JP2016120995A - Swing angle detection method and device of crane - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a swing angle detection method and a device of a crane capable of appropriately detecting a swing angle of a lifted load while minimizing time and effort and costs required for installation/removal and maintenance of equipment with a simple configuration.SOLUTION: A crane comprises: motion 7 lifting down a lifted load 8 by ropes 16, 16', 20 and 20' and operating; and winch drums 15, 15', 19 and 19' driving the ropes and performing operation of the lifted load 8 and the motion 7. Sheave load detectors 25 are individually attached to a plurality of sheaves 17, 17', 21 and 21' equipped in the middle of the ropes, tension of the ropes is detected, an estimated swing angle is calculated from the tension, processing by a Kalman filter is performed with respect to the estimated swing angle, and a swing angle prediction value of the lifted load 8 is calculated.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a crane swing angle detection method and apparatus for detecting a swing angle of a suspended load generated during a cargo handling operation by a crane.

  In the cargo handling work by the crane, the suspended load is shaken as the suspended load suspended from the rope is moved. If the suspended load swings when the suspended load reaches the target position, the transported object cannot be lifted and lowered to an accurate position until the swing is settled, resulting in a reduction in work efficiency. Depending on the angle and magnitude of the generated deflection, suspended loads and ropes may interfere with surrounding machines and structures. For this reason, it is desirable to suppress the swing of the suspended load as much as possible.

  In order to suppress the shake, it is necessary to accurately detect the swing angle of the suspended load, and various techniques have been proposed for detecting the swing angle. For example, a rod that follows the rope is installed near the fulcrum on the base side of the rope and the swing angle of the suspended load is detected as the angle of the rod, or a potentiometer via a fork that sandwiches the rope at the tip of the motion (jib) Have been proposed that detect the deflection angle of a suspended load (see, for example, Patent Documents 1 and 2 below). However, these mechanical deflection angle detectors require a lot of labor to attach and detach the equipment, and because there are many contact parts and sliding parts between the equipment and the rope, dirt tends to accumulate, which makes detection accuracy high. There is a concern that will decrease. In addition, although an optical device that captures a marker attached to the suspended load side with an imaging device on the motion side and detects a deflection angle by image processing (see, for example, Patent Document 3 below) is also used. Installation takes time and cost is high because expensive equipment is required. Also, depending on the weather and the surrounding environment, shooting and image processing may be difficult, and the shake angle may not be detected accurately.

  For this reason, the swing angle of the suspended load itself is not measured directly, but the acceleration of the suspended load, the torque of the motor that feeds the rope, the component force applied to the motion from the suspended load, the position of the fulcrum of the rope and the length of the rope It has been proposed to measure various numerical values related to the deflection angle and indirectly estimate the deflection angle using a Kalman filter or an observer based on these measurement values (for example, Patent Document 4 below). To 6).

JP 2014-97893 A JP 2005-67747 A JP 2009-234699 A Japanese Patent Laid-Open No. 10-45379 JP 2001-48467 A Japanese Patent Laid-Open No. 7-89691

  However, each of these techniques also has drawbacks. In the method of estimating the deflection angle based on the acceleration of the suspended load (Patent Document 4), the work of attaching and detaching the accelerometer to the suspended load side is complicated and troublesome. In the method using the motor torque (the above-mentioned Patent Document 5), an accurate swing angle cannot be estimated when a swing of a suspended load is excited by a disturbance while the motor is stopped. The method of estimating the deflection angle from the component force applied to the carriage (Patent Document 6) is basically limited to a club trolley crane. For this reason, there is a demand for a method of detecting a swing angle that is easier to handle, can detect a vibration excited by a disturbance, and can be applied to various cranes.

  In view of such circumstances, the present invention provides a crane swing angle detection method capable of suitably detecting a swing angle of a suspended load with a simple configuration and minimizing the labor and cost for attaching and detaching equipment. The device is to be provided.

  The present invention is a method of detecting a swing angle of a crane including a motion that operates by suspending a suspended load with a rope, and a winch drum that operates the suspended load and the motion by driving the rope. A sheave load detector is attached to each of a plurality of sheaves provided in the middle of the rope to detect the tension of the rope, calculate an estimated deflection angle from the tension, and perform processing by the Kalman filter on the estimated deflection angle The present invention relates to a crane swing angle detection method characterized by calculating a predicted swing angle of a suspended load.

  In this way, the swing angle of the suspended load can be accurately predicted by a simple and inexpensive mechanism.

  In the crane swing angle detection method of the present invention, a trolley crane having a girder or a trolley traversing on a boom is assumed as the motion, and the trolley crane is assumed to be a spring mass damper model. The Kalman filter can be designed for the defined mathematical model, and in this way, a highly accurate predicted deflection angle can be obtained with a simple mathematical model.

  In the crane swing angle detection method of the present invention, a swing body and a jib crane provided with the jib as the motion attached to the swing body so as to be raised and lowered are set as targets for swing angle detection, and the jib crane is used as a spring mass. The Kalman filter can be designed for a mathematical model defined assuming a damper model, and in this way, a highly accurate deflection angle prediction value can be obtained with a simple mathematical model.

  Further, the present invention is a crane swing angle detection device including a motion that operates by suspending a suspended load with a rope, and a winch drum that drives the rope and performs the operation of the suspended load and the motion. A plurality of sheaves provided in the middle of the rope, a sheave load detector that is attached to each sheave and detects the tension of the rope, an estimated deflection angle is calculated from the tension of the rope, and the estimated deflection angle And a control device configured to calculate a predicted swing angle of a suspended load by performing a process using a Kalman filter.

  In the crane swing angle detection device of the present invention, it is assumed that a trolley crane having a trolley that traverses a girder or a boom as the motion is a target of swing angle detection, and the trolley crane is a spring mass damper model. The Kalman filter can be designed for the defined mathematical model and mounted on the control device.

  In the crane swing angle detection device of the present invention, a swing body and a jib crane provided with the jib as the motion attached to the swing body in a undulating manner are set as targets for swing angle detection, and the jib crane is used as a spring mass. The Kalman filter can be designed with respect to a mathematical model defined as a damper model, and can be implemented in the control device.

  According to the crane swing angle detection method and apparatus of the present invention, the swing angle of a suspended load can be suitably detected with a simple configuration while minimizing the labor and cost for attaching and detaching equipment. The effects can be achieved.

It is a side view which shows an example (1st Example) of the trolley type crane (grab bucket type unloader) to which this invention is applied. It is a perspective view which shows an example (1st Example) of the trolley type crane (grab bucket type unloader) to which this invention is applied. It is a control block diagram in the first embodiment of the crane swing angle detection method and apparatus of the present invention. It is a control block diagram in the first embodiment of the crane swing angle detection method and apparatus of the present invention. It is the schematic which illustrates the tension concerning a sheave. It is explanatory drawing of the numerical formula model of a trolley type crane. It is a block diagram which converts a force input model into a speed input model. It is a flowchart which shows the process of the calculation in a Kalman filter. It is a diagram which shows by comparing the swing angle of the suspended load estimated by the implementation of the present invention and the actual swing angle. It is a control block diagram in the second embodiment of the swing angle detection method and apparatus of the crane of the present invention. It is the schematic which illustrates the tension concerning a sheave. It is a side view which shows an example (3rd Example) of the jib crane to which this invention is applied. It is a perspective view which shows an example (3rd Example) of the jib crane to which this invention is applied, and is the schematic which illustrates the tension concerning a sheave. It is a control block diagram in the third embodiment of the swing angle detection method and apparatus of the crane of the present invention. It is a control block diagram in the third embodiment of the swing angle detection method and apparatus of the crane of the present invention. It is explanatory drawing of the numerical formula model of a jib crane.

  FIGS. 1-9 shows the 1st example of the form which implements the swing angle detection method and apparatus of the crane of this invention. In the first embodiment, a case where the present invention is applied to a grab bucket unloader is illustrated.

  A grab bucket type unloader is a type of bridge-type crane provided on the quay to unload roses such as ore and coal loaded on a bulk carrier. It is a crane. The grab bucket type unloader shown in FIG. 1 includes a machine body 4 having a seaside limb 1 and a landside limb 2 and traveling on a rail 3 on a quay, and a land side above the machine body 4. A boom 6 that can project from the girder 5 provided on the sea side to the sea side with a pin 6 a as the center, a trolley (motion) 7 that traverses along the longitudinal direction of the boom 6 and the girder 5, and a suspension from the trolley 7. It has a grab bucket 8 as a suspended load that is lowered and opened and closed. Then, the grab bucket 8 opened from the trolley 7 located on the sea side of the boom 6 is suspended from the upper opening 9a of the bulk carrier 9 and placed on the bulk, and the grab bucket 8 is closed. The grab bucket 8 is moved up, and then the trolley 7 is moved to the land side to move the grab bucket 8 to the land side. The grab bucket 8 is provided in the machine body 4 with a hopper. By opening the door 10 when it reaches the top, the rose is put into the hopper 10. The bulk material thrown into the hopper 10 is supplied to the land conveyor 12 by an in-machine conveyor 11 provided in the machine body 4. In FIG. 2, reference numeral 13 denotes a mobile operation room in which an operator who operates the unloader is boarded, and reference numeral 14 denotes a machine room provided at the land side end of the upper part of the machine body 4.

  As the grab bucket type unloader as described above, for example, as shown in FIG. 2, four winch drums are provided, and the trolley 7 is traversed and the grab bucket 8 is moved up and down and opened and closed by driving the winch drum. There is a 4-drum unloader.

  The hoisting rope 16 fed out from the hoisting drum 15 as the winch drum is guided to the sheave 18 on the trolley 7 through the sheave 17 provided at the land side end of the girder 5 (see FIG. 1), and then downward. The lower end is directed and fixed to one side (land side) of the grab bucket 8. Further, the hoisting rope 16 ′ fed out from the hoisting drum 15 ′ as the winch drum is guided to the sheave 18 ′ on the trolley 7 through the sheave 17 ′ provided at the sea end of the boom 6 (see FIG. 1). After that, the lower end directed downward is fixed to the other side (sea side) of the grab bucket 8.

  The open / close rope 20 fed out from the open / close drum 19 as the winch drum is guided to the sheave 22 on the trolley 7 through the sheave 21 provided at the land side end of the girder 5 (see FIG. 1), and then downward. A lower moving sheave 23 that is guided and attached to the connecting portion of the bucket body 8a, 8a of the grab bucket 8, and an upper fixed sheave 24 that is attached to the upper frame 8c that supports the bucket body 8a by pin connection via a tie rod 8b (see FIG. 1), and is fixed to a required portion of the grab bucket 8. On the other hand, the open / close rope 20 ′ fed out from the open / close drum 19 ′ as the winch drum is guided to the sheave 22 ′ on the trolley 7 through the sheave 21 ′ provided at the sea end of the boom 6 (see FIG. 1). After that, it is guided downward and is hung a plurality of times between the lower moving sheave 23 of the grab bucket 8 and the upper fixed sheave 24 (see FIG. 1), and is fixed to a required portion of the grab bucket 8.

  In the four-drum unloader shown in FIG. 2, when the hoisting drums 15 and 15 ′ are stopped and the open and close ropes 20 and 20 ′ are simultaneously fed out by the open and close drums 19 and 19 ′, the lower moving sheave of the grab bucket 8 is obtained. 23 and the upper fixed sheave 24 (see FIG. 1) are opened, the grab bucket 8 is opened, and when the open / close ropes 20 and 20 ′ are simultaneously wound by the open / close drums 19 and 19 ′, the lower moving sheave 23 and the upper fixed sheave 24 The interval (see FIG. 1) becomes narrower and the grab bucket 8 is closed.

  Further, if the operation of feeding the hoisting ropes 16 and 16 ′ by the hoisting drums 15 and 15 ′ and the operation of feeding the opening and closing ropes 20 and 20 ′ by the opening and closing drums 19 and 19 ′ are simultaneously performed, the grab bucket 8 is lowered. Further, when the operation of winding the hoisting ropes 16 and 16 ′ by the hoisting drums 15 and 15 ′ and the operation of winding the opening and closing ropes 20 and 20 ′ by the opening and closing drums 19 and 19 ′ are performed simultaneously, the grab bucket 8 is raised. To do.

  On the other hand, a winding operation of the hoisting drum 15 and the opening / closing drum 19 leading the hoisting rope 16 and the opening / closing rope 20 from the land-side sheaves 17, 21 to the land-side sheaves 18, 22 on the trolley 7, The hoisting drum 15 'and the opening / closing drum 19' are led out simultaneously from the sheaves 17 ', 21' to the seaside sheaves 18 ', 22' of the trolley 7 with the hoisting rope 16 'and the opening / closing rope 20'. Then, the trolley 7 and the grab bucket 8 traverse to the land side. On the contrary, when the winding operation of the hoisting drum 15 and the opening / closing drum 19 and the winding operation of the hoisting drum 15 ′ and the opening / closing drum 19 ′ are performed simultaneously, the trolley 7 and the grab bucket 8 traverse to the sea side. That is, the trolley 7 and the grab bucket 8 can be traversed by operating the hoisting drums 15 and 15 ′ and the opening and closing drums 19 and 19 ′.

  In the first embodiment, the suspended load (grab bucket) 8 is based on the tension of each rope (the hoisting ropes 16, 16 ′ and the opening / closing ropes 20, 20 ′) detected by using the sheave load detector 25. The current position of the suspended load 8 is detected by the suspended load current position detector 26.

  The sheave load detector 25 is a load sensor such as a load cell attached to the hoist sheaves 17 and 17 ′ and the open and close sheaves 21 and 21 ′, and is detected in the four sheaves as shown in FIGS. The obtained load is input to the deflection angle calculation unit 28 of the control device 27 as a load signal 25a.

  The suspended load current position detector 26 traverses the trolley 7 and also operates a winch drum (winding ropes 16 and 16 'and opening and closing ropes 20 and 20') for raising and lowering and opening and closing the grab bucket 8. A rotation sensor such as an encoder for measuring the drum rotation speed of the drums 15 and 15 ′ and the open / close drums 19 and 19 ′), and the current load position calculation unit 29 of the control device 27 uses the measured drum rotation speed as a rotation speed signal 26a. To enter.

  The control device 27 estimates the swing angle θ of the grab bucket (suspended load) 8 based on the load signal 25 a input from the sheave load detector 25, and the estimated value of the swing angle θ and the position detection value of the trolley 7. Further, the deflection angle θ is predicted by inputting the speed detection value and the suspended rope length into the Kalman filter.

  Further, when the operator operates the controller 30 provided in the mobile cab 13, the operation signal 30a is input to the control device 27 as a traversing operation speed command or a traversing target position command to the trolley 7. Yes.

  The control device 27 estimates the swing angle θ of the grab bucket 8 based on the load signal 25 a input from the sheave load detector 25, and the estimated swing angle θ and the rotation input from the suspended load current position detector 26. The steady-state feedback control speed command is calculated based on the suspended rope length l of the suspended load 8 calculated from the numerical signal 26a, the traversing position x of the trolley 7, and the like. The steadying control speed command u added to the traverse operation speed command is output to the inverter 32 of the winch drum motor 31 as a control signal 27a. The inverter 32 controls the traversing operation of the winch drum via the motor 31 based on the control signal 27a.

  Next, details of the deflection angle prediction in the first embodiment will be described with reference to FIGS.

The suspended load current position calculation unit 29 (see FIG. 4) of the control device 27 performs a traverse position (position detection value) of the motion (trolley 7) based on the rotation speed signal 26a input from the suspended load current position detector 26. ) _{x r,} the motion (transverse velocity (speed detection value of the trolley _{7)) V fb,} and motion (the suspended load (the distance to the grab buckets) 8 (hanging rope length detected value from the trolley 7)) is calculated l. At this time, the traverse speed of the trolley 7 can be calculated as a differential value of the position of the trolley 7 in the traverse direction.

Next, the deflection angle calculation unit 28 of the control device 27 estimates the deflection angle θ of the suspended load 8 based on the sheave load signal 25 a input from the sheave load detector 25. Specifically, as shown in FIG. 5, the sheaves (winding sheaves 17, 17 ′, open / close sheaves 21, 21 ′) are each subjected to a tension of T _m1 , T _m2 , T _a1 , T _a2 . these tensions will vary according to the estimated swing angle theta _T of the suspended load 8. That is, the estimated deflection angle θ _T can be calculated as a function using the tensions T _m1 , T _m2 , T _a1 , and T _a2 as independent variables as follows.
θ _T = f (T _m1 , T _m2 , T _a1 , T _a2 )

Next, the controller 27 detects the position detection value x _r , the speed detection value V _fb , the suspension rope length detection value l calculated by the suspended load current position calculation unit 29, and the estimation calculated by the deflection angle calculation unit 28. the deflection angle theta _T input to the Kalman filter 33 (see FIG. 4). The Kalman filter 33 predicts the deflection angle of the load 8 suspended by a crane model 34 that defines inside of the Kalman filter 33, the deflection angles the prediction compared to the estimated swing angle theta _T, and its error variance minimum Thus, the system configuration is such that an optimum estimation result for the deflection angle is returned.

  Hereinafter, a design procedure of the Kalman filter 33 will be described. In order to design the Kalman filter 33, it is necessary to derive a mathematical model (crane model) 34 of a crane to be controlled (in this embodiment, a grab bucket unloader which is a kind of trolley crane).

A procedure for deriving the mathematical model 34 will be described. In the case of a trolley crane such as the grab bucket unloader described above, only the traversing motion needs to be considered for the motion of the trolley, which is a motion. Therefore, the model definition for deriving the mathematical model 34 is as follows: Assume.
a) Rope mass is not considered.
b) The motion (trolley 7) is a one-mass system model of a spring mass damper considering only the movement in the transverse direction (x direction).
c) The control input (stabilization control speed command) u acts directly on the trolley 7.

  Based on the above definition, a mathematical model 34 of a trolley crane is assumed as shown in FIG. The definitions of the main symbols are shown below.

M _t : motion (trolley 7) mass [kg], M _o : suspended load mass [kg], l (t): suspended rope length [m], u (t): control input [N], x _r ( t): x-direction position (transverse position) [m] of the motion (trolley 7), x _o (t): x-direction position [m] of the suspended load 8, y _o (t): y-direction position of the suspended load 8 [M], θ (t): deflection angle [rad] of the suspended load 8, k _t : equivalent spring constant [N / m] of motion (trolley 7), c _t : equivalent damping of motion (trolley 7) Coefficient [N · s / m], K _pp : Inverter equivalent speed gain, g: Gravitational acceleration [m / s ² ], t: Time [s]. The subscript t represents a trolley that is a motion, and the subscript o represents a suspended load.

The kinetic energy T _t , potential energy V _t , and external force P _t applied to the trolley 7 are as follows. Here, the dot symbol (•) written at the top of the variable represents the derivative (the differential value with respect to time) of the variable. When two dot symbols are attached, it represents the second derivative of the variable.

Kinetic energy T _o , potential energy V _o , and external force P _o applied to the suspended load 8 are as follows.

The equation of motion is derived by applying the above [Equation 1] and [Equation 2] to the Lagrangian equation. When q _i is a generalized coordinate, the Lagrangian equation is as follows.

Ｍは２×２の質量行列、Ｃは２×２の減衰行列、Ｋは２×２の剛性行列、Ｆは２×１の入力行列である。 From the above [Equation 3], the following equation of motion is obtained.

M is a 2 × 2 mass matrix, C is a 2 × 2 attenuation matrix, K is a 2 × 2 stiffness matrix, and F is a 2 × 1 input matrix.

として展開すると、状態方程式および出力方程式は以下の通りとなる。

Furthermore, the state quantity x is

, The state equation and output equation are as follows.

Here, although the state equation is a force input, in the actual machine, the trolley 7 is driven by a traverse operation speed command via the inverter 32. Therefore, the speed control gain equivalent of the inverter 32 is set to _Kpp, and the speed control is realized by the block diagram shown in FIG. Therefore, the state equation of [Formula 6] can be expressed by the following state equation of the speed control input model.

The Kalman filter 33 is designed based on the output equation of [Equation 6] and the state equation of [Equation 7]. The trolley crane to be controlled by the Kalman filter 33 is given by the following equation of state and output, taking into account the process noise w and the observation noise v defined by the covariance matrix in [Equation 6] and [Equation 7]. .

The process noise w is an error between the behavior simulated by the mathematical model and the actual behavior. The magnitude of the process noise w is set by the covariance matrix Q. The covariance matrix Q is calculated by setting the standard deviation σ _w of each component of the process noise w.

  As factors of process noise, disturbances such as wind, errors due to modeling, errors due to discretization of motion equations, calculation errors in the control device, and the like can be considered.

The magnitude of the observation noise v is also set by the covariance matrix R. As in the case of the process noise w, the covariance matrix R is calculated by setting the standard deviation σ _v of each component of the observation noise v.

  Note that the cause of the observation noise may be electrical noise or drift inherent to the sensor, rope other than the one-mass pendulum vibration, and other mechanical vibrations.

  A control calculation executed inside the Kalman filter 33 will be described with reference to FIG. In executing the control calculation, first, as step S1, specific numerical values of each component are set for the process noise w, the observation noise v, and the covariance matrices Q and R thereof. These numbers are determined empirically.

の初期値

および初期共分散ＣｏｖＸ_０を以下の通り設定する。ここで、ハット記号（＾）は上記モデルを用いた予測値であることを表す。

Further, the state quantity of the mathematical model 34 inside the Kalman filter 33

Initial value of

And the initial covariance CovX ₀ is set as follows: Here, the hat symbol (^) represents a predicted value using the above model.

Next, as step S2, the coefficient matrix in the crane model 34 (see [Equation 8]) is discretized, and the discretized coefficient matrices A _t , B _t , and C _t are calculated. The subscript t in this calculation represents discrete time.

Next, as step S3, the internal state and the observed value after Δt time (t + Δt time) are predicted from the estimation result of the internal state at the present time (t time). Δt represents a control calculation cycle. Here, not the traversing operation speed command V _{ref to} the motion (trolley 7) but the sensor detection value V _fb that is the actual speed of the motion (trolley 7) is used as the control input. The value of the above [Equation 12] is used as an internal state at the time of initial calculation.

Further, as step S4, the covariance between the internal state and the observed value after Δt time (t + Δt time) is predicted. Here, since each covariance includes process noise and observation noise, the predicted value of covariance is as follows.

In step S5, a Kalman gain K _{t + Δt} that is a weight of the correction amount of the internal state is calculated. This Kalman gain is composed of the covariance calculated in [Equation 15] and includes process noise.

As step S6, the estimated value of the internal state is updated by the following [Equation 17] from the observed value that predicted the internal state and the actual observed value. The estimated value updated here is substituted in step S3 of the next calculation cycle.

In step S7, the covariance of the internal state is updated by the following [Equation 18]. The estimated value updated here is substituted in step S4 of the next calculation cycle.

  When the calculation up to step S7 is completed, the process returns to step S2, and the steps from step S2 to S7 are repeated at the above calculation cycle while correcting the internal state and its covariance. Thereby, the deflection angle θ of the suspended load 8 can be accurately estimated in real time.

である。実線はシーブ荷重検出器（ロードセル）２５とは別のセンサにより検出した振れ角を示しており、これを真値であると仮定することができる。破線で示される振れ角予測値は、実線で示される真値とよく適合していることがわかる。このように、本第一実施例においては、巻上シーブ１７，１７'や開閉シーブ２１，２１'にかかる張力から吊り荷８の振れ角を推定し、さらにカルマンフィルタ３３による処理を行って吊り荷８の振れ角を予測しているので、単純で安価な機器により吊り荷８の振れ角を精度良く予測することができる。 FIG. 9 is a diagram showing comparison between the swing angle data predicted by the above process and the actual swing angle data in the grab bucket unloader experimental machine. The experimental machine used in this comparative verification experiment is a scale-down type manufactured by reducing the size of the actual grab bucket unloader. An estimated swing angle theta _T is the is based on the load signal 25a input from the sheave load detector 25 shown by a dashed line, deflection angle is shown by a broken line is predicted by the Kalman filter process from the estimated swing angle theta _T Predicted value

It is. A solid line indicates a deflection angle detected by a sensor different from the sheave load detector (load cell) 25, and this can be assumed to be a true value. It can be seen that the predicted deflection angle indicated by the broken line is well matched with the true value indicated by the solid line. Thus, in the first embodiment, the swing angle of the suspended load 8 is estimated from the tension applied to the hoist sheaves 17 and 17 ′ and the open and closed sheaves 21 and 21 ′, and further the process by the Kalman filter 33 is performed. Since the swing angle of 8 is predicted, the swing angle of the suspended load 8 can be accurately predicted with a simple and inexpensive device.

The control device 27 uses the deflection angle of the suspended load 8 predicted by the above-described process, and suspends the suspended load 8 calculated from the predicted deflection angle and the rotation speed signal 26a input from the suspended load current position detector 26. Based on the lower rope length l, the traversing position x of the trolley 7, etc., a steady-state feedback control speed command is calculated. The steady rest feedback control speed command can be calculated, for example, by deriving a gain schedule H _∞ controller corresponding to the variation of the suspended rope length l of the suspended load. The calculated steadying feedback control speed command is output to the inverter 32 of the winch drum motor 31 as a control signal 27a. The inverter 32 controls the traversing operation of the winch drum via the motor 31 based on the control signal 27a.

Thus, in the first embodiment, the motion (trolley) 7 that operates by hanging the suspended load (grab bucket) 8 with the ropes (the hoisting ropes 16, 16 ′, the opening and closing ropes 20, 20 ′) and The swing angle of a crane equipped with a winch drum (winding drums 15 and 15 ', opening and closing drums 19 and 19') that drives the rope and operates suspended loads (grab buckets) 8 and motions (trolleys) 7 With respect to the detection method, a sheave load detector 25 is attached to each of a plurality of sheaves (winding sheaves 17, 17 ′, open / close sheaves 21, 21 ′) provided in the middle of the rope to detect the tension of the rope, calculating the estimated swing angle theta _T from the tension, so to calculate a deflection angle predicted value of the load (grab bucket) 8 hanging by performing the processing of the Kalman filter 33 with respect to the estimated swing angle theta _T, a simple The valence mechanism, load the deflection angle of the (grab bucket) 8 can be accurately predicted hanging.

  Further, in the first embodiment, it is assumed that a trolley crane having a trolley 7 traversing the girder 5 and the boom 6 as a motion is a target for detecting a swing angle, and the trolley crane is a spring mass damper model. Since the Kalman filter 33 is designed with respect to the mathematical model 34 defined above, a highly accurate deflection angle prediction value can be obtained with the simple mathematical model 34.

  Therefore, according to the first embodiment, the swing angle of the suspended load can be suitably detected with a simple configuration while minimizing the labor and cost for attaching / detaching equipment and maintenance.

  Next, a case where the present invention is applied to a three-drum grab bucket unloader will be described as a second embodiment of the present invention.

  FIGS. 10 and 11 show a three-drum grab bucket unloader to which the present invention is applied. The basic configuration is the same as the four-drum grab bucket unloader of the first embodiment.

  In the case of the second embodiment, the hoisting drum 35 and the opening / closing drum 36 perform the hoisting operation and the opening / closing operation of the grab bucket 8, and the traversing drum 37 performs the traversing operation of the trolley 7. That is, the three-drum type grab bucket unloader of the second embodiment has a total of three winch drums, a hoisting drum 35, an opening / closing drum 36, and a transverse drum 37, for traversing the trolley 7 and raising / lowering and opening / closing the grab bucket 8. Is different from the 4-drum grab bucket unloader of the first embodiment in that it has a drive drum dedicated to each operation.

  A mechanism for driving the trolley 7 and the grab bucket 8 in the second embodiment will be described with reference to FIG. The three-drum type grab bucket unloader of the second embodiment travels along the longitudinal direction of the girder (not shown) and the boom (not shown) in addition to the trolley 7, and assists to prevent slack by adjusting the tension of the rope. A trolley 38 is provided. The auxiliary trolley 38 includes a total of six sheaves of hoisting rope adjusting sheaves 39 and 39 ', opening and closing rope adjusting sheaves 40 and 40', and traversing rope adjusting sheaves 41 and 41 ', and a rope is wound around each sheave. The vehicle travels on a girder (not shown) or a boom (not shown).

  Two hoisting ropes 42, 42 ′ are fed out from the hoisting drum 35, and the hoisting rope 42 is hoisted by the auxiliary trolley 38 through a fixed sheave 43 provided at an appropriate position of a girder (not shown). After being wound around the adjustment sheave 39 and guided to the suspended sheave 44 on the trolley 7, the lower end is fixed to one side of the grab bucket 8 and directed downward. The hoisting rope 42 ′ is wound around the hoisting rope adjusting sheave 39 ′ of the auxiliary trolley 38 via a fixed sheave 43 ′ provided at an appropriate position of a girder (not shown), and further the suspended sheave 44 ′ on the trolley 7. , The lower end directed downward is fixed to the other side of the grab bucket 8.

  Two open / close ropes 45 and 45 'are extended from the open / close drum 36, and the open / close rope 45 is connected to the open / close rope adjusting sheave 40 of the auxiliary trolley 38 via a fixed sheave 46 provided at an appropriate position of a girder (not shown). After being wound and further guided to the suspended sheave 47 on the trolley 7, it is guided downward to be hung multiple times between the lower moving sheave 23 of the grab bucket 8 and the upper fixed sheave 24 (see FIG. 10). And fixed to a required portion of the grab bucket 8. The open / close rope 45 ′ is wound around the open / close rope adjusting sheave 40 ′ of the auxiliary trolley 38 via a fixed sheave 46 ′ provided at an appropriate position of a girder (not shown), and further guided to a suspended sheave 47 ′ on the trolley 7. After that, it is guided downward and is hung multiple times between the lower moving sheave 23 of the grab bucket 8 and the upper fixed sheave 24 (see FIG. 10), and is fixed to a required portion of the grab bucket 8.

  From the traverse drum 37, a total of four ropes of sea side traverse ropes 48, 48 'and land side traverse ropes 49, 49' are drawn out. The sea side traversing rope 48 is guided to the trolley 7 through a sheave 50 provided at the sea side (left side in FIG. 11) end of the boom (not shown), and the end is fixed to the trolley 7. The sea side traversing rope 48 ′ is guided to the trolley 7 via a sheave 50 ′ provided at the sea side end of the boom (not shown), and the end is fixed to the trolley 7.

  The land-side traversing rope 49 is guided to the traversing rope adjustment sheave 41 of the auxiliary trolley 38 through a sheave 51 provided on the land side (right side in FIG. 11) of the girder (not shown), and then the land side of the girder (not shown). It is led again to the end and the end is fixed. The land-side traversing rope 49 ′ is guided to the traversing rope adjustment sheave 41 ′ of the auxiliary trolley 38 through a sheave 51 ′ provided at the land-side end of the girder (not shown), and then to the land-side end of the girder (not shown). It is led again and the end is fixed.

  In the three-drum unloader shown in FIG. 11, when the hoisting drum 35 and the traverse drum 37 are stopped, when the open / close ropes 45 and 45 ′ are simultaneously fed out by the open / close drum 36, the lower moving sheave 23 of the grab bucket 8 and When the gap between the upper fixed sheave 24 (see FIG. 10) is widened and the grab bucket 8 is opened and the open / close ropes 45 and 45 ′ are simultaneously wound by the open / close drum 36, the lower moving sheave 23 and the upper fixed sheave 24 (see FIG. 10). And the grab bucket 8 is closed.

  In addition, when the traverse drum 37 is stopped, the grab bucket 8 is operated by simultaneously performing the operation of feeding the hoisting ropes 42 and 42 ′ by the hoisting drum 35 and the operation of feeding the opening and closing ropes 45 and 45 ′ by the opening and closing drum 36. When the operation of lowering and winding the hoisting ropes 42 and 42 ′ by the hoisting drum 35 and the operation of winding the opening and closing ropes 45 and 45 ′ by the opening and closing drum 36 are performed simultaneously, the grab bucket 8 rises.

  The operation of feeding the hoisting ropes 42 and 42 ′ by the hoisting drum 35, the operation of feeding the opening and closing ropes 45 and 45 ′ by the opening and closing drum 36, and the operation of winding the sea side traversing ropes 48 and 48 ′ by the traversing drum 37 are simultaneously performed. Then, the trolley 7 ramps toward the sea side. At this time, in the traverse drum 37, the sea-side traversing ropes 48 and 48 'are wound and the land-side traversing ropes 49 and 49' are fed out. Then, the auxiliary trolley 38 appropriately traverses on the girder (not shown) or the boom (not shown) in accordance with the movement of the rope, so that the hoisting ropes 42, 42 ', the open / close ropes 45, 45', and the sea side traversing ropes 48, 48 ', The tension of the land-side traversing ropes 49, 49' is adjusted, and the slack is prevented.

  The operation of winding the hoisting ropes 42 and 42 ′ by the hoisting drum 35, the operation of winding the opening and closing ropes 45 and 45 ′ by the opening and closing drum 36, and the operation of feeding the sea side traversing ropes 48 and 48 ′ by the traversing drum 37 are performed simultaneously. Then, the trolley 7 ramps toward the land side. At this time, in the traverse drum 37, the sea-side traversing ropes 48 and 48 ′ are fed out, and at the same time, the land-side traversing ropes 49 and 49 ′ are wound. In this case as well, the auxiliary trolley 38 appropriately traverses on the girder (not shown) or the boom (not shown) in accordance with the movement of the rope, so that the hoisting ropes 42 and 42 ′, the opening and closing ropes 45 and 45 ′, and the sea side traversing rope 48. , 48 'and the tension of the land-side traversing ropes 49, 49' are adjusted to prevent loosening.

  10 and 11, for convenience of explanation, the hoisting rope adjusting sheaves 39 and 39 'of the auxiliary trolley 38, the opening and closing rope adjusting sheaves 40 and 40', the traversing rope adjusting sheaves 41 and 41 ', and a girder (not shown). The fixed sheaves 43 and 43 ', the fixed sheaves 46 and 46', the suspended sheaves 44 and 44 'and the suspended sheaves 47 and 47' of the trolley 7 are illustrated as having different central axes. In the three-drum unloader, the hoisting rope adjusting sheaves 39, 39 ′, the opening / closing rope adjusting sheaves 40, 40 ′, the traversing rope adjusting sheaves 41, 41 ′ of the auxiliary trolley 38, and the unillustrated girder fixed sheaves 43, 43 ′. And the fixed sheaves 46 and 46 ', and the suspended sheaves 44 and 44' and the suspended sheaves 47 and 47 'of the trolley 7 are configured so that the central axes thereof coincide with each other depending on the layout of the apparatus. Rukoto can also.

  In the second embodiment, the swing angle of the suspended load (grab bucket) 8 is estimated on the basis of the tension of the hoisting ropes 42 and 42 ′ detected using the sheave load detector 25, and the current state of the suspended load is determined. The current position of the suspended load 8 is detected by the position detector 26.

  In the case of the second embodiment, the sheave load detector 25 is a load sensor such as a load cell attached to the fixed sheaves 43, 43 'around which the hoisting ropes 42, 42 are wound. As shown in FIG. The load detected in the sheaves 43, 43 ′ is input to the control device 27 as a load signal 25a.

  In the case of the second embodiment, the hanging load current position detector 26 traverses the trolley 7 and moves the grab bucket 8 up and down and opens and closes the rope (winding ropes 42 and 42 ′, opening and closing ropes 45 and 45). Rotation of an encoder or the like that measures the drum rotation speed of a winch drum (winding drum 35, open / close drum 36, and traverse drum 37) that drives' and sea side traversing ropes 48, 48 ', land side traversing ropes 49, 49'). It is a sensor, and the measured drum rotation speed is input to the control device 27 as a rotation speed signal 26a.

  As shown in FIG. 4, the control device 27 includes a deflection angle calculation unit 28 and a suspended load current position calculation unit 29 as in the first embodiment, and receives the load signal 25 a input from the sheave load detector 25. Based on this, the swing angle θ of the grab bucket 8 is estimated, and the suspended rope length l and trolley of the suspended load 8 calculated from the estimated deflection angle θ and the rotation speed signal 26a input from the suspended load current position detector 26 are calculated. 7 is calculated based on the transverse position x of FIG. 7 and the transverse operation speed command from the controller 30, and the inverter 32 of the winch drum motor 31 is calculated using the steady-state feedback control speed command as a control signal 27a. Is output. The inverter 32 controls the traversing operation of the winch drum via the motor 31 based on the control signal 27a.

In the second embodiment, the deflection angle calculation unit 28 of the control device 27 estimates the deflection angle of the suspended load 8 based on the load signal 25a input from the sheave load detector 25 as follows. Do. As shown in FIG. 11, in) 'fixed sheave 43 that is wound around the' hoisting ropes 42 and 42, the tension of the _{T m1, T m @ 2} is applied, respectively. Since these tensions change corresponding to the swing angle of the suspended load 8, in this second embodiment, the estimated swing angle θ _T of the suspended load 8 is expressed as a function with T _m1 and T _m2 as independent variables. calculate. That is,
θ _T = f (T _m1 , T _m2 )
It can be expressed.

The control device 27, and the deflection angle corresponding detection value theta _T, transverse position and speed of the trolley 7, the suspension rope length entered in the Kalman filter 33, to predict the deflection angle theta of suspended load 8. The configuration of the control device 27, the design procedure of the Kalman filter 33, and the like are the same as in the case of the first embodiment, and will be omitted. As the mathematical model 34 to be designed for the Kalman filter, a one-mass system model of a spring mass damper similar to that defined in the first embodiment can be used. Similarly, the method of predicting the swing angle of a suspended load by designing a spring mass damper model by defining a spring mass damper model is not limited to the unloader of the first embodiment or the second embodiment, but a trolley crane. It can be applied to various types of cranes.

As described above, in the second embodiment, the motion (trolley) 7 that operates by suspending the suspended load (grab bucket) 8 by the rope (the hoisting ropes 42, 42 ′) and the rope are driven. The present invention relates to a swing angle detection method for a crane including a winch drum (winding drum 35) that performs the operation of the suspended load (grab bucket) 8 and the motion (trolley) 7, and a plurality of sheaves provided in the middle of the rope Fit the (fixed sheave 43, 43 ') on each sieve load detector 25 detects the tension of the rope, and calculate the estimated deflection angle theta _T from the tension, according to the Kalman filter 33 with respect to the estimated swing angle theta _T Since the processing is performed to calculate the predicted deflection angle of the suspended load (grab bucket) 8, the deflection angle of the suspended load 8 can be accurately predicted by a simple and inexpensive mechanism.

  In the second embodiment, a trolley crane having a trolley 7 traversing a girder or boom as a motion is defined as an object of swing angle detection, and the trolley crane is defined as a spring mass damper model. Since the Kalman filter 33 is designed for the mathematical formula model 34, a highly accurate deflection angle prediction value can be obtained with the simple mathematical formula model 34.

  Therefore, according to the second embodiment, the swing angle of the suspended load can be suitably detected with a simple configuration while minimizing the labor and cost for attaching / detaching the equipment and maintenance.

  Next, the case where this invention is applied with respect to a jib crane is demonstrated as a 3rd Example.

  The jib crane is a crane of a type having a jib as a motion. For example, as shown in FIG. 12, a tower 52 standing vertically and a swiveling body 53 that can turn around the vertical axis with respect to the tower 52 are provided. And a structure in which a jib (motion) 54 is attached to the revolving structure 53 so as to be freely raised and lowered. A counter frame 55 is attached to the revolving body 53 on the opposite side of the jib 54, and hoisting drums 56, 56 ′ as winch drums for hoisting the jib 54 on the counter frame 55, and hung at the tip of the jib 54. A hoisting drum 58 as a winch drum for raising and lowering the suspended load 57 is provided.

  Further, a guy support frame 59 is erected on the revolving body 53, and extends from the hoisting drums 56, 56 ′ and the hoisting drum 58 to the top of the guy support frame 59, the tip of the jib 54, and the suspended load 57. The hoisting ropes 60, 60 'and the hoisting rope 61 are stretched over. Reference numeral 62 denotes a cab provided on the revolving structure 53.

  The hoisting rope 60 fed out from the hoisting drum 56 on one side of the jib crane (the rear side in FIGS. 12 and 13) passes through a hoisting sheave 63 installed on the top of the guy support frame 59 as shown in FIG. Then, it is guided to the tip end side of the jib 54, wound around the hoisting sheave 64 installed at the tip end portion of the jib 54, and headed toward the suspended load 57 below.

  In the case of the third embodiment, the suspended load 57 is a hook provided with a sheave portion 57a. A hook suspension rope 65 is wound around the sheave portion 57a, and both ends of the hook suspension rope 65 are attached to the central axes of the two hook suspension sheaves 66 and 66 ', and the two hook suspension ropes The sheaves 66 and 66 'suspend and hold a hook 57, which is a suspended load, via a hook suspension rope 65.

  The hoisting rope 60 heading to the lower suspended load 57 via the hoisting sheave 64 is wound around one hook hanging sheave 66 and then folded back and installed at the tip of the jib 54. After being guided to the hoisting sheave 67, it is wound around the hoisting sheave 68 installed at the top of the guy support frame 59 and directed downward, and taken up by the hoisting drum 58.

  On the other hand, the hoisting rope 60 ′ fed out from the hoisting drum 56 ′ on the other side of the jib crane (the front side in FIGS. 12 and 13) is hoisted at the top of the guy support frame 59 as shown in FIG. 13. It is guided to the tip end side of the jib 54 through the sheave 63 ′, wound around the hoisting sheave 64 ′ installed at the tip end portion of the jib 54, and headed toward the lower hook 57. The hoisting rope 60 ′ is wound around the other hook suspending sheave 66 ′ that suspends and holds the hook 57, and then turns upward to go to the hoisting sheave 67 ′ installed at the tip of the jib 54. After being guided, it is wound around a winding sheave 68 ′ installed at the top of the guy support frame 59, travels downward, and is wound around the winding drum 58.

  Further, auxiliary movable pulleys 69 and 69 ′ are disposed at predetermined positions between the top of the guy support frame 59 and the tip of the jib 54. The auxiliary movable pulleys 69 and 69 ′ are connected to the tip end side of the jib 54 by a traction rope 70.

  Then, after the hoisting rope 61 fed out from the hoisting drum 56 is wound around the hoisting sheave 71 installed at the top of the guy support frame 59, the hoisting rope 61 moves toward the tip end side of the jib 54 and is moved to the auxiliary movable pulleys 69 and 69 ′. Wound sequentially. The hoisting rope 61 wound around the auxiliary movable pulleys 69 and 69 ′ is folded and wound around the hoisting sheave 71 ′ installed on the top of the guy support frame 59 and wound around the hoisting drum 56 ′. Here, the winding direction of the hoisting rope 61 around the hoisting drums 56, 56 'is opposite to the winding direction of the hoisting ropes 60, 60' around the hoisting drums 56, 56 '.

  In the jib crane shown in FIGS. 12 and 13, when the hoisting drums 58 and 56 ′ are stopped and the hoisting ropes 58 and 60 ′ are fed out from the hoisting drum 58, the hook 57 is lowered. Conversely, when the hoisting drums 56, 56 ′ are stopped and the hoisting ropes 60, 60 ′ are wound around the hoisting drum 58, the hook 57 rises.

  When the hoisting drum 61 is wound around the hoisting drums 56 and 56 ′ while the hoisting drum 58 is stopped, the auxiliary movable pulleys 69 and 69 ′ around which the hoisting rope 61 is wound become the top side of the guy support frame 59. The tip of the jib 54 is raised by receiving tension from the pulling rope 70 connected to the auxiliary pulleys 69 and 69 '. Conversely, when the hoisting rope 61 is fed out from the hoisting drums 56, 56 ′ while the hoisting drum 58 is stopped, the auxiliary movable pulleys 69, 69 ′ around which the hoisting rope 61 is wound become the guy support frame 59. The jib 54 moves in a direction to fall away from the top side of the jib 54 while being supported by the tension of the tow rope 70.

  As described above, the winding direction of the hoisting rope 61 on the hoisting drums 56, 56 'is opposite to the winding direction of the hoisting ropes 60, 60' on the hoisting drums 56, 56 '. For this reason, when the hoisting rope 61 is wound around the hoisting drums 56 and 56 ', the hoisting ropes 60 and 60' are simultaneously fed out from the hoisting drums 56 and 56 ', and the hoisting rope 61 is fed out from the hoisting drums 56 and 56'. At the same time, the hoisting ropes 60, 60 'are wound around the hoisting drums 56, 56'. Accordingly, the lengths of the hoisting ropes 60 and 60 ′ also vary according to the undulation of the jib 54, so that the jibbing operation of the jib 54 can be performed without changing the height of the hook 57 much.

  For convenience of explanation, the hoisting ropes 60 and 60 'have been described as separate ropes, but may be configured as a single connected rope depending on the structure of the jib crane. Further, for example, the hoisting rope 61 may be configured as two ropes, a rope wound around the hoisting drum 56 and a rope wound around the hoisting drum 56 ′. For example, the hoisting rope 60, the hoisting rope 61, You may comprise as one rope which connected hoisting rope 60 '.

  As for the sheaves, the sheaves (rolling sheaves 63, 63 ′, 64, 64 ′, 67, 67 ′, 68, 68 ′, undulating sheaves 71, 71 ′, as necessary, may be provided at required locations on the rope path. ) And auxiliary sheaves 69 and 69 'are provided, and sheaves and sheaves are provided, and the sheaves and sheaves are routed through ropes to adjust the tension and rope length, and to distribute motor torque. Also good.

  In the third embodiment, the swing angle of the suspended load (hook) 57 is estimated based on the value calculated from the tension of the hoisting ropes 60, 60 ′ detected using the sheave load detector 25, and The current position of the suspended load 57 is detected by the suspended load current position detector 26, and the turning angle of the turning body 53 is detected by the turning angle detection device 72.

  In the case of the third embodiment, the sheave load detector 25 is a load sensor such as a load cell attached to the hoisting sheaves 64 and 64 ′ and the hoisting sheaves 67 and 67 ′ provided at the tip of the jib 54, As shown in FIGS. 14 and 15, the loads detected in the four sheaves are input to the deflection angle calculation unit 74 of the control device 73 as the load signal 25a.

  The suspended load current position detector 26 raises and lowers the jib 54 and drives the ropes (the hoisting ropes 60 and 60 ′ and the hoisting rope 61) for hoisting the hook 57. This is a rotation sensor such as an encoder for measuring the drum rotation speed of the hoist drum 58), and the measured drum rotation speed is input to the suspended load current position calculation section 75 of the control device 73 as the rotation speed signal 26a. .

  The turning angle detection device 72 is a rotation sensor such as an encoder attached to a connection portion of the turning body 53 with the tower 52, and the turning angle of the turning body 53 with respect to the tower 52 is set as a turning angle signal 72a. The data is input to the calculation unit 76.

  Then, when the operator operates the controller 77 provided in the cab 62, the operation signal 77a is input to the control device 73 as a turning speed command to the swing body 53 or a undulation speed command to the jib 54. It has become.

Based on the load signal 25a input from the sheave load detector 25, the control device 73 determines the swing angle θ of the suspended load (hook) 57 in the jib undulation direction (front-rear direction viewed from the jib 54) and the jib turning direction (jib 54). And the suspended rope length of the suspended load 57 calculated from the estimated deflection angles θ and ψ and the rotation speed signal 26a input from the suspended load current position detector 26. l, the undulation angle ν of the jib 54, the turning angle ζ of the jib 54 calculated from the turning angle signal 72a input from the turning angle detection device 72, the undulation speed operation command DV _rev and the turning speed operation command RV from the controller 77. based on _rev, etc., to calculate hanging steadying and feedback control speed command jib hoist direction of the load 57, the hanging of the jib pivoting direction of the load 57 steady rest and a feedback control speed instruction respectively . The steady stop feedback control speed command in the jib undulation direction is output to the inverter 79 of the winch drum motor 78 as a control signal 73a. The steady stop feedback control speed command in the jib turning direction is output to the inverter 81 of the motor 80 of the turning body 53 as a control signal 73b. The inverter 79 controls the operation of the winch drum via the motor 78 based on the control signal 73a, and the inverter 81 controls the operation of the swing body 53 via the motor 80 based on the control signal 73b.

  Next, the deflection angle prediction in the third embodiment will be described with reference to FIG.

The control device 73 raises and lowers the jib 54 based on the hoisting speed command input DV _ref to the jib 54, and turns the swiveling body 53 integrally with the jib 54 based on the turning speed input RV _ref to the turning body 53. The swing angle of the suspended load 57 is converged to zero based on the estimated swing angle θ _{T in} the jib undulation direction of the suspended load 57 and the estimated swing angle ψ _T in the jib turning direction.

First, the suspended load current position calculation unit 71 of the control device 69, based on the rotation speed signal 26a input from the suspended load current position detector 26, the undulation angle ν of the jib 54, the undulation speed DV _{fb of} the jib 54, And the distance (suspended rope length detection value) 1 from the tip of the jib 54 to the suspended load (hook) 57 is calculated. At this time, the undulation speed of the jib 54 can be calculated as a differential value of the undulation angle.

The turning angle calculation unit 72 of the control device 69 calculates the turning angle ζ of the jib 54 and the turning speed RV _fb of the jib 54 based on the turning angle signal 68 a input from the turning angle detection device 68. At this time, the turning speed of the jib 54 can be calculated as a differential value of the undulation angle.

The deflection angle calculation unit 70 of the control device 69 estimates the deflection angle θ in the jib undulation direction and the deflection angle ψ in the jib turning direction of the suspended load 57 based on the load signal 25 a input from the sheave load detector 25. . Specifically, as shown in FIG. 13, the tensions of T _m1 , T _m2 , T _m3 , and T _m4 are respectively applied to the four sheaves (winding sheaves 64, 67, 67 ′, 64 ′) of the jib 54. These tensions change in accordance with the swing angle of the suspended load 57. That is, the swing angle θ in the jib undulation direction of the suspended load and the swing angle ψ in the jib swivel direction can be obtained as a function using the tension as an independent variable. The estimated swing angles θ and ψ in each direction are expressed by the following formula θ _T = f ( _Tm1 , _Tm2 , _Tm3 , _Tm4 )
ψ _T = f (T _m1 , T _m2 , T _m3 , T _m4 )
It can be expressed as

Next, the control device 73 calculates the jib undulation angle ν, the jib undulation speed DV _fb , the suspended rope length detection value l calculated by the suspended load current position calculation unit 75, and the jib rotation calculated by the turning angle calculation unit 76. Along with the angle ζ and the jib turning speed RV _fb , the estimated deflection angle θ _{T in the} jib undulation direction and the estimated deflection angle ψ _T in the jib turning direction calculated by the deflection angle calculation unit 74 are input to the Kalman filter 82 (see FIG. 15). ). The Kalman filter 82 predicts the swing angle in the jib undulation direction and the swing angle in the jib swivel direction of the suspended load 57 by the crane model 83 defined inside the Kalman filter 82, and the predicted swing angle is determined in the jib undulation direction. estimated swing angle theta _T, as compared to the estimated swing angle [psi _T of the jib turning direction is estimated as the error variance is minimized, it has the system configuration to return the best estimate results for the deflection angle.

In the case of the third embodiment, the mathematical model 83 that is the control target of the Kalman filter 82 is derived by the procedure described below. First, the model definition for deriving the mathematical model 83 of the jib crane is assumed as follows.
a) Rope mass is not considered.
b) The torsional vibration of the tower 52 is considered minute and ignored.
c) The tower 52 is a one-mass system model only in the xy in-plane translation direction.
d) The jib 54 is a rigid body.
e) The input torque acts directly on the tip of the jib 54.

  Based on the above definition, a mathematical model 83 of a jib crane is assumed as shown in FIG. The definitions of the main symbols are shown below.

DV _ref : undulation speed command input, RV _ref : turning speed command input, x ₁ : absolute displacement in x direction at the top of the tower, y ₁ : absolute displacement in y direction at the top of the tower, ν: jib undulation angle [rad], θ: jib Suspension load swing angle [rad] in the undulation direction (x-axis direction), ζ: Jib swing angle [rad], ψ: Suspension load swing angle [rad] in the jib swing direction (y-axis direction), Ω _b : Guy support Angle relative to the horizontal plane [rad], L: full length of jib [m], R _b : undulation drum radius, l: hanging rope length [m], L _t : tower height [m], a: distance between jib lower end and origin [M], a _b : distance between the jib lower end and the guy support upper end [m], W _b : jib mass [kg], W _o : suspended load mass [kg], M _d : equivalent mass of the crane [kg], k _t: equivalent spring constant of the crane _{[N / m], c t} : crane equal Attenuation coefficient [N · s / m], x r: Tower top of relief direction (x-axis direction) displacement [m], _{y r:} Tower top undulations direction perpendicular to the direction (y-axis direction) displacement [m ], G: gravitational acceleration [m / s ² ], t: time [s].

The crane model 83 of the jib type crane can be calculated in the same state space expression format as that of the trolley type crane of the first embodiment. It can be expressed by an output equation. The derivation of the equation is performed by a process similar to the process described in Patent Document 2, for example.

  The crane model 83 represented by the state equation and the output equation of [Expression 20] is processed by the Kalman filter 82 to predict the deflection angle θ in the jib undulation direction and the deflection angle ψ in the jib turning direction of the suspended load 57. . Specifically, the process noise w, the observation noise v, and the covariance thereof are set, and the swing angle θ in the jib undulation direction of the suspended load 57 and the jib turning direction are set according to the process shown in FIG. Is predicted. The detailed calculation procedure is the same as that in the first embodiment, and will be omitted.

Thus, in the third embodiment, a motion (jib) 54 that operates by suspending a suspended load (hook) 57 by ropes (winding ropes 60, 60 '), and the rope is driven and suspended. The present invention relates to a swing angle detection method for a crane provided with a winch drum (raising and lowering drums 56, 56 'and a hoisting drum 58) for performing a load (hook) 57 and a motion (jib) 54, provided in the middle of the rope. A sheave load detector 25 is attached to each of a plurality of sheaves (winding sheaves 64, 64 ′, 67, 67 ′) to detect the tension of the rope, and an estimated deflection angle (a deflection angle θ _{T in the} jib undulation direction) is detected from the tension. and calculating a deflection angle [psi _T) of the jib pivoting direction, the calculating the deflection angle predicted value of the estimated swing angle theta _T, the suspended load by performing the processing by the Kalman filter 82 Nitaishite [psi _T (hook) 57, the single In the inexpensive mechanism, load the deflection angle of the (hooks) 57 can be accurately predicted hanging.

  Further, in the third embodiment, a revolving body 53 and a jib crane provided with the jib 54 as the motion attached to the revolving body 53 so as to be able to be raised and lowered are set as targets for deflection angle detection, and the jib crane is used as a spring mass. Since the Kalman filter 82 is designed for the mathematical model 83 defined on the assumption that it is a damper model, a highly accurate deflection angle prediction value can be obtained with the simple mathematical model 83.

  Therefore, according to the third embodiment, the swing angle of the suspended load can be suitably detected with a simple configuration while minimizing the labor and cost for attaching and detaching the equipment.

  The crane swing angle detection method and apparatus according to the present invention are not limited to the above-described embodiments, and various changes can be made without departing from the scope of the present invention.

5 Girder 6 Boom 7 Motion (trolley)
8 Hanging load (grab bucket)
15,15 'winch drum (winding drum)
16, 16 'rope (winding rope)
17, 17 'sheave
19, 19 'winch drum (open / close drum)
20, 20 'rope (opening and closing rope)
21,21 'sheave (open and close sheave)
25 Sheave Load Detector 27 Controller 33 Kalman Filter 34 Crane Model (Formula Model)
35 winch drum (winding drum)
42, 42 'rope (winding rope)
43, 43 'sheave (fixed sheave)
54 Motion (jib)
56,56 'winch drum (undulation drum)
57 Hanging load (hook)
58 Winch drum (winding drum)
60,60 'rope (winding rope)
64,64 'sheave
67, 67 'sheave (winding sheave)
73 Controller 82 Kalman Filter 83 Crane Model (Formula Model)

Claims (6)

A crane swing angle detection method comprising a motion that operates by suspending a suspended load with a rope, and a winch drum that operates the suspended load and the motion by driving the rope,
A sheave load detector is attached to each of a plurality of sheaves provided in the middle of the rope to detect the tension of the rope, calculate an estimated deflection angle from the tension, and process the estimated deflection angle by a Kalman filter. A crane swing angle detection method comprising calculating a predicted swing angle of a suspended load.   The Kalman filter is designed with respect to a mathematical model defined on the assumption that the trolley crane having a girder or a trolley traversing on the boom as the motion is the target of deflection angle detection, and the trolley crane is assumed to be a spring mass damper model. The method of detecting a swing angle of a crane according to claim 1.   A swiveling body and a jib crane equipped with a jib as a motion attached to the swiveling body so as to be able to undulate are set as targets for swing angle detection, and the mathematical model defined on the assumption that the jib crane is a spring mass damper model 2. The crane swing angle detection method according to claim 1, wherein a Kalman filter is designed. A crane swing angle detection device comprising a motion that operates by suspending a suspended load with a rope, and a winch drum that operates the suspended load and the motion by driving the rope,
A plurality of sheaves provided in the middle of the rope;
A sheave load detector that is attached to each sheave and detects the tension of the rope;
A control device configured to calculate an estimated deflection angle from the rope tension, and to calculate a predicted deflection angle value of the suspended load by performing a process using the Kalman filter on the estimated deflection angle. Crane swing angle detection device.   The Kalman filter is designed for a mathematical model defined by assuming a trolley crane with a girder or a trolley traversing on the boom as the motion, and assuming that the trolley crane is a spring mass damper model. The crane swing angle detection device according to claim 4, which is mounted on the control device.   A swiveling body and a jib crane equipped with a jib as a motion attached to the swiveling body so as to be able to undulate are set as targets for swing angle detection, and the mathematical model defined on the assumption that the jib crane is a spring mass damper model 5. The crane swing angle detection device according to claim 4, wherein a Kalman filter is designed and mounted on the control device.

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