JP2016160081A - Operation control device of travel-type cargo handling machine, and travel-type cargo handling machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an operation control device which includes operation input correction means which prevents vibration, which has an adverse effect for operation of a cargo handling machine, due to an operation of an operator.SOLUTION: An operation control device comprises: prediction calculation means 86 which predicts vibration of a cargo handling machine body and vibration of a hanging cargo, which are generated by an operation input of an operator in a numerical calculation by use of a physical model of the cargo handling machine; and operation input correction means 84 which corrects operation input of the operator into actual operation input into the cargo handling machine so as to suppress vibration of the cargo handling machine body and vibration of the hanging cargo which are predicted by the prediction calculation means 86.SELECTED DRAWING: Figure 6

Description

  The present invention relates to an operation control device for a traveling cargo handling machine (crane) and a traveling cargo handling machine including the same. In addition, although the crane in this invention includes large sized cranes, such as a bridge type crane, it is not limited to this.

  For example, as shown in FIGS. 1 and 2, generally, in a large container crane 20, an unloader or the like, a crane main body 22 having leg portions 26 formed in a gate shape is provided at four corners at the lower end thereof. 24, the vehicle can travel along a rail 12 laid in parallel with a quay (for example, an apron) 10. In the figure, 8 is a water surface, 30 is a boom, 32 is a garter, 34 is a trolley, 36 is a machine room for operating various devices such as the trolley 34, 38 is a hoisting / lowering control of the load 50, An electric room 42 for performing control, traveling control of the crane main body 22, and the like is an operator's cab disposed in the vicinity of the trolley 34.

  In such a traveling crane in which the leg portion 26 has the gate-shaped crane body 22, it is necessary to determine the position in the traveling direction (the direction of the rail 12), for example, because of a cargo handling operation that travels and suspends the load 50. At this time, in order to determine the position, the position of the crane main body 22 is determined using a driving force such as acceleration and deceleration and a braking force by a control machine such as a traveling motor. The same applies to the position of travel (referred to as traversal) on the boom 30 by the trolley 34. At this time, the crane body 22 vibrates due to the movement of the trolley 34 and the mass of the crane body 22 and acceleration / deceleration.

  Conventionally, with respect to this vibration, it is necessary to wait for the vibration to settle due to the attenuation of the crane body 22, to operate the inertial force in the reverse direction to actively stop the vibration, Equipped to stop vibration and so on.

  For example, in Patent Document 1, in order to control the swing vibration of the boom 30 of the crane body 22, it is proposed to control the swing vibration by controlling the traveling device 24 that operates at right angles to the boom axis direction. Yes.

  On the other hand, in the crane of the above example, the trolley 34 is generally equipped with a cab 42, and the operator operates the above operation by boarding the cab 42. However, due to the recent increase in the size of the crane main body 22, the cargo handling speed has also increased, and the burden on the driver has increased due to the factors of vibration and the high speed operation of the trolley 34 itself. Therefore, a remote control system as disclosed in Patent Document 2 has been proposed.

JP 2004-059159 A JP 2003-212475 A JP 2000-159475 A

  In port handling machines represented by container cranes in recent years, as the size of a container ship increases, the container crane becomes larger, its natural frequency decreases, and the swing vibration of the boom 30 also increases. When the vibration of the crane body 22 is long, the time for determining the position of the crane body 22 is long, and when the driver on the trolley 34 handles the boom 30 near the tip of the boom 30, the vibration deteriorates workability. There are problems such as.

  When remotely operating such a crane as in Patent Document 2, it is considered that the fatigue of the driver due to the vibration of the crane and acceleration from high speed operation is reduced, but conversely, the driver himself There arises a problem that the operation of suppressing the vibration of the load and the vibration of the crane by the felt vibration becomes difficult by remote operation.

  Therefore, in the simulator shown in Patent Document 3, on the contrary, simulated vibrations are generated for the realistic feeling of the operation and training.

  The present invention has been made to solve the above-described conventional problems, and it is an object of the present invention to prevent vibrations that adversely affect the operation of the cargo handling machine from being generated by the operation of the driver.

  The present invention uses a physical model of a cargo handling machine, predicting calculation means for predicting the vibration of the cargo handling machine main body generated by an operation input of the driver and vibration of the suspended load by numerical calculation, and the prediction calculating means By providing operation input correction means for correcting the operation input of the driver and making the actual operation input to the cargo handling machine so as to suppress the vibration of the cargo handling machine body and the swing of the suspended load. It has been solved.

  Here, the operation input of the driver can be input by remote operation from the ground.

  In addition, the operation input of the driver can be input from a cab on the cargo handling machine.

  In addition, the operation input correcting means passes a notch filter of each natural frequency from each traveling operation and transverse operation input signal of the operation signal according to the natural frequency in the traveling direction and transverse direction of the cargo handling machine calculated in advance. Control signals generated can be generated.

  Further, it is possible to preferentially display the screen of the vibration occurrence location predicted by the prediction calculation means.

  The present invention also provides a traveling type cargo handling machine equipped with the operation control device.

  According to the present invention, it is possible to prevent vibrations that adversely affect the operation of the cargo handling machine from being generated by the operation of the driver.

The perspective view which shows the whole structure of the conventional container crane Same front view The front view which shows the whole structure of 1st Embodiment of this invention. The block diagram which shows the remote control room of 1st Embodiment The block diagram which similarly shows the principal part which concerns on this invention Similarly, a block diagram showing the configuration of the correction device The figure which also shows the example of the Γ function The front view which shows the whole structure of 2nd Embodiment of this invention. Figure showing an example of the kinematics of the crane The block diagram which shows the structure of the notch filter used in 3rd Embodiment of this invention. The figure which similarly shows the operational characteristic of the notch filter The figure which shows the mode of control in 3rd Embodiment of this invention. The figure which similarly shows the mode of control in 4th Embodiment

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In addition, this invention is not limited by the content described in the following embodiment and an Example. In addition, the constituent elements in the embodiments and examples described below include those that can be easily assumed by those skilled in the art, those that are substantially the same, and those in the so-called equivalent range. Furthermore, the constituent elements disclosed in the embodiments and examples described below may be appropriately combined or may be appropriately selected and used.

  The container crane 20 to which the first embodiment of the present invention is applied is a container crane 20 similar to that shown in FIGS. 1 and 2, omits the cab 42 as shown in FIG. In addition, a sensor (for example, an acceleration sensor) 62 is provided, and the electric room 38 and the remote operation room 70 provided on the ground are connected by, for example, wired or wireless, and can be controlled by signal transmission from the remote operation room 70. Yes.

  As shown in FIG. 4, the remote operation room 70 has a communication device 72 with the electric room 38, an operation console 74 in which operation switches 76 and operation levers 78 related to crane operations are disposed, and the camera 60. Are provided with a monitor 80 and a control device 82 that accurately reflect the crane load 50 and the surrounding situation.

  The control device 82 includes a correction device 84 according to the present invention as shown in FIG. As shown in FIG. 6, the correction device 84 calculates a vibration model of the crane by the correction value calculation circuit 86 based on the operation input from the console 74 and the crane state data input via the communication device 72. And the operation input from the console 74 is corrected. On the other hand, conventionally, since the signal itself operated by the driver is used as a command of the crane control device 40, in the case of a command value that induces vibration, the swing of the crane itself may be excited.

  A crane vibration model is generally analyzed and modeled by a finite element method (FEM) or the like, which is a numerical analysis method for approximately solving a differential equation, and generally, the following (1) to (4) ) Expression. At this time, the operation input is fed back to the control side and corrected as shown in FIG.

例えばブーム３０が振動するモードがｑ＝[ｑ₁・・・ｑ_n]の中のｑ₁である場合、Φ^-1ｆでのｑ₁に対する入力を出来るだけ軽減すれば良い。

For example, if mode the boom 30 vibrates is q ₁ in the _{q = [q 1 ··· q n} ], may be reduce as much as possible inputs for q ₁ at [Phi ^-1 f.

ｆ＝−Ｆｑ,Ｆ＝Ｒ^-1Ｂ^TＰ …（６）
ここで、Ｐはリカッティ形方程式（７）式を満たす解である。
ＰＡ＋Ａ^TＰ−ＰＢＲ^-1Ｂ^TＰ＋Ｑ＝０ …（７）
ここで、Ｆは外力ベクトル、Ｑ、Ｒは重み行列である。 Equation (4) is

f = −Fq, F = R ⁻¹ B ^T P (6)
Here, P is a solution satisfying the Riccati equation (7).
^{PA + A T P-PBR -1} B T P + Q = 0 ... (7)
Here, F is an external force vector, and Q and R are weight matrices.

  At this time, the weight of the mode to be reduced is increased by the weight Q of the evaluation function.

  In addition, the design can be performed by applying control rules such as H-infinity control and sliding mode control.

  Since q of f = −Fq is the state of the crane, this can be estimated by using the sensor 62 with a Kalman filter or the like.

Assuming that the driver input is u, f = −Fq is a desirable control input.
u is corrected by calculating f ′ = Γ (−Fq ^* −Su) (q ^* is an estimated value), and f ′ is used as a crane control input.

The function Γ is for example

  Next, a second embodiment of the present invention will be described with reference to FIG.

  In this embodiment, the cab 34 is provided in the trolley 34 like the container crane of FIG. 2, and the control apparatus 82 provided with the correction apparatus 84 which concerns on this invention is provided in this cab 42. Is different from the first embodiment. Thereby, a part or all of the camera 60 can be omitted.

  Since other points are the same as those in the first embodiment, description thereof is omitted.

  According to this embodiment, operability is improved.

  Next, a third embodiment of the present invention will be described.

  When the corrections shown in the first and second embodiments are considered in the above equation (2) shown in the frequency domain, vibration excitation can be avoided by setting the operation input to a frequency that does not excite each vibration mode.

That is, among the q modes shown in the first and second embodiments, assuming that the vibration mode of the boom 30 by the traveling input and the vibration mode in the transverse direction of the transverse input are q ₁ and q ₂ , respectively. As illustrated in FIG. 9, the response becomes large at the frequencies of q ₁ and q ₂ . Therefore, not to excite each vibration mode, as shown in FIG. 10, a notch filter that simply removes frequency components q ₁ and q _{2 in} which the operation signal is excited = resonates (having a narrow stopband and a high Q value). By inserting band-pass filters 90 and 92, the operation signal can be corrected and vibration can be suppressed.

  FIGS. 11A and 11B show the frequency characteristics of the notch filters 90 and 92. FIG.

Alternatively, controlling the operation of the driver at all times also reduces the operability. Therefore, as illustrated in FIG. 12, by correcting only the corners so that the curve shape is Fq ^* , It may be possible not to give a sense of incongruity.

  Next, a fourth embodiment of the present invention will be described.

In this embodiment, as illustrated in FIG. 13, for example, when the boom vibration q ₁ ^* exceeds the limit level S, the vibration alarm and the camera that captures the boom 30 are displayed on the monitor 80 with priority. It is intended to call attention. In addition, it is desirable not to change the screens related to safety, such as a suspended load and a traveling path.

  Thus, the operability of the driver can be improved by preferentially displaying the screen of the vibrating boom or suspended load when predicted by the crane vibration model.

  In addition, although this invention was applied to the container crane for harbors, the application object of this invention is not limited to this, It can apply similarly to the traveling type cargo handling machine generally including an unloader.

DESCRIPTION OF SYMBOLS 20 ... Container crane 22 ... Crane main body 24 ... Traveling apparatus 26 ... Leg part 30 ... Boom 32 ... Gutter 34 ... Trolley 36 ... Machine room 38 ... Electric room 40 ... Crane control device 42 ... Operator's room 60 ... Camera 62 ... Sensor 70 ... Remote control room 72 ... Communication device 74 ... Console console 76 ... Operation switch 78 ... Operating lever 80 ... Monitor 82 ... Control device 84 ... Correction device 86 ... Correction value calculation circuit 90, 92 ... Notch filter

Claims (6)

Predictive calculation means for predicting, by numerical calculation, the vibration of the main body of the cargo handling machine and the vibration of the suspended load generated by the operator's operation input using the physical model of the cargo handling machine,
An operation input correction unit that corrects the operation input of the driver so as to suppress the vibration of the cargo handling machine body and the swing of the suspended load predicted by the prediction calculation unit, and sets the actual operation input to the cargo handling machine,
An operation control device for a traveling type cargo handling machine, comprising:   The operation control device for a traveling type cargo handling machine according to claim 1, wherein the operation input of the driver is input by remote operation from the ground.   The operation control device for a traveling type cargo handling machine according to claim 1, wherein the driver's operation input is input from a cab on the cargo handling machine.   The operation input correction means controls the respective operation frequency of the operation signal through the notch filter of each operation frequency from the operation operation signal and the operation input signal according to the natural frequency in the traveling direction and the transverse direction of the cargo handling machine calculated in advance. The operation control device for a traveling type cargo handling machine according to any one of claims 1 to 3, wherein a signal is generated.   The operation control device for a traveling type cargo handling machine according to any one of claims 1 to 4, wherein a screen of a vibration occurrence location predicted by the prediction calculation means is preferentially displayed.   A traveling cargo handling machine equipped with the operation control device according to any one of claims 1 to 5.

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