JP2684939B2 - Control method of cable crane - 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 for supplying concrete to, for example, a dam construction site, in which the bucket can be steady by fuzzy reasoning and the stopping accuracy can be improved. Control system.

[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 casting site at a dam construction site.

As shown in FIG. 13, 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.

[0007]

However, in actuality, when the trolley 3 is accelerated and decelerated from the transport start position, a response delay occurs in the speed of the bucket 6, so that the bucket 6
Since it swings at a cycle corresponding to the length of the suspension rope 5 being unwound, and there is a risk of collision, it has been necessary to stop this swing.

[0008] Therefore, conventionally, the conveyance is carried out by automatic control from the time of departure until reaching the vicinity of each position A or B, and from here, the operation is switched to the manual operation, and the operation is carried out with the supervisors arranged at the respective positions A and B. The operators arranged in the room 9 communicated wirelessly with each other, moved the trolley 3 to cancel the shake, and then the operator manually operated based on the instruction of the observer to perform horizontal adjustment and positioning work by fine adjustment. .

However, with this method, a skilled observer must be provided at each of the positions A and B, the time delay from the information transmission to the actual correction is large, and the control direction and the control amount become ambiguous. Therefore, the shake does not always stop within a short period of time, and the foot at the time of stopping may deviate greatly from the target position, and the quality of the work depends on the skill of the worker. It was

It should be noted that if the work is performed manually like this, it is dangerous because the bucket is swung over the worker's head, and the worker's waiting time and evacuation time are also long, resulting in poor work efficiency. It was a problem for profitability.

The present invention solves the above problems.
The purpose is to model the behavior of main ropes, trolleys, and buckets from the starting point to the reaching point, and to automatically convey concrete quickly and accurately based on this modeled pattern, and by fuzzy reasoning at the time of acceleration and deceleration. It is an object of the present invention to provide a method for controlling a cable crane that performs steady rest and improves stop accuracy.

[0012]

In order to achieve the above object, the present invention is directed to a main rope stretched between two points, a traverse trolley capable of traveling along the main rope, and a trolley for towing the trolley. Stretching, a bucket hung at the bottom of the trolley via a suspension line, and a traverse winch that winds the retraction line and rewinds the trolley to reciprocate along the main line.
In a cable crane equipped with a longitudinal winch for lifting and lowering a bucket by winding and unwinding the suspension line and a drive control device for each winch, it is used when moving the bucket from a transport start position to a transport end position. A method for controlling a cable crane, wherein the degree of bending of the main rope, the length of the check rope, and the length of the suspension rope are calculated as calculation elements according to the conveyance start position and the conveyance end position.
Then, the behavior of the main rope, the trolley, and the bucket is analyzed in advance to model an operation pattern, and when the cable crane is operated, the modeled operation pattern is selected in accordance with setting conditions. , While automatically controlling the cable crane according to this operation pattern and detecting the actual movement of the trolley along the main rope and the actual movement of the bucket suspended from the trolley during acceleration and deceleration of the trolley, The feature is that feedback control is performed by fuzzy inference based on the detection result to cancel the shake of the bucket. Further, according to the present invention, feedback control by fuzzy reasoning during acceleration and deceleration of the trolley is performed by inputting the swing angle and swing direction of the bucket during acceleration, and the swing angle of the bucket during deceleration. It is preferable to carry out by inputting the shake direction and the speed and position of the trolley, and further at the time of stopping by inputting the shake angle and shake direction of the bucket and the speed and position of the trolley.

[0013]

According to the above construction, the bucket travels and goes up and down according to the programmed contents of the model of acceleration-constant speed-deceleration-stop from the start coordinates to the target position coordinates, and at the time of acceleration and deceleration. Control is performed to cancel the swing of the bucket based on fuzzy inference.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below in detail 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 part 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 conveyor, 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 point on the bottom 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 control unit 22 for instructing each of the winches 7 and 8 in various driving modes, an optimum traveling pattern of the trolley 3 and a bucket 6. The optimum lifting pattern is calculated and the pattern is calculated.
The control unit 22 is provided with an arithmetic unit 24 and a wireless device 26.

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 inclination angle detecting device 28 detects the inclination 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 intended to be placed in the machine room 32 in the vicinity of the main rope 2, as shown in FIG. 2, it is forward and reverse rotation driven by the drive control device 34, 36. The drive control devices 34 and 36 are the control unit 2
2, the winches 7 and 8 are driven in forward / reverse and accelerated / decelerated according to a command from the controller 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 the detected values are detected by the drive controller 3
By feeding back to the control unit 4, 36,
It is controlled to an appropriate rotation direction and speed according to the traveling command from.

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 lowering amount of the bucket 6, and the respective data are input to the 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 detects the bottom of the bucket 6, and the area sensor 44 indicates 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 truck 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 56 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 conveyance end position B, 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 base 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.

[0030] calculation unit 24, calculation description will be omitted, depending on the conveyance start position and the transport end position, the deflection degree of the main rope 2, feeding a length of牽索4, the feeding length of the slings 5
As constant elements, the main rope 4, trolley 3 and bucket 6 are previously set.
Is analyzed to model a driving pattern, and a program of the modeled driving pattern of the shortest time is stored.

Further, the arithmetic unit 24 has a built-in function of selecting a feedback control amount by fuzzy inference in order to cancel the shake according to the shake angle and the angular velocity of the bucket.

The program contents obtained by the above analysis are shown in FIG.
As shown in (a), 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 determined for each block in consideration of steady rests.
The operation pattern in the shortest time is calculated. The operation speed Vx of the trolley accelerates from the start coordinate as shown in FIG. 3 (b), then becomes a constant speed, and then the decelerating operation pattern becomes 0 at the target coordinate. It is set.

The ascending / descending speed Vz of the suspension rope 5 of the bucket 6 is shown in FIG.
As shown in (c), the operation pattern is set according to the operation pattern of the trolley 3.

The degree of deflection of the main rope 2 differs depending 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 kept constant at a known value, by inputting the load as a variable, the operating time and the operating pattern according to the program are determined. Also main rope 2, trolley 3,
The load on the bucket 6 is a known value, and is 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. When 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.

It should be noted, FIG. 3 (b), in operation pattern (c), during acceleration, you Itewa during deceleration stop, the trolley 3
A shake occurs due to a delay in the response of the speed of the bucket 6 with respect to the, but the calculation unit 24 uses a feedback for canceling the shake according to the shake angle and the angular velocity by fuzzy reasoning during acceleration and deceleration stop. Therefore, in actuality, during the acceleration / deceleration, the trajectory is not a straight line but a stepwise locus.

The control unit 22 operates the drive control devices 34 and 36 according to the program contents stored in the arithmetic unit 24 after receiving the concrete type information.
In addition to executing the driving process, feedback control by fuzzy inference for steadying the arithmetic unit 24 during acceleration and deceleration is performed.

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 process according to the departure rule of the bucket built in is executed (steps 101 to 104).

Then, when the application of the departure rule is finished and the deceleration rule application range 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 built in. The steady rest process according to the bucket deceleration rule is executed (steps 105 to 105).
108).

When the application of the deceleration rule is completed and the stop rule application area by fuzzy reasoning is reached, the length of the suspension rope 5, 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 is also operated. The processing according to the stop rule of the bucket built in 24 is executed, and the operation is stopped when the application of the stop rule is completed (steps 109 to 113).

FIGS. 5 (a) to 5 (g) show a membership function in which fuzzy reasoning, which will be described later, is associated with measured values, the contents of which will be described below.

(A) Length of the hanging rope 5: S from 0 to 50 m
(Small), 30 to 70 m are M (medium), 50 to 90 m are B (large), and 70 m or more are VB (maximum).

(B) Trolley speed: 1 to 5 are numerical values for motor control, and show the relationship between the continuously variable value and the running speed (m / min) from 1 to 5 notches.

(C) Deflection angle of bucket: Z (0) within 1.0 °, VS (minimum) within 0 ° to 3.0 °, 1.0 to 5.
Suppose 0 ° is S, 3.0 to 7.0 ° is M, 5.0 to 9.0 ° is B, and 7.0 ° is VB.

(D) Deflection direction: The leading side is + and the lagging side is − with respect to the traveling direction of the bucket 5.

(E) Deviation from deceleration start position: Shows how much deviation from the deceleration start position calculated from the numerical model. Z is from 0 to 0.5 m and C is from 0.00 to 0.1 m.
(Near), M from 0.5 to 3.0 m, F from 1.0 to 5.0 m
(Far) and 3.0 m and beyond are VF (extreme far).

(F) Shake after stop and after acceleration: Shows how much shake after stop or acceleration, 0 to 0.3 m
Is VS, 0.1 to 0.5 m is S, 0.3 to 1.0 m is M, 0.5 to 3.0 m is B, and 1.0 m or later is VB.

(G) Stop Position Deviation: Indicates how far the bucket is displaced from the target position when the bucket is stopped.
.About.0.5 m to 0, 0.5 to 1.5 m to S, 1.5 to 2.
5m is M, 2.5-3.5m is B, 3.5m or later is VB
And

Next, a feedback control method by fuzzy inference based on the above definition will be described. FIGS. 6, 7 and 8 show the swing state and speed change of the bucket 6 at the time of acceleration in the steps 101 to 104 on the outward path, and the corresponding rules and inference contents at the time of departure.

First, FIG. 6 is a schematic diagram showing the relationship between the speed at departure and the swing of the bucket in the operation from the transfer start position A to the transfer end position B. As the traverse speed increases from the start, the bucket 6 The bucket 6 swings to the delay side (-) due to the response delay of. Assuming that this shake is stopped at two stages, for example, when the speed is returned to a constant speed for a predetermined period Delta T in the middle of the acceleration period, the bucket 6 moves to the advance side (+) to the position in the figure due to its footing. It is reflected back to some extent.

When the acceleration and the acceleration are synchronized with each other by re-accelerating at the point of time, and when the constant speed state is reached after the end of re-acceleration, the bucket 6 is stopped at the neutral position as shown in the figure. Detect the shake direction and trolley speed, and infer whether the time depends on the relationship between the shake angle and the speed of the trolley, that is, whether the set shake width has been reached. At the end of acceleration, the bucket 6 is assumed to stop at the neutral position as shown in the figure.

FIG. 7 shows the contents of the rule at the time of departure. In the figure, for example, when the deflection angle is 0 and the deflection direction is + with one notch having the minimum trolley speed in the condition portion, the conclusion portion is medium. The amount of fluctuation is about the minimum, when it is extremely small, it is extremely small, when it is small, it is small, when it is intermediate, it is intermediate, when it is large,
In the case of the maximum, it indicates that the fluctuation range is the maximum.

When the value obtained by inference from this rule is the set swing width, the voltage is converted and fed back to the drive control device 34 of the traverse winch 7.

FIG. 8 is a diagram showing the membership function in accordance with the rule contents shown in FIG. 7 in accordance with the condition part and the conclusion part. Actually, there are 24 combinations, but the middle part is omitted. .

In the figure, as an example, the present trolley speed is 60 m / min (1 notch), the swing angle of the bucket is 6.0 °, and the swing direction is +, and the conclusion section shows the detected value. Takes the smallest value that intersects the membership function.

For example, in the second combination from the top of the inference content, the trolley speed 1, the swing angle of the bucket-VB is 0.
5, since the swing direction + of the bucket is 1, the value B at the conclusion is 0.5, which is the minimum value, and in the third stage, the swing angle −M of the bucket crosses the detected value and the value 0. At 5, the conclusion is 0.5.

Further, except for the second and third steps in the figure, the measured deflection angle does not intersect with the membership function, and therefore the value of the conclusion part is 0 with the minimum value.

Next, the calculation unit 24 superimposes the values obtained in the conclusion unit, calculates the position of the center of gravity, and infers that the swing width of the bucket at constant speed is 0.75 when the current acceleration is started.

If the time point of is set to, for example, a permissible error of 0.4, a control signal for acceleration is sent to the drive control unit 22 when the value obtained by the above inference becomes 0.4 or less, and the shake Can be completely stopped.

It should be noted that the suspension rope 5 is not extended from the start position to the constant speed, and the length of the suspension rope 5 is constant, and the cycle of the bucket 6 is kept constant to avoid complication of the control element and to keep the constant speed. After that, the suspension ropes 5 are sequentially drawn out and brought closer to the hopper 11 during the period from the time when the speed is reduced to the time when the speed is reduced.

Further, in the figure, the control for steadying is performed only once, but the feedback control may be performed in several times until the speed becomes constant.

Further, FIGS. 9 to 11 show rules of deceleration and stop depending on the shake state of the bucket 6 from deceleration to stop and speed change.

First, FIG. 9 is a schematic diagram showing the relationship between the speed and the swing of the bucket from the deceleration to the stop. When the deceleration starts at the point of, the bucket 6 is delayed for a predetermined time due to the response delay of the bucket. 6 swings to the lead side (+ side).
Note that there is a possibility that the vehicle is swinging in either the lead side or the lag side even during constant speed.
The deceleration rule shown in (a) is applied for inference, and if the result is less than or equal to the allowable value, deceleration is performed by control, and then constant speed is set to minimize the swing range.

Note that, in the vicinity of the deceleration position, the length of the hanging rope 5 extended differs depending on the case , but the rule of FIG. 10 (a) is applied to all the hanging rope lengths R.

Actually, the target deceleration start position calculated from the numerical model is displaced as shown by the chain line in the figure, and the application rule based on the relationship between the displaced distance and speed is shown in FIG. 10 (b). However, if the calculation is executed by each rule and the average value of the results is taken or the prevention of shake is emphasized and the applicable rule for steady rest is prioritized, for example, the shake condition is 0.6 Then, the positional deviation is distributed to 0.4 or the like, weighting is given to each result, and the trolley 6 is controlled.

In the deceleration rule, the control for steadying is performed only once in the figure, but it may be performed several times.

Then, when the shake angle is on the delay side (-side), the rules of FIGS. 11A to 11D can be applied to the determination of the application time point at the time of stop, depending on the magnitude of the shake angle. That is, if the trolley 6 is advanced at a speed according to the size of the swing angle on the delay side, the swing is canceled out. In this case, depending on the feeding length R of the suspension rope 5 at the time of stop. Since the control amount changes
(A) is the length R of the hanging rope 5 = S, (b) is R = M, (c)
Is divided into R = B and (d) is divided into R = VB, and the respective rules are defined.

Although the rule of FIG. 11E can be applied to the stop position deviation at this time, like the above, the average value is taken or either the steady rest or the position deviation is prioritized.
Performs weighted control.

Next, FIG. 12 shows a control procedure by fuzzy inference at the time of operation on the return path, that is, from the conveyance end position B to the conveyance start position A. When the operation is started,
When acceleration starts and then the departure rule application range by fuzzy inference is entered, the swing angle and swing direction of the bucket 6, the length of the hanging rope 5 and the speed of the trolley 3 are input, and according to the bucket departure rule built in the calculation unit 24. The steady rest processing is executed (steps 201 to 204).

Next, when the application of the departure rule is completed and the deceleration rule application range by fuzzy reasoning is reached, the swing angle and the swing direction of the bucket 6 and the speed and position of the trolley 3 are input, and the calculation unit 24 is also built in. The steady rest process according to the bucket deceleration rule is executed (step 206-
208).

When the application of the deceleration rule is completed and the stop rule application area by fuzzy reasoning is reached, the swing angle and the swing direction of the bucket 6 and the speed and position of the trolley 3 are input, and the bucket built in the calculator 24 is also input. The process according to the stop rule is executed, and the operation is stopped when the stop rule is applied (steps 209 to 213).

The control rule for the return route is the reverse of the procedure for the forward route, and the length of the hanging rope 5 at the starting position is different, and a corresponding rule may be applied, so the description thereof will be omitted.

[0073]

As described above in detail with reference to the embodiments, in the cable crane control system according to the present invention, the bucket is modeled from start coordinates to target position coordinates: acceleration-constant speed-deceleration-stop. Runs, goes up and down, and accelerates according to the program content according to the pattern
Control is performed based on fuzzy inference at the time of deceleration and during deceleration stop, so that a quick and smooth automatic control is performed.
In addition to being able to operate, the accuracy at the transport end position is good.
The positioning work can be easily performed.

Further, according to the present invention, even if the bucket shakes due to the wind during acceleration / deceleration and stop, the control suitable for the shake is performed, so that the influence of the wind or the like can be offset.

[Brief description of the 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.

3A, 3B, and 3C are schematic diagrams showing program contents.

FIG. 4 is a flowchart showing a feedback control procedure in the forward path of the bucket.

5 (a) to (g) are graphs showing membership functions in which fuzzy reasoning contents are associated with measured values.

FIG. 6 is a schematic diagram showing a speed change and a bucket state change at the time of departure.

FIG. 7 is a chart showing fuzzy inference contents at the time of departure.

FIG. 8 is a chart showing membership functions of the condition part and the conclusion part.

FIG. 9 is a schematic diagram showing a speed change and a bucket state change during deceleration and stop.

10A and 10B are charts showing fuzzy inference contents during deceleration.

11A to 11E are charts showing fuzzy inference contents at the time of stop.

FIG. 12 is a flowchart showing a feedback control procedure on the return path of the bucket.

FIG. 13 is an explanatory diagram showing a general configuration of a conventional cable crane.

[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 A Transport start position B Transport end position X, Z encoder

Front page continuation (72) Inventor Mitsuo Nakao 2-3 Kandaji-cho, Chiyoda-ku, Tokyo Obayashi Corporation Tokyo head office (56) Reference JP 62-185695 (JP, A) JP 60-218291 (JP, A)

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 winds and unwinds the check rope to reciprocate the trolley along the main rope, and a vertical movement that winds and unwinds the suspension rope to move the bucket up and down. In a cable crane including a winch and a drive control device for each winch, a method of controlling a cable crane used when moving the bucket from a transport start position to a transport end position, the transport start position and the transport end position According to the above, the degree of bending of the main rope, the payout length of the check rope, and the payout length of the suspension rope are used as calculation factors.
In advance , the behavior of the main rope, the trolley, and the bucket is analyzed to model an operation pattern, and when the cable crane is operated, the modeled operation pattern is selected according to setting conditions, The cable crane is automatically controlled according to this operation pattern, and at the time of accelerating and decelerating the trolley, the actual movement of the trolley along the main rope and the actual movement of the bucket suspended from the trolley are detected. A method of controlling a cable crane, which is characterized by performing a feedback control by fuzzy reasoning based on the result and canceling the swing of the bucket. 2. Feedback control by fuzzy reasoning during acceleration and deceleration of the trolley is performed by inputting a swing angle and a swing direction of a bucket during acceleration, and a swing angle and a swing of a bucket during deceleration. The cable according to claim 1, which is performed by inputting the direction and the speed and position of the trolley, and further at the time of stop by inputting the swing angle and the swing direction of the bucket and the speed and position of the trolley. Crane control method.