unwinding the cable as the traveling vehicle travels A cable reel control method for controlling a cable reel,
Torque correction calculating means acquires travel data representing the speed or acceleration of the traveling vehicle and calculates a torque correction value for a reference torque value corresponding to a preset tension setting value based on the travel data. A calculation step;
A torque command value calculating means for correcting the reference torque value with the torque correction value to obtain a torque command value to be generated by the motor to obtain the tension setting value; A control method for a cable reel. The cable reel control method according to claim 4,
In the torque correction calculating step, the torque correction calculating means acquires a winding radius of the cable wound around the drum, and calculates a rotational acceleration of the drum based on the winding radius and the travel data. And calculating a rotation mechanism inertia moment value of a rotation mechanism including the drum of the cable reel based on the winding radius, and multiplying the rotation mechanism inertia moment value by the rotation acceleration of the drum to calculate the torque correction value. A method for controlling a cable reel, wherein In the cable reel control method according to claim 4 or 5,
In the torque correction calculation step, the torque correction calculation means acquires the traveling data on the side of the traveling vehicle on which the cable reel is provided. A control device for a cable reel according to any one of claims 1 to 3,
A cable reel whose motor is controlled by the control device;
A tire-type crane provided with the control device and the cable reel, and comprising a crane main body capable of traveling by traveling means using tires.

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