JP2024008736A - Hoisting machine, hoisting machine system, and state estimation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a hoisting machine capable of estimating a motor temperature and having high conveyance efficiency.

SOLUTION: Provided is a hoisting machine having a motor and controlling the motor to hoist or lower a suspended load, the hoisting machine including: a motor drive signal acquisition unit that acquires a drive signal of the motor; a relation information storage unit that stores, as relation information, a relation between the drive signal at preset timing and a motor temperature; and a temperature estimation unit that in a process of operation of hoisting or lowering, estimates the motor temperature from a motor drive signal at the timing acquired from the motor drive signal acquisition unit and the relation information.

SELECTED DRAWING: Figure 3

COPYRIGHT: (C)2024,JPO&INPIT

Description

The present invention relates to a hoisting machine, a hoisting machine system, and a state estimation device.

Regarding a hoisting machine that hoists, lowers, and transports a suspended load, the temperature of the motor used to operate each part may rise due to frequent hoisting and conveyance of the suspended load. If the motor temperature exceeds a predetermined value, it may lead to heat-related failures such as burnout of the windings, so in order to provide highly reliable equipment, the motor temperature must be monitored and Appropriate controls need to be in place. However, installing a temperature sensor or the like to directly measure the motor temperature increases costs due to the increase in parts and wiring work.

In Patent Document 1, when the motor is stopped, direct current is applied to the motor to calculate the winding resistance value, the winding resistance value is converted to temperature, and then added to the separately calculated winding temperature estimation result during operation. discloses a technique for estimating the motor temperature during operation.

Japanese Patent Application Publication No. 2009-33895

According to the technique described in Patent Document 1, since the motor temperature can be estimated without installing a temperature sensor, it is possible to improve the reliability of the device while avoiding an increase in cost. However, since the energization operation and the response to the energization are recorded while the motor is stopped, a waiting time is required. As a result, there is a limit to the transport efficiency per unit of time due to usage conditions such as continuous hoisting and transport.

An object of the present invention is to provide a hoist that can estimate the motor temperature and has high conveyance efficiency.

An example of the present invention is a hoisting machine that has a motor and controls the motor to hoist or lower a suspended load,
a motor drive signal acquisition unit that acquires a drive signal for the motor;
a relationship information storage unit that stores the relationship between the drive signal and the motor temperature at a predetermined timing as relationship information;
The hoisting machine includes a temperature estimation unit that estimates a motor temperature from a motor drive signal at the timing acquired from the motor drive signal acquisition unit and the related information during the process of hoisting or lowering operation. .

According to the present invention, it is possible to estimate the motor temperature and to realize a hoisting machine with high conveyance efficiency.

1 is a diagram showing an example of the configuration of a hoisting machine system in Example 1. FIG. 1 is a diagram showing an example of the configuration of a hoist in Example 1. FIG. 1 is a diagram showing functional blocks of a hoisting machine system according to a first embodiment; FIG. It is a figure which shows an example of the current waveform acquired by the current acquisition part. FIG. 3 is a diagram illustrating a display example of a status display section on an operating terminal. FIG. 3 is a diagram showing functional blocks of a hoisting machine system in Example 2. It is a figure showing the processing flow of standard information update operation. FIG. 3 is a diagram showing a processing flow for updating relational information. FIG. 7 is a diagram showing functional blocks of a state estimating device in Example 3. It is a figure showing the calculation flow in a state estimating part.

Examples of the present invention will be described below with reference to the drawings. The following description and drawings are examples for explaining the present invention, and are omitted and simplified as appropriate for clarity of explanation.

Example 1 will be described with reference to FIGS. 1 to 5. FIG. 1 is a diagram showing an example of the configuration of a hoisting machine system 100. The hoisting machine system 100 includes a crane 110 on which the hoisting machine 101 is mounted, and an operation terminal 120. The crane 110 includes a runway 111 provided along both walls of a building (not shown), a girder 112 that moves on the runway 111, and a trolley 113 that moves along the girder 112. . A transport motor that drives each of the girder 112 and the trolley 113 is connected to the girder 112 and the trolley 113. The trolley 113 is provided with a hoist 101, and a rope suspended from the hoist 101 is slung onto a hanging load 130. Note that the term "rope" mentioned here is used as a general term for the hanging tools used for hanging the hanging load 130. That is, "rope" includes not only so-called ropes, but also chains, belts, wires, cables, strings, ropes, and the like.

FIG. 2 is a diagram showing an example of the configuration of the hoist 101. The hoisting machine 101 includes a hoisting drum 210 for winding a rope, a motor 220 as a power source for rotating the hoisting drum 210, and a bearing 230 for smoothly transmitting power from the motor 220 to the hoisting drum 210. has been done. However, the power from the motor 220 may be transmitted via gears, belts, or the like. The transport motors installed in each of the girder 112 and the trolley 113 and the motor 220 installed in the hoist 101 rotate according to an operation command from the operation terminal 120. As a result, the hoisting machine 101 performs hoisting and lowering operations, and the girder 112 and trolley 113 move in a predetermined direction, so that the suspended load 130 is hoisted and transported to a predetermined position. A series of transport operations such as , unwinding, and lowering are performed. Note that the suspended load 130 is an object to be transported by the crane 110 and is not a component of the crane 110.

FIG. 3 is a diagram showing a functional block (configuration of a control signal arithmetic processing system) of the hoisting machine system 100. The operation terminal 120 includes a status display section 411 and an operation input section 412. Note that the operation terminal 120 includes hardware such as an arithmetic unit 413 such as a CPU, a main storage device 416 such as a semiconductor memory, an auxiliary storage device 414 such as a hard disk, a communication device 415, and an input/output device 410 that is a combination of a display and a touch panel. Be prepared. The description will proceed with the well-known operations of each hardware omitted as appropriate. Note that the operating terminal 120 may be a teaching pendant, or may be a terminal such as a smartphone, a tablet terminal, a notebook computer, or a desktop computer. The operation terminal 120 may be provided as a dedicated terminal, or the functions of the operation terminal 120 may be provided as an application and used on each operator's terminal.

The functions of the operation terminal 120 (status display section 411, operation input section 412, etc.) may be realized, for example, by the arithmetic unit 413 reading a program stored in the auxiliary storage device 414 into the main storage device 416 and executing it. Alternatively, it may be realized by hardware such as a dedicated circuit, or it may be realized by a combination of software and hardware. Note that one function of the operation terminal 120 may be divided into a plurality of functions, or a plurality of functions may be combined into one function. Furthermore, some of the functions of the operating terminal 120 may be provided as separate functions or may be included in other functions. Furthermore, some of the functions of the operating terminal 120 may be realized by another computer that can communicate with the operating terminal 120.

The status display section 411 displays, for example, the estimated value of the motor temperature and the presence or absence of an abnormality in the hoisting machine 101. However, the display by the status display section 411 may be omitted if necessary. The operation input unit 412 is an interface for an operator to input an operation command to the hoist 101 by operating an input/output device 410 such as a button, lever, handle, joystick, keyboard, or mouse.

The operation input unit 412 may be an interface (hardware) that combines a display and a touch panel, or may be an interface (software) implemented on a device such as a smartphone. The operation input unit 412 may input the amount of movement, the coordinates of a destination, the name of a place, etc. in response to an operation by an operator.

The operation input unit 412 is linked to other systems such as an operation management system and a production management system that manage hoisting machines installed in the factory, and inputs operation commands based on information from other systems. You can do it like this. Furthermore, the operation input unit 412 may have an automatic operation function that automatically inputs pre-programmed operation commands.

Note that in this embodiment, the status display section 411 and the operation input section 412 are mounted on the operation terminal 120, but they may be mounted on the hoisting machine 101. For example, the status display section 411 may be provided on a board mounted on the hoisting machine 101.

Next, the hoisting machine 101 will be explained. The hoisting machine 101 includes a control device 314 that includes a motor 220 that performs a hoisting operation, a motor control section 311, a current acquisition section 312, and a temperature estimation section 313. The control device 314 also includes hardware such as an arithmetic device 328 such as a CPU, a main storage device 315 such as a semiconductor memory, an auxiliary storage device 318 such as a hard disk, a communication device 319, an input/output device 320, and the like. Among these, the storage area of the main storage device 315 is provided with a related information storage section 316 that stores temperature estimation parameters and a protection standard information storage section 317 that stores protection standard information.

The functions of the hoisting machine 101 (motor control unit 311, current acquisition unit 312, temperature estimation unit 313, etc.) are performed by, for example, a calculation unit 328 reading out a program stored in the auxiliary storage device 318 to the main storage device 315 and executing it. It may be realized by doing this, it may be realized by hardware such as a dedicated circuit, or it may be realized by a combination of software and hardware. Note that one function of the hoisting machine 101 may be divided into a plurality of functions, or a plurality of functions may be combined into one function. Further, some of the functions of the hoist 101 may be provided as separate functions or may be included in other functions. Moreover, some of the functions of the hoisting machine 101 may be realized by another computer that can communicate with the hoisting machine 101.

In this embodiment, it is assumed that data is transmitted by wireless communication as a method of transmitting information between the operation terminal 120 and the hoisting machine 101, but the effect remains the same even if communication is performed using a wired cable. For example, an operation command input at the operating terminal 120 is transmitted to the hoisting machine 101 via the communication device 415 on the operating terminal 120 side and the communication device 319 on the hoisting machine 101 side.

The motor control unit 311 generates a motor drive signal for driving the motor 220 according to the command value input through the operation input unit 412 of the operation terminal 120, and outputs the signal to the motor 220. In this embodiment, V/F control of an induction motor is assumed as an example. In this case, a voltage and drive frequency corresponding to the target rotational speed are input to the motor. At the same time, the motor control unit 311 transmits the current value of the motor drive signal output to the motor 220 to the current acquisition unit 312. However, the current value may be transmitted from the motor control unit 311 to the current information acquisition unit via the motor 220. Although the motor drive signal has been described as a current value input to the motor, other values may be used as the motor drive signal. For example, the motor drive signal may be at least one of a voltage value applied to the motor, a torque current value in vector control of the motor, and an electrical resistance value. The motor control unit 311 may use a power conversion device such as an inverter provided in the hoist.

During the process of winding or lowering, the current value read by the current acquisition section 312 is transmitted to the temperature estimation section 313. The temperature estimation unit 313 determines the starting point and the load increase point of the motor 220 from the pattern of the time change in the current value, and extracts the current value at each point. The extracted current values at the two points are compared with a table (temperature estimation parameter) of the correspondence between current values and temperatures for the motor starting point and load increase point stored in the related information storage unit 316 in advance. is calculated.

However, the temperature estimation parameter is not limited to a table, and may be defined as a mathematical formula, or may be an estimation parameter created by learning the relationship between current value and temperature in advance. The motor starting point can be determined by detecting the starting current or by determining the elapsed time after transmitting the drive frequency. Further, in order to determine the load increase point, it can be determined based on an increase or decrease in the current waveform, or by applying a separately defined determination logic.

The temperature information of the motor starting point and the load increase point outputted from the temperature estimating section 313 is transmitted to the status display section 411 of the operation terminal 120 after an average value thereof is calculated. At the same time, the motor control unit 311 compares the protection reference value stored in the protection reference information storage unit 317 with the temperature calculated by the temperature estimation unit 313. When the temperature becomes higher than the protection reference value, the motor control section 311 sends a stop signal to the motor 220 to stop the operation, and also sends information indicating that the motor 220 has stopped to the status display section 411. Note that if the hoisting machine 101 has a separate brake function, the brake may be operated. Furthermore, if a cooling device such as a cooling fan is provided, the cooling fan may be operated. Alternatively, a transport operation to a predetermined evacuation space may be performed. Further, in this embodiment, the average temperature at the motor starting point and the load increase point is calculated, but only one of them may be used.

Next, effects etc. of this embodiment will be explained in detail. FIG. 4 is a diagram showing an example of a current waveform acquired by the current acquisition unit 312. The horizontal axis is time, and the vertical axis is current value. The solid line in the figure is the current waveform at low temperatures, and the broken line is the current waveform at high temperatures. In copper and aluminum, which are commonly used as the windings of the motor 220, there is a proportional relationship between electrical resistance and temperature, so if the input voltage value and drive frequency of the motor 220 are constant and the motor temperature increases, the electrical resistance will increase. It exhibits the characteristic that the current value increases and the current value decreases.

However, since the current value also changes depending on the load applied to the motor 220, it is difficult to predict an increase or decrease in temperature just by comparing the current values. On the other hand, by comparing the current values at the motor starting point and the load increase point, which are predetermined timings when the load on the motor 220 is the same, it is possible to make a comparison excluding the difference in motor load. , it is possible to make a one-to-one correspondence between current value and temperature.

For example, in the hoisting machine 101 of this embodiment, the starting torque of the motor 220 becomes dominant at the motor starting point, and at the point where the load increases, such as when the rope suspending the suspended load 130 becomes tense, the load changes from no load to loaded. The effect of switching to becomes dominant. Therefore, by comparing the current values at each point, it is possible to compare the current values when the motor loads are the same. In other words, if there is a method for determining points with the same load, it will be possible to compare current values at points with the same load, not just the motor starting point or the load increase point.

The temperature estimation parameter in this embodiment is a table of the relationship between current value and motor temperature, which is created for the case of a predetermined voltage value and drive frequency. The relationship between current value and temperature recorded in the table is data obtained from tests during the development of the hoisting machine 101, and consists of multiple lines in which the relationship between a pair of current value and temperature is organized as one line. There are tables. Since the data is stored discretely, when calculating the temperature from a current value that is not in the table, the calculation is performed by estimating the temperature using the data in the nearest row.

As mentioned above, in this example, the temperature estimation parameters are created only for a predetermined voltage value and drive frequency. Adds control restrictions such as keeping the time constant from winding up until the rope becomes taut. This makes it possible to minimize the amount of temperature estimation parameter data stored in the related information storage section 316, thereby minimizing the required storage area.

The temperature value output from the temperature estimation section 313 is transmitted to the motor control section 311 and the operation terminal 120. The motor control unit 311 compares the motor temperature with the protection temperature, which is the protection standard information stored in the protection standard information storage unit 317, and stops the operation of the motor 220 if it is determined that the motor temperature is higher than the protection temperature. Thereby, burnout failure of the motor 220 can be prevented.

Further, since the determination to stop the operation of the motor 220 is made between the motor starting point and the load increase point, the stopping process is executed before the hanging load 130 comes off the ground. Thereby, it is possible to prevent the hanging load 130 from stopping in a state where there is a risk of it falling, thereby ensuring safety. In addition, by outputting an error code indicating that the motor 220 has stopped from the motor control unit 311 to the operation terminal 120, the status display unit 411 indicates that the hoist 101 has stopped due to excessive temperature rise of the motor 220. You can confirm what you did.

FIG. 5 is a diagram showing a display example of the status display section 411 on the operation terminal 120. From the display in FIG. 5, the operator can confirm that the motor 220 is in a state of excessive temperature rise.

In this embodiment, control is performed based on the temperature estimation result, but since the temperature estimation calculation is based on the change in the winding resistance of the motor 220, the temperature estimation value is not used as the resistance value or the current value. It is also possible to determine whether or not the motor 220 should be stopped by converting it into a value and comparing it with the resistance value or current value of the protection standard.

In addition, in this embodiment, V/F control was explained as an example, but in a method such as vector control that performs feedback control to drive with a predetermined current value, it is important to note that the current changes due to changes in motor temperature. Since the applied voltage value changes in such a way as to suppress the current, the motor temperature can be estimated by providing a voltage acquisition section instead of the current acquisition section 312 and storing the correspondence between the voltage value and temperature in the relational information storage section. becomes possible. With the above mechanism, the temperature is estimated from the current value at the motor starting point and the load increase point, and motor protection control is executed based on the estimated temperature, thereby making it possible to prevent burnout failures.

Moreover, since a series of arithmetic processes for estimating the temperature is executed during the hoisting operation, it is possible to estimate the temperature without stopping the motor 220. Since motor temperature estimation that does not require waiting time can be realized, a hoist or a hoist system with high conveyance efficiency can be realized. Furthermore, since the estimated temperature value is calculated from the start of the motor 220 to before the load is increased, the motor temperature can be estimated before the suspended load 130 comes off the ground 240, as shown in FIG. 2, ensuring safety. can.

Note that although the first embodiment assumes a case where the temperature of the hoisting motor 220 is estimated, this embodiment is not limited to such a case. It can also be applied in cases where

Example 2 will be described with reference to FIGS. 6 to 8. Since the second embodiment has an additional configuration to the first embodiment, the description will focus on the differences from the first embodiment.

FIG. 6 is a diagram showing functional blocks of the hoisting machine system 100 in the second embodiment. Example 2 differs from Example 1 in that it includes an operation information acquisition unit 321 that acquires operation information of the motor 220, and a standard that stores the relationship between motor temperature and current value (reference information) created for each hoisting machine 101. It is equipped with an information storage section 322 and a related information updating section 323 that updates temperature estimation parameters using reference information. Furthermore, an encoder for obtaining the rotational speed is installed on the shaft to which the hoisting drum 210 of the hoisting machine 101 is connected.

In this embodiment, three operations are executed in response to commands from the operation input unit 412: a hoisting operation, a reference information update operation, and a related information update process. Each operation will be explained below.

In the case of hoisting operation, a motor drive signal is generated by the motor control unit 311 by instructing to drive the motor 220 from the operation input unit 412. The motor drive signal includes a current value, a voltage value, and a drive frequency, and among these, the current value is acquired by the current acquisition section 312 and transmitted to the temperature estimation section 313. The voltage value, drive frequency, and rotational speed of the motor 220 measured by the encoder are acquired by the driving information acquisition unit 321 and transmitted to the related information storage unit 316. The operation information acquired by the operation information acquisition unit 321 includes the voltage value applied to the motor, the command frequency of the motor control unit that drives the motor, and the rotation of the motor calculated from the sensor value of the encoder provided for the motor. current value input to the motor, excitation current value in vector control of the motor, torque current value in vector control of the motor, torque value input to the motor, command speed input to the motor, and relative to the command speed input to the motor There is information on at least one of the slip values of the rotational speed of the motor.

The driving information acquisition unit 321 calculates the slip value of the motor 220 from the drive frequency and rotational speed, and transmits it to the related information storage unit 316. The temperature estimation unit 313 calculates the motor temperature based on the current value information, the temperature estimation parameters stored in the related information storage unit 316, and the reference information for each individual recorded in the reference information storage unit 322. Here, the temperature and current value tables stored as temperature estimation parameters are created for a plurality of voltage values, drive frequencies, rotation speeds, and slip values, respectively. The table was created by using a representative individual of the model and performing a hoisting operation while changing the voltage value, drive frequency, hanging load, and temperature.

The reference information storage unit 322 stores time-series data of current values and motor temperatures obtained by hoisting or lowering each machine under predetermined voltage values, drive frequencies, and load conditions. ing. In other words, it can be considered that the relationship between the current value and temperature of each machine body is recorded for each of the motor starting point and the load increase point.

When the temperature estimation unit 313 calculates the temperature, the first temperature at each point is calculated using the current value and temperature estimation parameter at the motor starting point and the load increase point. At the same time, a second temperature at each point is calculated from the obtained current value and temperature estimation parameters for the operating conditions for obtaining the reference information. Therefore, the difference between the first temperature and the second temperature is a temperature difference due to the difference between the actual operating conditions and the operating conditions for acquiring the reference information. Next, the third temperature is calculated by comparing the reference information stored in the reference information storage unit 322 and the current value. The difference between the second temperature and the third temperature represents a difference corresponding to the difference in winding resistance between the representative individual used to create the table of temperature estimation parameters and the individual aircraft. Finally, by adding the difference between the second temperature and the third temperature to the first temperature, the corrected temperature for each aircraft is calculated and output.

With the above mechanism, when developing a new model, for example, a table of related information can be created by acquiring the relationship between current value and temperature at multiple points using one representative individual, and each time in the production process. By performing winding operation on each individual and creating reference information, it is possible to estimate the temperature while correcting the difference in winding resistance for each individual.

In addition, by using one representative individual, measuring the relationship between current value and motor temperature at various voltage values, driving frequencies, rotational speeds, and slip values, and preparing a table of characteristics. Even if the voltage value, drive frequency, rotation speed, or slip value acquired from the operation information acquisition unit 321 changes, the change is reflected in the difference in temperature estimation parameters, so the motor temperature can be adjusted under various operating conditions. Estimation becomes possible.

Next, reference information update operation will be explained. A reference information update operation is performed as a process for updating the reference information when the hoisting machine 101 is shipped, when performing initial settings, when it is desired to adjust the temperature output value during regular maintenance, etc.

FIG. 7 is a diagram showing the flow of the reference information update operation. In step S701, the operator of the operating terminal 120 inputs an instruction to start the reference information update operation from the operating terminal 120, thereby starting the flow from step S702 onwards. If it is input that the reference information does not need to be updated, this processing flow ends without being executed.

Step S702: Before starting operation, the temperature sensor 140 is installed on the motor 220, and the terminal of the temperature sensor 140 is connected to the input terminal of the control board. Further, predetermined load conditions are set.

Step S703: The operator instructs the start of the reference information update operation from the operation input unit 412. When the operation starts, a command for operation such as hoisting or lowering is transmitted to the motor control unit 311, and the operation such as hoisting or lowering is executed at a predetermined voltage value and drive frequency.

Step S704: The current acquisition unit 312 acquires the current waveform, and stores it in a temporary storage area in association with the temperature waveform acquired by the temperature sensor 140. Using the acquired current waveform, the temperature estimation unit 313 calculates the current values at the motor starting point and the load increase point, and the status display unit 411 outputs the motor temperature and the current value. This allows the operator to check the measurement results through the input/output device 410.

Step S705: The operator checks the measurement results and determines whether or not the temperature needs to be corrected.

Step S706: When correcting the temperature value, the operator transmits the temperature correction value to the reference information storage unit 322 from the operation input unit 412.

Step S707: The reference information storage unit 322 stores the current waveform stored in the temporary storage area and the measurement result or the corrected temperature in association with each other.

Step S708: The status display section 411 outputs the new relationship between current value and temperature at the motor starting point and the load increase point.

Note that in this embodiment, the temperature sensor 140 installed on the motor 220 is used to obtain the motor temperature, but the temperature sensor 140 is not essential. For example, before the reference information update operation, the motor 220 is stopped for a sufficient period of time. There is also a method of reading the outside air temperature from a thermometer or the like during the reference information update operation and manually inputting it from the operation input section 412.

Through the above processing, the relationship between the temperature and current waveform of each individual product can be obtained at the time of product shipment, initial setting, periodic maintenance, etc. Thereby, even if deterioration occurs in the windings of the motor 220, for example, the temperature can be adjusted so that an accurate temperature can be output.

Next, the relationship information update process will be explained with reference to FIG. 8. This processing flow is executed, for example, when the estimated value of the motor temperature cannot be corrected by updating the reference information, or when a temperature estimation result specific to the estimation accuracy of each aircraft is required. The processing flow in FIG. 8 will be described below.

Step S801: It is determined whether or not it is necessary to update the temperature estimation parameters stored in the related information storage unit 316, and the operator of the operation terminal 120 inputs the temperature estimation parameters from the operation input unit 412. If no update is required, this processing flow ends.

Step S802: If it is input that the temperature estimation parameter needs to be updated, the related information update unit 323 updates the temperature estimation parameter in the related information storage unit 316 using the reference information stored in the reference information storage unit 322. Performs calculation processing.

Step S803: Using the calculation result as a new temperature estimation parameter, the relational information updating unit 323 updates the temperature estimation parameter in the relational information storage unit 316.

Through the above processing, new temperature estimation parameters are generated for each of the motor starting point and the load increase point based on the combination of current value and temperature stored in the reference information storage unit 322, so the characteristics of each individual It is possible to generate parameters that capture the information with higher accuracy. In this embodiment, an example is shown in which the reference information is created using a predetermined voltage value and drive frequency, but the voltage value, drive frequency, rotation speed, and slip value of the motor drive signal are It is also possible to rewrite all of the related information by saving data for different cases and updating the related information.

As described above, even when the voltage value, drive frequency, rotation speed, and slip value of the motor drive signal differ according to this embodiment, temperature estimation parameters corresponding to each operating condition can be used. Temperature estimation can be performed over a wider range of applications than in the conventional method.

In addition, by storing different reference information for each individual in the reference information storage unit 322 and correcting the calculation results in the temperature estimation unit 313, it is possible to reduce the number of data prepared for each individual, thereby reducing implementation costs. can. Furthermore, since the relational information can be updated using the reference information stored in the reference information storage unit 322, temperature estimation parameters that more accurately capture the characteristics of each individual can be generated by repeated measurements.

Example 3 will be described with reference to FIGS. 9 and 10. FIG. 9 is a diagram showing functional blocks of the state estimation device 160 in the third embodiment. The third embodiment is a state estimation device 160 that estimates the state of an existing hoisting machine system 100. Therefore, it should be noted that the state estimating device 160 of this embodiment does not include the hoisting machine 101.

The basic configurations of the state estimation device 160 and the operation terminal 120 of the third embodiment are the same as those of the first and second embodiments. The functions of the state estimation device 160 (current acquisition unit 312, temperature estimation unit 313, state estimation unit 327, etc.) include, for example, the arithmetic unit 328 reading a program stored in the auxiliary storage device 318 to the main storage device 315 and executing it. The configuration is similar to that described in the first embodiment. However, in this embodiment, since the protection standard information storage unit 317 in the first and second embodiments is excluded, the process to stop the motor 220 based on the estimated motor temperature is not performed.

Furthermore, compared to the second embodiment, the state estimation device 160 in this embodiment includes a deterioration relationship information storage section 324 that stores deterioration estimation parameters, and a deterioration estimation section 326 that calculates the degree of deterioration from the reference information and the deterioration estimation parameters. , is different in that a state estimation formula storage section 325 and a state estimation section 327 are included. The state estimation section 327 uses the current value, voltage value, drive frequency, rotation speed, and slip value obtained by the current acquisition section 312 and the driving information acquisition section 321, the temperature calculated by the temperature estimation section 313, and the deterioration estimation section 326. The state of the motor 220 is estimated from the calculated degree of deterioration and the state estimation parameters stored in the state estimation formula storage unit 325.

In the present embodiment, a current value is acquired from a motor system 150 configured by a motor 220 and a motor control unit 311 mounted on a hoisting machine 101 via a current acquisition unit 312, and a current value is acquired via an operation information acquisition unit 321. Then, encoder information representing the voltage value, drive frequency, and number of rotations of the hoisting drum 210 is acquired.

Note that the driving information acquisition unit 321 calculates a slip value by comparing the encoder information and the driving frequency. The current value acquired by the current acquisition unit 312 is referred to when calculating the temperature in the temperature estimation unit 313 and creating reference information for each individual, and is also referred to in the state estimation unit 327 that estimates the state related to the motor 220. is input to.

The driving information, such as the voltage value, drive frequency, rotational speed, and slip value, acquired by the driving information acquisition section 321 is input to the state estimating section 327 in addition to being input to the related information storage section 316 . The reference information stored in the reference information storage section 322 is transmitted to the deterioration estimation section 326. The deterioration estimating unit 326 calculates the degree of deterioration of the motor 220 by comparing the deterioration relationship information (deterioration degree relational expression) for the current value and temperature stored in the deterioration relationship information storage unit 324 with the reference information.

The degree of deterioration calculated by the deterioration estimating section 326 is output to the state display section 411 and input to the state estimating section 327. The temperature calculated by the temperature estimation section 313 is also output to the state display section 411 and input to the state estimation section 327.

The state estimation unit 327 has a function of estimating the state related to the motor 220 based on the voltage value, current value, drive frequency, slip value, temperature, degree of deterioration, and state estimation parameters inputted from each. In this embodiment, as the loads applied to the motor 220, the load of the suspended load 130 and the tension state of the rope suspending the suspended load 130 can be estimated.

FIG. 10 is a diagram showing the calculation flow in the state estimation unit 327. The voltage value, current value, drive frequency, rotation speed, and slip value input to the state estimator 327 are input to a multitask neural network (hereinafter referred to as network 600). The network 600 is a fully connected neural network in which the number of neurons in the input layer 610 is N+2, the number of shared layers 620 is "2", and the number of unique layers 630 branched to each estimation item is "1".

Time series data of voltage values, current values, drive frequencies, rotational speeds, and slip values are input to this network 600 from N input neurons, and the degree of deterioration calculated by the deterioration estimating section 326 and the temperature estimating section The temperature calculated in step 313 is additionally input. As mentioned above, the degree of deterioration is a value calculated from the reference information and the deterioration estimation parameters stored in the deterioration related information storage section 324, and the temperature is a value calculated from the current value and the temperature estimation parameters stored in the related information storage section 316. It is.

The parameters of the network 600 are stored in the state estimation formula storage unit 325, and are adjusted in advance by learning calculations so that appropriate outputs can be obtained. This network 600 sequentially executes calculations from the input layer 610, and the output layer 640 calculates the load of the suspended load 130 hoisted by the hoisting machine 101 and the tension state of the rope suspending the suspended load 130. Ru.

With the above configuration, it is possible to calculate values that take into account the degree of deterioration and motor temperature in the process of estimating the load and rope tension state from voltage values, current values, drive frequency, rotation speed, and slip values. . In particular, according to the present embodiment, the motor temperature is calculated before the ground cutting is performed, and the degree of deterioration is estimated in advance based on reference information. Can be entered as a fixed value. Thereby, the calculation load can be reduced compared to calculating the temperature and the degree of deterioration using the network 600.

100...Hoisting machine system, 101...Hoisting machine, 160...State estimation device

Claims (14)

A hoisting machine that has a motor and controls the motor to hoist or lower a suspended load,
a motor drive signal acquisition unit that acquires a drive signal for the motor;
a relationship information storage unit that stores the relationship between the drive signal and the motor temperature at a predetermined timing as relationship information;
A hoisting machine comprising: a temperature estimation section that estimates a motor temperature from a motor drive signal at the timing acquired from the motor drive signal acquisition section and the related information in the process of hoisting or lowering operation. The hoisting machine according to claim 1,
The drive signal includes information on at least one of a voltage value applied to the motor, a current value input to the motor, a torque current value in vector control of the motor, and an electrical resistance value. The hoisting machine according to claim 1,
The timing is
The hoisting machine when the motor starts, or when the load on the motor increases, or within a period from the start to the time when the load increases. The hoisting machine according to claim 1,
a protection standard information storage unit that stores protection standard information that is a protection standard for the motor;
When the motor temperature calculated by the temperature estimator or the motor temperature is converted into the drive signal and compared with the protection standard information, and the motor temperature or the converted drive signal reaches the protection standard information. and a hoisting machine that stops the motor. The hoisting machine according to claim 1,
The motor drive signal acquisition unit acquires operation information of the motor,
The hoisting machine, wherein the related information includes the operation information at the timing. The hoisting machine according to claim 5,
The driving information is
A voltage value applied to the motor, a command frequency of a control unit that drives the motor, a rotation speed of the motor calculated from a sensor value of an encoder provided for the motor, a current value input to the motor, An excitation current value in vector control of the motor, a torque current value in vector control of the motor, a torque value input to the motor, a command speed input to the motor, and a rotation of the motor relative to the command speed input to the motor. A hoisting machine including information on at least one of a number of slip values. The hoisting machine according to claim 1,
It has a reference information storage unit that stores the results of hoisting or lowering operations performed for each individual as reference information,
The reference information includes the motor temperature at the timing when the motor is operated and the drive signal,
The relationship information storage unit stores the relationship information for each model,
In the hoisting machine, the temperature estimation section corrects the temperature estimation based on the reference information for each individual stored in the reference information storage section. A hoisting machine system comprising a hoisting machine that controls a motor to hoist or lower a suspended load, and a terminal that communicates with the hoisting machine,
a motor drive signal acquisition unit that acquires a drive signal for the motor;
a relationship information storage unit that stores the relationship between the drive signal and the motor temperature at a predetermined timing as relationship information;
A hoisting machine system comprising: a temperature estimation section that estimates a motor temperature from a motor drive signal at the timing acquired from the motor drive signal acquisition section and the related information in the process of hoisting or lowering operation. The hoist system according to claim 8,
The terminal is
A hoisting machine system that outputs a motor temperature calculated by the temperature estimation section. The hoisting machine system according to claim 8,
It has a reference information storage unit that stores the results of hoisting or lowering operations performed for each individual as reference information,
The reference information includes the motor temperature at the timing when the motor is operated and the drive signal,
The relationship information storage unit stores the relationship information for each model,
Based on the reference information for each individual stored in the reference information storage unit, the temperature estimating unit is capable of instructing from the terminal to update the reference information or the related information for the temperature estimation correction unit. system. A state estimation device that has a motor and estimates a state in a motor system in which the motor is controlled,
a motor drive signal acquisition unit that acquires a drive signal for the motor;
a relationship information storage unit that stores the relationship between the drive signal and the motor temperature at a predetermined timing as relationship information;
a temperature estimating unit that estimates a motor temperature from the motor drive signal at the timing acquired from the motor drive signal acquisition unit and the related information when the motor is operating;
A state estimating device comprising: a state estimating unit that estimates a state in a motor system from the estimated motor temperature. The state estimation device according to claim 11,
It has a reference information storage unit that stores the results of the reference operation performed for each individual as reference information,
A state estimation unit comprising a deterioration estimation unit that estimates the degree of deterioration of the motor by comparing the reference information stored in the reference information storage unit with deterioration relationship information created in advance as a relationship between the degree of deterioration and the reference information. Device. The state estimation device according to claim 11,
The state estimating unit is
A state estimation device that estimates a state in a motor system based on a state estimation formula that has been learned to be able to estimate the state in the motor system. The state estimation device according to claim 12,
The state estimating unit is
A state estimating device that inputs the degree of deterioration and estimates a state in a motor system.

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