JP2512854B2 - Control system for the cavern lane - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cable crane control system for fully automating the operation of a cable crane for supplying concrete to, for example, a dam construction site.

[0002]

2. Description of the Related Art As is well known, a cable crane is used as one of means for transporting concrete from a manufacturing site to a pouring site at a dam construction site, for example.

As shown in FIG. 9, a conventional cable crane has a main rope 2 stretched on a dam 1 constructed in a mountain along its longitudinal direction and a main rope 2 suspended from the main rope 2. Travelable trolley 3 and trolley towing 4
A concrete bucket 6 that is hung from the bottom of the trolley 3 via suspension lines 5, and a transport start position A where the trolley 3 is installed on the mountain side by pulling the check rope 4 and an arbitrary bottom position of the dam 1. The traverse winch 7 that reciprocates between the set transport end positions B, the vertical winch 8 that winds up and down the hanging rope 5 to move the bucket 6 up and down, the position of the trolley 3 and the position of the bucket 6 are set. An operation room 9 is provided for monitoring and for driving and controlling the winches 7 and 8.

Then, on the upper side of the transport start position A,
A transfer car 1 that conveys concrete made by a batcher plant (not shown) in a direction orthogonal to the paper surface.
0 travels, and a concrete hopper 11 is arranged at the transfer end position B. Based on a control signal from the operation room 9, the trolley 3 is moved laterally and the bucket 6 is moved up and down to the respective positions A and B. The bucket 6 is positioned to supply and discharge concrete.

Since a large amount of concrete is required for this type of structure, the bucket 6 is used in consideration of the cost of construction.
It is necessary to shorten the transfer time per time as much as possible, and a suitable control mode for this purpose is to transfer on an oblique trajectory as shown in the figure.

Further, in the cable crane, the reciprocating motion of the trolley from the transport start position A to the transport end position B and the vertical motion of the bucket 6 cause the main rope 2 depending on the feeding amount and load of each rope 4, 5. The position can be detected by the degree of flexure, etc., and the coordinates are automatically calculated according to this, and the drive control device for each winch 7, 8 can be instructed to perform normal / reverse rotation, deceleration, and stop based on this calculation result. Therefore, the bucket 6 can be automatically conveyed along the oblique trajectory.

However, in actuality, during acceleration and deceleration of the trolley 3 from the transport start position, a response delay occurs in the speed of the bucket 6, so that the bucket 6 swings with the length of the suspension rope 5 as a cycle, Since there is a danger of collision, it has been necessary to stop this shake.

In order to prevent the shake, as shown in FIG.
By decelerating or speeding up the trolley in the same direction as the shake direction as shown in (b), the shake can be canceled and the trolley can be stopped at the neutral position. The following method has been proposed as a control method for the steady rest.

The degree of deflection of the main rope 2 according to the degree of advance of the trolley 3 and the bucket 6 and the equation of motion of the trolley 3 and the bucket 6 are given to calculate at what time and to what degree the control amount is added. Operate in the drive mode according to. The optimum operation pattern manually operated by a combination of skilled operators and observers is memorized, and operation is carried out by learning control according to the memorized pattern. The current speed, the shake direction, the shake amount, and the cycle are detected, the feedback control amount is calculated from the detection result, and this result is given as the control amount. A predictive control amount according to the detection result is selected and given by fuzzy inference.

However, the above control method has the following problems.

[0011]

First, although the method of (1) is economical because the operation is completed in a short time, it is not possible to deal with the case where a strong wind blows during operation and an unexpected shake occurs, and the reliability is high. Cause problems.

In the particular method, every time the transport end position B is changed, the optimum operation pattern must be sought by a manual operation by a skilled person whenever a fluctuation factor such as a fluctuation of the bucket weight occurs.

The method (1) has certainty because the control is applied until the shake stops, but since it is the control by the follow-up, there is a time delay, and one operation time is long, so that it is not economical.

Although the method of (1) is control by follow-up,
Although the time is shortened because the control is performed by prediction, the operation time is also long and it is not economical.

When a strong wind constantly blows beyond the work standard, even if it is a manual operation, the above control methods cannot prevent the runout, so the operation must be stopped. In particular, when the wind blows in the direction orthogonal to the paper surface of FIG. 9, control for steadying cannot be performed at all, which causes a problem in terms of safety, but when the wind blows in the traveling direction of the bucket, it takes some time. You can control it with or without hanging. However, it was difficult to predict whether or not it was possible, and the criteria for judgment were unclear.

The present invention solves the above problems.
The purpose of the present invention is to provide a control system for a cable crane, which can select the operation by the most suitable control means among the above-mentioned control means or can stop the operation according to external factors such as wind direction, wind speed and wind direction change. Is a thing

[0017]

In order to achieve the above object, the present invention provides a detecting means for detecting the traverse amount and speed of a trolley, a detecting means for detecting the traverse amount and speed of a bucket, and the bucket. Detection means for detecting the swing angle of the bucket, and the total load applied to the main rope,
Calculation is performed by applying the relationship between the trajectory of the main rope and the traverse amount of the trolley and the traverse amount of the bucket that are numerically modeled in advance according to the start coordinates and the target coordinates to be reached, and the operation pattern according to the result. And a deceleration or acceleration amount and control timing for canceling the shake according to the shake angle and angular velocity of the bucket detected by the shake angle detection means at the end of the acceleration and deceleration. And a second control means for outputting feedback control information based on the set value, a trolley speed detecting means for the trolley, a trolley speed detecting means for sequentially detecting the traverse amount detecting means for the trolley, a trolley speed detecting means for the bucket, and a bucket. The runout angle and runout direction and the extension length of the suspension line are applied to the predetermined control rule for steady rest, and the predicted correction value obtained by this control rule is calculated. Feedback control means for outputting feedback control information, a fourth control means for storing the driving procedure of the drive control device by manual operation, and outputting an operation pattern based on the stored contents, and a factor for changing the external world. The selection means for selecting any one of the first to fourth control means based on a predetermined control rule predetermined by, and the information from the control means selected by the selection means as the control information at the time of actual operation, Drive control means for driving the drive device of each winch along its control pattern from the time of departure is provided.

Further, the selecting means, during a predetermined time before operation, wind speeds sampled by wind speeds and wind vanes installed at a plurality of locations near the cable crane,
The wind direction and the change in the wind direction can be input, and the input values can be adapted to the control rules to select each of the control means or command the suspension of operation.

[0019]

[Advantage] According to the above configuration, it is judged whether the reliability or the economy is advantageous during operation according to the variable factors such as the outside world, and the operation is performed by the most appropriate control method in the situation. Is done.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail below with reference to the drawings. In the embodiments, the same reference numerals will be used for the same or corresponding parts as in the related art, and different parts or parts to be newly added will be described with new signs.

FIG. 1 is a schematic diagram showing the overall configuration of the present invention, and FIG. 2 is a block diagram showing the system configuration.

In the figure, this cable crane is basically similar to the conventional one, and a main rope 2 stretched along the longitudinal direction on the upper portion of a dam 1 constructed in a mountain and a main rope 2. A trolley 3 that can be suspended and run along it,
Checking rope 4 for towing the trolley and hanging rope 5 under the trolley 3.
Reciprocating between a concrete bucket 6 hung via a trolley, a transport start position A in which the trolley 3 is provided on the mountain side by pulling the check rope 4 and a transport end position B set at an arbitrary bottom portion of the dam 1. The traverse winch 7 to be moved and the hanging rope 5
A longitudinal winch 8 for winding and lowering the bucket 6 to raise and lower the bucket 6, and an operation chamber 9 for monitoring the position of the trolley 3 and the position of the bucket 6 and for driving and controlling the winches 7, 8. I have it.

At the carrying start position A, a transfer car 10 for carrying concrete made by a batcher plant (not shown) travels in a direction orthogonal to the paper surface, and at the carrying end position B, a concrete hopper 11 is arranged. There is.

In the operation room 9, an operating console 20 for operating the winches 7 and 8, a drive controller 22 for instructing the winches 7 and 8 in various drive modes, and an optimum traveling pattern for the trolley 3.
It is provided with an operation control unit 24, a radio 26 and the like for selecting an optimum lifting pattern of the bucket and bucket 6 and giving the pattern to the drive control unit 22.

An inclination angle detecting device 28 is provided at the root of the main rope 4, and a light wave range finder 30 is provided.

The tilt angle detecting device 28 detects the tilt degree of the main rope 4 at the approaching position of the trolley 3, and the lightwave range finder 30 detects the starting coordinates of the trolley 3 immediately above the transport start position A. Each is connected to the control unit 22. The trolley 3 is provided with a vertically long reflection plate 30a that covers the irradiation range of the light wave range finder 30 in correspondence with the light wave range finder 30.

The transverse winch 7 and the longitudinal winch 8
Is arranged in the machine room 32 in the vicinity of the main ropes 2, and as shown in FIG. The drive units 34 and 36 are the drive control unit 22.
The winches 7 and 8 are driven in forward / reverse and accelerated / decelerated according to a command from the drive control unit 22.

More specifically, each winch 7, 8 has a motor 7a, 8a, a brake 7b, 8b, and a speed reducer 7, respectively.
It has drums 7d and 8d which are rotatably interlocked with each other via c and 8c, and which wind and unwind the check rope 4 and the suspension rope 5. The traverse winch 7 is an endless type checker 4
The intermediate drum 7d-1 and the drum 7d
Both ends of the check rope 4 are wound in a state of being wound around.

Each motor 7a, 8a has a speed detector 7e,
8e is provided, and these detected values are used for the speed control device 2
By feeding back to the control unit 4, 26,
It is controlled to an appropriate rotation direction and speed according to the traveling command from.

Further, encoders X and Z are provided on the drums 7d and 8d, respectively. Of these, the encoder X is for detecting the lateral travel amount of the trolley 3, and the encoder Z is for detecting the descending amount of the bucket 6, and the respective data are input to the drive control unit 22. An error occurs in the detected value of the amount of traverse, which is corrected by the lightwave distance meter 30 each time the trolley 3 arrives because an error occurs due to the slip of the rope 4 on the intermediate drum 7d-1.

A bottom confirmation switch 42 is provided on the bunker line, which is the transport start position A, and an area sensor 44 and a control panel 46 are provided in the vicinity of the bottom confirmation switch 42.

The bottom confirmation switch 42 is for detecting the bottom of the bucket 6, and the area sensor 44 is for the bucket 6.
It is a sensor for controlling the bottom of the sensor, and the sensor 44 can reach the bottom within the detection range. Control panel 4
Reference numeral 6 is for performing control when concrete is discharged from the transfer car 10 to the bucket 6.

Below the bucket 6, there are provided a gate and an open / close detection limit switch 48 which are opened and closed by a hydraulic cylinder (not shown), and an ultrasonic area sensor 50. Further, a wireless device 52, a gyro-type swing angle detector 54, a control panel 56, a battery 58 for driving these movable parts, and a solar-type charging device 60 are arranged above the bucket 6, and the detection values of the respective sensors are provided. As shown in FIG. 2, the control room 9 and the radios 52 and 26 are used to operate the operation room 9
It is transferred to the control unit 22 on the side.

The hopper 11 is supported by a support frame 62 installed on the transport end position A, and a gate and an open / close detection limit switch 64 which are opened / closed by a hydraulic cylinder (not shown) are provided below the support frame 62. There is.
Further, the concrete discharging manual switch 6 is provided at the leg portion of the support base 62 at a position where the driver's seat of the dump truck 66 stopped below the hopper 11 can be easily seen and operated.
8, a display device 70, a control panel 72, etc. are arranged.

A radio 74 and an ultrasonic area sensor 76 for detecting the stop position of the bucket 6 are arranged above the support frame 62. The detected values of these sensors are the control panel 72, the radios 74, 26. Through the control room 22 on the operation room 9 side.

Further, an observation device 80 for measuring the wind speed, the wind direction and the change in the wind direction is arranged at a plurality of positions near the above cable crane, and the observation device 80 is connected to the arithmetic control unit 24 by a wire (not shown). Alternatively, it is connected through a wireless device or the like, and outputs the data of the wind speed, the wind direction, and the change in the wind direction that change from moment to moment to the arithmetic control unit 24 side.

The arithmetic control unit 24 includes the following various control units 24a.
~ 24e is built in.

(A) Feed-forward control section 24a programmed with an optimal operation pattern based on trajectory calculation (b) Feedback control section 24b (c) Feedback control section 24 based on phage inference
c (d) Learning control section 24d storing the optimum operation pattern by human power operation (e) A selection section 24e for selecting each of the above control sections 24a to 24d based on a predetermined reference is provided.

Next, the control units 24a to 24d and the selection unit 2
The detailed contents of 4e will be described.

(A) Feed-forward control section 24a: The main rope 2 according to the position of the bucket 6 by a predetermined calculation formula in advance.
The model of the bending locus of is calculated, and the corresponding bucket coordinates and the payout length of the suspension rope 5 are calculated as a function of time.
It has a built-in digitized minimum time operation pattern program, and its contents are as shown in the schematic diagram (a) in FIG.
The target area of the dam 1 is divided into several small blocks, and the operation speed of the trolley 3 and the ascending / descending speed of the bucket 6 are set for each block, and the operation pattern in the shortest time is calculated. To do.

The operating speed Vx of the trolley accelerates from the start coordinates as shown by the solid line in FIG. 3 (b), then reaches a constant speed, and then a decelerating operation pattern is set to 0 at the target coordinates, and the acceleration is accelerated. At the time of deceleration and during deceleration, the condition that shake occurs is predicted, and the constant speed state is maintained for a certain period according to the amount of shake at the position where shake occurs, during acceleration / deceleration. In, take a stepwise driving pattern.

The ascending / descending speed Vz of the suspension rope 5 of the bucket 6 is the operating pattern of the trolley 3 as shown by the solid line in FIG. 3 (c).
The operation pattern is set in accordance with the control pattern, and in order to keep the feeding length of the suspension rope 5 constant during the period of applying the control, the feeding pattern is also stepwise as shown by the chain line. ing.

The degree of bending of the main rope 2 depends on the tension of the main rope 2 and the total load applied to the main rope 2. However, if the tension of the main rope 2 is measured and kept constant at a known value, the operating time and operating pattern according to the program can be determined by inputting the load as a variable. The loads on the main rope 2, trolley 3, and bucket 6 are known values, and are determined according to the weight of concrete put into the bucket.

This concrete is mortar, medium-mixed concrete, or solid-mixed concrete depending on the place of casting and the type of work. If the capacity of the bucket 6 is constant, it varies depending on its specific gravity. The concrete manufactured in the batcher plant is carried on the bunker line by the transfer car 10, and the kind information is also available in the operation room 9.
Side and the bucket 6 side, and operation is started based on this information.

FIG. 4 shows the feed forward control section 24 described above.
4 shows a control procedure by a. First, in the outward path shown in FIG. 4, when the bucket 6 is bottomed at the transport start position A, when the concrete is put into the bucket 6 and the kind is designated at the same time. When the total load applied to the main rope 4 is designated, and then the start coordinates and the arrival coordinates of the trolley 3 are determined according to the detection results of the lightwave range finder 30 and the tilt angle detection device 28, the locus of deflection of the main rope 4 is determined. It is calculated (steps 101 to 103).

Next, the bucket 6 is ready for transportation,
When the operation OK signal is received from the control board 46 on the bunker line, the suspension rope 5 is slightly wound up, and the position of the trolley 3 in this state also shifts, so that the origin coordinates are set and the operation based on the setting mode is performed. After the pattern is selected, the operation of each winch 7, 8 is started (steps 104-1).
08).

During operation, the drive control section 22 constantly monitors the traverse amount of the trolley 3 and the payout length and speed of the suspension rope 5 by the encoders X and Z, and if a preprogrammed speed change point is reached by this, Accordingly, the work of matching the control voltage for the winches 7 and 8 with the program content is repeated (steps 109 and 110), and step 1
The operation is terminated at the time when the arrival coordinates set by 02 are matched (step 111). Further, on the return path, the operation is performed in almost the same manner as the outward path and the reverse procedure.

(B) Feedback control section 24b: Basically, the feedback control section 24b is operated by the operation pattern shown by the solid lines in (b) and (c) of FIG. At the time, the feedback control amount and timing for canceling the shake according to the shake angle and the angular velocity are calculated, and the feedback control for the shake stop during acceleration and deceleration is performed.

5 and 6 show the control procedure at the time of acceleration,
It shows the relationship with the speed according to the control content.

As shown in FIG. 5, the trolley 3 after the start of operation
Is input, the position and speed of the trolley 3 and the swing angle and angular velocity of the bucket 6 are input, and these values are applied to a predetermined motion equation for steady rest to calculate the steady-state control voltage. At the same time, the control start time is calculated, and the control standby state is maintained until the start (step 201).
~ 207).

The position and speed of the trolley 3 are given by the encoder X and the speed meter 7e, and the swing angle and angular velocity of the bucket 6 are the detected values of the swing angle detector 54.
Given through 8,52.

In this state, as shown in FIG. 6A, the time from the start of operation until the speed of the trolley 3 reaches the constant speed v1 is t.
If it is 1, the bucket 6 will shake due to a delayed response,
It becomes a pendulum-shaped sinusoidal curve which is swayed to the left and right as shown by the swing width v2, and its period is constant if the length of the slings 5 is constant, and has the maximum amplitude.

Therefore, after the time t1, the point time t2 at which v2 = 0 is obtained, and v2 = m from this point.
The shake is offset by applying an acceleration corresponding to ax for a predetermined time.

Therefore, when the start time t2 is reached, the primary feedback control is started, a control voltage for acceleration is given to the trolley 3 to the driving device 34, and a response calculation is performed from the shake (steps 208 and 209).

The state in which the primary feedback control is performed until time t3 is shown in FIG. 6 (b). During this time (time t2
If v2 = max <permissible value (between t3 and t3), the feedback control ends.

On the other hand, if the allowable value is exceeded, the secondary feedback start time t4 is calculated by the same procedure as described above, and if the start time is reached, step 2 is executed.
The control voltage obtained from the response value calculated at 09 is added for a predetermined time, and the response is measured to calculate the shake (steps 210 to 214).

The state in which the secondary feedback control is performed is shown in FIG. 6 (c). During this period (time t3 to t4
If v2 = max <permissible value in (interval), the feedback control is ended, but if it exceeds the permissible value,
It returns to Step 210 again and repeats the same feedback control until it converges to the allowable value.

The control during deceleration is also the same,
Although only the control direction is different, the control to return to the constant speed is performed contrary to the above, and the shake is offset by the step-like deceleration pattern. The same applies to the return trip.

(C) Feedback control section 24c based on fuzzy inference: The solid line in FIGS. 3 (b) and 3 (c) performs feedback control by fuzzy inference for steadying during acceleration and deceleration.

FIG. 4 shows the forward path, that is, the transport start position A.
This shows the control procedure from the conveyance end position B to the conveyance end position B. When the operation is started, the acceleration starts first, and then the deflection rule and the deflection direction of the bucket 6 and the speed of the trolley 3 when the departure rule application range by fuzzy reasoning is reached. Input and calculation unit 24
The steady rest processing according to the departure rule of the bucket built in is executed (steps 301 to 304).

Next, when the application of the departure rule is completed and the deceleration rule application area by fuzzy reasoning is reached, the swing angle and swing direction of the bucket 6 and the speed and position of the trolley 3 are input, and the calculation unit 24 is also incorporated. The steady rest process according to the bucket deceleration rule is executed (steps 305 to 305).
308).

When the application of the deceleration rule is completed and the stop rule application area by fuzzy reasoning is reached, the swing angle and swing direction of the length bucket 6 of the hanging rope 5 and the speed and position of the trolley 3 are input, and the calculation unit 24 is also operated. Execution of the processing according to the bucket stop rule built into the CPU is stopped when the stop rule is applied (steps 309 to 313).

The departure rule, the deceleration rule, and the stop rule detect the speed, the swing direction, and the swing angle of the trolley, and add a control amount by fuzzy reasoning based on the detected values. Is omitted. Feedback control by the same fuzzy inference is performed on the return path.

(D) Learning control section 24d: A plurality of operation patterns manually controlled by the operator in the past are stored together with data such as the weight of the bucket 6 and the operating time, and the operation is performed as it is called. Operate bucket 6 in a pattern.

(E) Selector 24e: The measurement results of the observation equipment 80 are input to successively make judgments based on a predetermined rule, and according to the results, the control units 24a ...
24d is selected, and the judgment criteria are as follows.

First, the advantages and disadvantages of the control methods of the above control units 24a to 24d will be listed.

As a control method capable of performing operation processing in the shortest time, the learning control method of (d) is used. Although this suggests the precision of operation by a skilled operator,
It depends on the bucket weight, and also depends on other factors, so it can be used only when the conditions are met. Further, since the transport end position B is changed every day, it is necessary for the operator to drive the transport end position B every time.

The control method that can be performed in a relatively short time is the feed-forward control method of (a). In this case, even if there is a variable factor such as the weight of the bucket, it is possible to perform control based on the numerical calculation corresponding to it. However, also in this case, it is impossible to prevent the bucket from swinging due to wind.

A control method which takes a long time but is relatively wind resistant is the feedback control method by fuzzy reasoning in (c). However, in this control method, since the control range is fixed, it is not possible to perform control that takes into consideration the subsequent shake due to the influence of wind. In addition, if the number of samplings for measurement is increased and the control is repeated many times, the time becomes extremely long.

The most reliable control for stopping the shake is the feedback control method of (b), which is repeated many times until the shake is completely stopped regardless of the influence of the wind. However, it is uneconomical because there is a large time delay from measurement to control and an extremely long operating time. Also, depending on the wind speed and direction, this method may not be possible.

On the other hand, the selecting unit 24e calculates the average wind speed for 10 minutes before the operation, for example, 0 to 2
(No wind), 2-4 (light breeze), 4-5 (slightly strong wind), 5
(Strong wind) Classify as above. Further, the wind direction and the change in the wind direction are monitored, the crossing angle of the wind direction with respect to the dam 1 is determined, and the control method by which the control operation is to be performed is determined from these states, and the selection is performed. In addition, the suspension of operation will be judged at the same time.

FIG. 8 shows the procedure of the judgment.
First, the average value of the wind speed and the average value of the wind direction for 10 minutes before the operation are calculated, and when the wind speed is 0 to 2, that is, when there is no wind, the manpower-operated pattern in the past is changed according to the weight of the bucket 6 It is judged whether or not there is a control pattern in the shortest time in the same operation by the engine, and if there is, the learning control section 24d is selected, the stored content is called, and the bucket 6 is controlled via the drive control section 22. (Steps 401-40)
6).

If there is no identical pattern in the past, the feed-forward control unit 24c is selected and the bucket 6 is operated via the drive control unit 22 according to the program contained therein (step 407). .

If the wind speed is 2 to 4, that is, if the wind is a light breeze, the wind direction is judged, and if the wind direction is orthogonal to the longitudinal direction of the dam 1, the feedback control section 24b based on the phage-inference is selected. The bucket 6 is operated via the drive control unit 22 according to the built-in program (steps 408 to 410).

If it is determined that the wind directions are not orthogonal, the feedback control unit 24a is selected, and the bucket 6 is operated via the drive control unit 22 according to the program contents of the feedback control unit 24a (step 411).

When the wind speed is 4 to 5, if the wind direction is orthogonal to the longitudinal direction of the dam 1, a command to stop the operation is given, and if the wind direction intersects in the longitudinal direction of the dam 1, feedback is given. Select the controller 24a (413, 41
4).

When the wind speed is 5 or more, the operation is similarly instructed, and the process returns to step 401 and the operation of calculating the average wind speed and the wind direction for the past 10 minutes is repeated until the contents satisfy the conditions of each control method. Keep on standby.

In the figure, which control method is adopted by a simple processing procedure has been described, but a predetermined fuzzy inference is made based on the wind speed, the wind direction and the change in the wind direction, and the control method is selected based on the content of this inference. Just do it.

Further, a neural network is created in which the wind speed and the wind direction at a certain time are input and the control system is output, and the past cases (the input of the wind speed and the wind direction and the output of the control system) are learned, and the control system is selected. You can also

[0080]

As described above in detail with reference to the embodiments, in the cable crane control system according to the present invention, either reliability or economic efficiency is advantageous in operation depending on the variable factors such as the external environment. It is judged whether there is any, and the driving is made by the most appropriate control method in that situation,
In some cases, cancellation is also ordered.

Therefore, according to the present invention, it is possible to continue the driving by safe driving in any state, and it is possible to avoid the danger due to the expected driving when the wind is strong.

[Brief description of drawings]

FIG. 1 is an overall explanatory view of a cable crane according to the present invention.

FIG. 2 is a block diagram showing a system configuration.

3 (a), (b) and (c) are schematic diagrams showing program contents of a feed-forward control unit.

FIG. 4 is a flowchart showing a control procedure of the feed forward control unit.

FIG. 5 is a flowchart showing a control procedure of a feedback control unit.

6 (a), (b) and (c) are schematic diagrams showing speed changes during the same control.

FIG. 7 is a flowchart showing a control procedure of a feedback control unit by fuzzy inference.

FIG. 8 is a flowchart showing a processing procedure of selection by a selection unit.

FIG. 9 is an explanatory diagram showing a general configuration of a conventional cable crane.

10A and 10B are schematic diagrams showing a control method for swinging and steadying a bucket.

[Explanation of symbols]

 2 Main rope 3 Trolley 4 Stretching rope 5 Suspended rope 6 Concrete bucket 7 Traverse winch 8 Traverse winch 7e, 8e Speed detector 9 Operating room 10 Bogie 11 Hopper 22 Control unit 24 Computing unit 34, 36 Drive control unit 54 Swing angle detection Total of 80 wind direction and wind speed observation equipment A Transport start position B Transport end position X, Z encoder

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Michio Nakao 2-3 Kandaji-cho, Chiyoda-ku, Tokyo Obayashi Corporation Tokyo head office (56) Reference JP-A-56-149986 (JP, A) Japanese Patent Publication 2-44757 (JP, B2)

Claims (2)

(57) [Claims] 1. A main rope stretched between two points, a traverse trolley capable of traveling along the main rope, a check rope for towing the trolley, and a suspension rope suspended below the trolley. A lowered bucket, a traverse winch that pulls the check rope to reciprocate the trolley between a transport start position and a transport end position, and a vertical winch that winds and lowers the suspension cord to raise and lower the bucket. And a drive device for each winch: a detecting means for detecting the traverse amount and speed of the trolley, a detecting means for detecting the traverse amount and speed of the bucket, and the bucket provided on the bucket. Means for detecting the deflection angle of the main rope: the total load applied to the main rope, the trajectory of the main rope, which is numerically modeled in advance according to the start coordinates and the reaching target coordinates, the traverse amount of the trolley, and the bar. First control means for applying a calculation to the relationship with the amount of vertical movement of the bucket and setting the operation pattern according to the result: the bucket detected by the deflection angle detection means at the end of the acceleration and deceleration Second control means for setting a deceleration or acceleration amount and control timing for canceling the shake and outputting feedback control information based on the set value according to the shake angle and the angular velocity: the traverse amount detection means of the trolley, The trolley speed, the swinging angle and swinging direction of the bucket, and the payout length of the suspension line, which are sequentially detected by the bucket longitudinal amount detecting means and the angle detecting means, are applied to a predetermined control rule for steadying, and this control is performed. Third feedback control means for outputting the predicted correction value obtained by the rule as feedback control information: a driving procedure of the drive control device by manual operation憶, and operation pattern based on the storage contents - a fourth control means for outputting a down:
Selection means for selecting one of the first to fourth control means on the basis of a predetermined control rule that is predetermined according to a variation factor of the external world: actual operation of information from the control means selected by the selection means A control system for a cable crane, comprising: drive control means for driving the drive device of each winch along the control pattern from the time of departure as control information at time. 2. The selecting means inputs the sampled wind speed, wind direction and wind direction change by wind speeds and wind vanes installed at a plurality of locations near the cable crane during a predetermined time before operation, 2. The cable crane control system according to claim 1, wherein the input value is adapted to the control rule to select each of the control means or to instruct the suspension of operation.