JP2837314B2 - Crane steady rest control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an anti-sway control device for a crane used for cargo handling work in harbors, various factories, etc. More specifically, the present invention relates to a crane bogie which is automatically operated and follows a target speed. The present invention relates to a control device that controls so as to perform steady rest.

[0002]

2. Description of the Related Art FIG. 13 shows a model of a crane to be controlled. This crane 1 has a crane truck (trolley) 1a which moves in a horizontal direction, and a hoist which can be lifted up and down from the truck 1a. The hanging load 3 is moved by the wire rope 2 to perform cargo handling. In the figure, Q is the starting position, R is the target position, and _Xm is the starting position Q
Target position value is the distance to the target position R from, X _c is the current position detection value is a distance detection value to the current position from the starting position Q, X is driving the remaining distance, L is the hoisting wire rope length, theta is The deflection angle, θ ′, of the suspended load 3 indicates the deflection angular velocity.

In operation control of this type of crane 1, in addition to (1) moving the truck 1a from its own position to the target position R in a short time and positioning it, (2) moving the truck 1a to the target position R It is strongly desired that the swinging of the suspended load 3 be stopped when it is performed. For this reason, conventionally, for example, in a speed pattern to be taken by the bogie 1a as shown in FIG. 14, during high-speed running, a predetermined steadying acceleration is applied to the current speed as shown by W in the figure to thereby suspend the vehicle. Load 3 is steady. Incidentally, V _M in the figure shows the maximum speed (target speed).

[0004]

However, according to the above control method, the speed of the bogie 1a at the time of the end of the steady rest deviates from the speed prior to the steady rest due to the application of the steady rest acceleration. There is a problem that the speed difference differs depending on the state of the shake. For this reason, the bogie speed during high-speed running after the steady rest ends is too high than the target speed,
Otherwise, adverse effects such as too late occur. If the speed is too fast, it can be limited by a preset upper limit value. On the other hand, if the speed is too slow, it takes a lot of time to move the crane 1 or the suspended load 3, and the working efficiency is deteriorated. There was a problem.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems. It is an object of the present invention to eliminate the swing of a suspended load during high-speed traveling and to achieve an active vehicle capable of reaching a target speed. An object of the present invention is to provide a crane steady rest control device.

[0006]

Means for Solving the Problems To achieve the above object, a first aspect of the present invention relates to a self-position detection value and a speed detection value of a crane truck, a swing angle and a swing angular velocity of a hoist wire rope wound down from the crane truck. And a plurality of speed command values according to the acceleration pattern, the high-speed steady rest pattern, and the deceleration pattern from the departure position to the target position, based on the measured values of the length and the target position, and according to these speed command values. In the control device for controlling the steadying of the suspended load by controlling the speed of the crane bogie, the swing angle, the measured value of the swing angular velocity, based on the winding wire rope length, the steady-state acceleration / deceleration adjustment amount in the high-speed steady pattern. The calculated steady-state acceleration / deceleration adjustment amount calculator and the deceleration set based on the maximum allowable swing angle of the suspended load are used to calculate the deviation between the target speed and the current set speed. A high-speed steady rest that adds or subtracts the steady-state acceleration / deceleration adjustment amount and multiplies the result by an operation cycle to a current set speed or speed detection value to calculate a speed command value in a fast steady-back pattern. And a speed command value calculator.

A second invention is a control device based on the first invention, wherein a high-speed steady rest pattern is obtained by fuzzy inference based on the swing angle of the suspended load, the measured value of the swing angular velocity, and the length of the hoisting wire rope. A fuzzy steady-state acceleration / deceleration adjustment amount calculator that calculates the fuzzy steady-state acceleration / deceleration adjustment amount, and a deceleration set based on the maximum allowable swing angle of the suspended load are determined by the sign of the deviation between the target speed and the current set speed. Accordingly, the acceleration fuzzy steady rest acceleration / deceleration adjustment amount is added or subtracted, and the result is multiplied by a calculation cycle and added to the current set speed or detected speed value to calculate a speed command value in the high speed steady rest pattern. And a steadying speed command value calculator.

[0008]

According to the first invention, the steady-state acceleration / deceleration adjustment amount is corrected by deceleration according to the sign of the difference between the target speed and the current set speed, and the acceleration / deceleration adjustment amount is detected by the current set speed or speed detection. By adding the value to the value, the speed command value in the high-speed steady rest pattern is calculated. As a result, a speed command value is generated such that the speed is increased when the bogie speed is lower than the target speed, and is reduced when the bogie speed is higher than the target speed. For this reason, it is possible to reach the target speed while performing steadying of the suspended load. In the second invention, the acceleration / deceleration adjustment amount is calculated as an acceleration fuzzy steady rest acceleration / deceleration adjustment amount by fuzzy inference.

[0009]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. First, FIG. 1 is a block diagram showing an embodiment of the first invention. The control device of this embodiment includes a remaining operation distance calculator 10, a shake period calculator 20, a speed pattern generator 30,
It comprises a steady rest acceleration / deceleration adjustment amount calculator 40, a high-speed steady rest speed command value calculator 50, a speed pattern switching calculator 60, a controller 70, and a swing angle measuring device 80 for detecting the swing angle θ of the suspended load 3. ing.

Hereinafter, the function of each component will be described in detail.
The remaining driving distance calculator 10 calculates the own position detection value X _c of the carriage 1a.
And calculates the operation remaining distance X from the target position value X _m, also,
The swing cycle calculator 20 calculates the swing cycle T of the suspended load 3 from the winding wire rope length L and the gravitational acceleration g (= 9.8 [m / s ² ]) as T = 2π√ (L / g). It is calculated by: At the start of the crane operation, the speed pattern generator 30 determines a basic speed pattern P as indicated by an imaginary line in FIG. 2 from the self-position detection value X _c , the target position value X _m and the swing period T, and accelerates. An acceleration pattern speed command value V _α (in other words, acceleration α) in the pattern and a deceleration pattern speed command value V _β (in other words, deceleration β) in the deceleration pattern are determined in consideration of the swing cycle T and the like.

The steady-state acceleration / deceleration adjustment amount calculator 40 calculates a target speed following high speed type shown in FIG. 2 from the swing angle θ, the swing angular speed θ ′ of the suspended load 3 detected by the swing angle measuring device 80 and the length L of the hoisting wire rope. The steady-state acceleration / deceleration adjustment amount U in the steady-back pattern is calculated. The high-speed steady rest speed command value calculator 50 calculates the current set speed V or the current speed detection value V
_0, steadying acceleration adjustment amount U, the calculation period Δt, and later to route pattern deceleration Beta√, calculates the fast steadying pattern velocity command value V _H at the high-speed steady rest pattern operation. Incidentally, the target speed V _M is input at high speed bracing pattern for this calculator 50.

The speed pattern switching calculator 60 calculates a speed detection value V ₀ , an acceleration pattern speed command value V _α , a deceleration pattern speed command value V _β , a remaining driving distance X, a swing cycle T, and a high speed steady pattern speed command value V. as input _H and the target speed V _M, the set speed V of the carriage 1a V _alpha in accordance with the control pattern, thereby sequentially switch and output the V _H, V _beta, outputs a route pattern deceleration β√ described above to the calculator 50 I do. The controller 70 outputs a drive command to drive the carriage 1a at the set speed V, and measures and outputs a detected speed value V ₀ , a position detection value X _c , and a hoisting rope length L of the carriage 1a.

Here, in the operation of the crane 1 of this kind, the following may be considered as causes of the swing of the suspended load 3. (1) When the suspended load 3 is grounded, if the hoisting wire rope 2 is grounded in a non-vertical state, initial run-out occurs. (2) When the suspended load 3 receives disturbance such as a gust, vibration occurs. (3) The manner in which the hoisting wire rope 2 is hung on the hanging tool for hanging the hanging load 3 is complicated as 4, 6,.
The swing is different from the ideal single pendulum swing. For this reason, the swing cycle of the suspended load 3 generally does not coincide with the theoretical value, and it is possible to approach the theoretical value by adding a correction. However, an error remains, and when the acceleration is performed at the swing cycle, the error is reduced. Is generated.

In the present invention, even shake by the various causes has occurred, by operating the crane 1 according to the speed pattern of FIG. 2 to be described below, the target speed while performing steadying of the suspended load 3 V _M Can be reached. In other words, it is possible to perform the steady-state stop of the target speed tracking type. Velocity command value V _alpha in the velocity pattern of Fig. 2, of the V _H, V _beta, as described above V _alpha, V
_β is input from the speed pattern generator 30, and V _H is input from the high-speed steady rest speed command value calculator 50 to the speed pattern switching calculator 60.

[0015] As a control method according to the speed pattern, first, to start the operation of the bogie 1a at acceleration pattern velocity command value V _alpha i.e. acceleration alpha, fast steadying at time t ₁ reaches a predetermined acceleration complete speed with it switched to pattern the speed command value V _H, and calculates the deceleration pattern velocity command value V _beta i.e. deceleration beta and deceleration distance. After that, at the time point t ₂ after moving by a predetermined distance, the mode is switched to the deceleration pattern, and the set speed V is set as the deceleration pattern speed command value _Vβ .

Next, how to give the set speed V in each speed pattern will be described in detail. (1) acceleration pattern (0 to t ₁₎ the conventional driving a carriage 1a by acceleration pattern the speed command value obtained by the pattern control V _alpha as shown in FIG. 14, the deflection of the suspended load 3 at an acceleration completion point occurs Accelerate not to. Strictly speaking, if there is an initial shake due to the above-mentioned ground separation at the start of acceleration, acceleration is performed so that the shake at the time of completion of acceleration does not become larger than the initial shake. For example, the acceleration time is matched with the swing cycle T of the suspended load 3. (2) High-speed steady rest pattern (t _{1 to} t ₂ ) If there is residual vibration due to the above-mentioned cause at the time of completion of acceleration, or if a disturbance such as a gust is received during operation according to the high-speed steady rest pattern, vibration occurs. . In order to eliminate these shakes, the high-speed steady-state speed command value calculator 50 calculates the speed command value V _H by using the formula 1 or 2, and uses the speed command value V _H as the set speed V to add the bogie 1a. Perform deceleration operation.

[0017]

V _H = V + {Sign (V _M −V) · (β√) + U} · Δt

[0018]

V _H = V ₀ + {Sign (V _M −V) · (β√) + U｝ · Δt

[0019] In Equations 1 and 2, V _M target speed of the carriage 1a of the high-speed steadying pattern [m /
s] and Δt are calculation cycles. In addition, Sign (V _M −
V) is (V _M -V) of the sign (positive or negative), that means a sign of the deviation between the target speed V _M and the current set speed V, (V _M -V)> time of 0: Sign ( (V _M -V) is + (positive)
Thus (Beta√) sign is + (V _M -V) = time of 0: (β√) is zero (V _M -V) <When 0: Sign (V _M -V) is - (negative)
Therefore, the sign of (β√) is − (negative). Further, β√ is a route pattern deceleration (deceleration in the high-speed steady rest pattern) [m / s ² ], and is a value obtained by the following Expression 3.

[0020]

[Equation 3] β√ = θ _E · g

In the above formula 3, θ _E is the maximum allowable deflection angle [rad] of the suspended load 3 at the time of high-speed steady rest, and g is the gravitational acceleration (= 9.8 [m / s ² ]). U is a steady-state acceleration / deceleration adjustment amount [m / s ² ] calculated by the steady-state acceleration / deceleration adjustment amount calculator 40 as described above, and the swing angle θ of the suspended load 3 and θ ′ / ω (ω = √ (g / L)), and the value in the shake first and third quadrants is set to zero for the reason described below. The other symbols have already been described, and thus description thereof will be omitted.

FIGS. 3 to 6 show the steady-state acceleration / deceleration adjustment amount U _1.
Is a phase plane view and a state diagram of the crane for the steadying effect will be described in the case of adding the ~U _4. In these figures, the vertical axis of the phase plane is θ ′ / ω (ω = √ (g /
L)), the horizontal axis is the swing angle θ, 〜 is the shake quadrant, A is the shake trajectory when there is no acceleration / deceleration adjustment amount U, and B is the acceleration / deceleration adjustment amount U
, And H is the final shake trajectory when the acceleration / deceleration adjustment amounts U _{1 to} U ₄ are added in each quadrant.

Now, as shown on the right side of each drawing, the cart 1a
Is moving at a speed V to the right in the figure, and the suspended load 3 is swaying right and left in the order shown in FIG. 3 → FIG. 4 → FIG. 5 → FIG. FIG. 3 shows a case where a large acceleration adjustment amount U ₁ (U ₁ = + K, K: constant) for anti-sway is added to the bogie 1a in the first quadrant of the shake, and as shown by an arrow H,
The swing of the suspended load 3 is reduced. Similarly, FIG. 4 shows a moderate deceleration adjustment amount U ₄ (U ₄ = (− g) in the shake fourth quadrant.
/ 2θ) {θ ² + (θ ′ / ω) ² }), FIG. 5 shows a large deceleration adjustment amount U ₃ (U ₃ = ₋₃ ) in the shake third quadrant.
FIG. 6 shows a case where the acceleration adjustment amount U ₂ (U ₂ = (+ g / 2θ) {θ ² + (θ ′ /
ω) ² }) are shown.

The constants K of the acceleration / deceleration adjustment amounts U ₁ and U ₃ in the first and third quadrants need not be fixed values, but may be any values that match the control.
Bogie 1a in accordance with this manner, steadying acceleration adjustment amount shake faster by adding a U stop pattern velocity command value V _H of the
, The steadying of the suspended load 3 in the high-speed region can be performed.

Furthermore, in this embodiment, when the target speed V _M and the current set speed V is different, depending on the deviation, adding or subtracting to stop deceleration adjustment amount U shake the route pattern deceleration β√ Thus, the acceleration / deceleration adjustment amount U is corrected. That is, when the set speed V is smaller than the target speed V _M is added to the deceleration β√ addition to the acceleration and deceleration adjustment amount U multiplied by the calculation cycle Δt to set speed V or the speed detection value V ₀ increase the rate by the speed command value V _H and, also, when the set speed V is greater than the target speed V _M, the operation period Δt by subtracting the deceleration β√ from deceleration adjustment amount U it was decided to reduce the rate by the speed command value V _H is added to the set speed V or the speed detection value V ₀ are multiplied by. As a result, the target speed V _M
Since deceleration adjustment amount U in accordance with the sign of the deviation is increased or decreased with respect to, simultaneously with steadying, it is possible to reach the target speed V _M as shown by the solid line in FIG.

[0026] (3) deceleration pattern (t ₂ ~t ₃₎ the bogie 1a operated by deceleration pattern velocity command value V _beta obtained by the pattern control shown in prior art FIG. 14, deceleration completion (reaching the target position At the time point), the speed is reduced so that the swing of the suspended load 3 does not occur. For example, the deceleration time is set to the swing period T of the suspended load 3.

[0027] Figures 7 and 8 is the result of a simulation test conducted to confirm the arrival of the stopper and the target speed V _M deflection according to this embodiment, FIG. 7 is fast only by steadying deceleration adjustment amount U In the case of steady rest, FIG. 8 shows a case of high speed steady rest of the target speed tracking type using the sum (± β√ + U) of the route pattern deceleration and the steady-state acceleration / deceleration adjustment amount according to the present embodiment. FIG. 7 shows the distance X,
FIG. 8 shows the time change of the speed detection value V ₀ , the steady-state acceleration / deceleration adjustment amount U, the shake angle θ and θ ′ / ω, and FIG. 8 shows the distance X, the speed detected value V ₀ , the route pattern deceleration and the steady-state acceleration. It shows the change over time of the sum (± β√ + U) with the deceleration adjustment amount and the swing angle θ and θ ′ / ω.

The conditions of the simulation test are as follows. (1) The initial deflection of the suspended load 3 is a deflection angle θ = 0.192.
[Rad] (1.1 degrees), the shake angular velocity θ '= 0, and the maximum allowable shake angle θ _E = 0.00174 [rad] (0.1 degrees). (2) The acceleration adjustment limit is set to ± 0.25 [m / s ² ] in consideration of the limit of the control ability of the controller. Further, the moving distance X was 16 [m], the target speed V _M at the time of high-speed steadying 0.983 [m / s].

According to this simulation test, as is apparent from the change in the speed detection value V _{0 in} FIG. 8, the speed is decelerated in the initial stage of the high-speed steady rest pattern, but thereafter, the target speed is gradually increased. It is approaching to V _M. Therefore, comparing the waveform of the deflection angle theta in FIG. 8 and FIG. 7, the direction of FIG. 8 is caused to swing slightly greater than 7, also the deflection angle theta be within the maximum permissible deflection angle theta _E It doesn't matter. As a result, it takes about 23.2 [s] in FIG. 7 as compared with the case where it finally reaches the target position in about 21.7 [s] in FIG. 8, and the present embodiment is shorter. The target position can be reached in time.

FIG. 9 is a block diagram showing an embodiment of the second invention. In this embodiment, the above-mentioned steady-state acceleration / deceleration adjustment amount U is obtained by fuzzy inference. That is, as shown in FIG. 9, the fuzzy steady rest acceleration / deceleration adjustment amount calculator 40 'receives the swing angle θ (and θ') and the winding wire rope length L, and
This arithmetic unit 40 'is, for example, a membership function of the antecedent part for the deflection angle θ shown in FIG.
Antecedent membership function for ω and FIG.
A consequent membership function for acceleration or deceleration adjusting amount U _f shown in, based on the control rule shown in Table 1, and calculates the optimum acceleration fuzzy deceleration adjustment amount U _f performs a fuzzy inference.

[0031]

[Table 1]

The thus acceleration fuzzy steadying deceleration adjustment amount U _f obtained, for example steadying deceleration adjustment amount U as well as fast steadying velocity command value calculator 50 of FIG. 1 '
Β√ route pattern deceleration according to the positive or negative deviation is input, the same way as the target speed V _M and the set speed V to
Is corrected by adding and subtracting. And the arithmetic unit 5
0 'In eventually will be the speed command value V _H so as to reach the target speed V _M is calculated. Although not shown, the fuzzy steady rest acceleration / deceleration adjustment amount calculator 40 '
If the high-speed steady-state speed command value calculator 50 'is combined as one fuzzy inference means, the configuration can be further simplified.

[0033]

As described above, in the first aspect, the steady-state acceleration / deceleration adjustment amount is corrected by the deceleration in accordance with the sign of the deviation between the target speed and the current set speed, and the acceleration / deceleration adjustment amount is determined. The speed command value in the high-speed steady rest pattern is calculated by adding to the current set speed or the detected speed value, and in the second invention, the acceleration / deceleration steady-state acceleration / deceleration adjustment is performed by fuzzy inference. It is calculated as an amount. For this reason, in any of the inventions, it is possible to reliably remove the swing of the suspended load during high-speed traveling due to disturbances such as initial shake, residual shake, and gusts, and to achieve the target speed, thereby enabling the crane bogie or the suspension. The load can be moved to the target position in a short time, and the work efficiency can be improved.

In the second invention, the fuzzy inference is used for calculating the steady-state acceleration / deceleration adjustment amount, so that the knowledge obtained by the crane design engineer or the like through experience is reflected in the membership function or the control rules. Thus, it is possible to realize an optimal control system that matches the characteristics of the crane system itself, and to perform more precise fine-vibration control. The first and second inventions can be easily applied to a system in which a crane truck moves on a two-dimensional (XY) plane.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an embodiment of the first invention.

FIG. 2 is a diagram showing a steady rest speed pattern in the embodiment of FIG. 1;

3A and 3B are a phase plan view and a state explanatory view of a crane for explaining a steadying effect when a steadying acceleration / deceleration adjustment amount is added.

4A and 4B are a phase plan view and a state explanatory view of a crane for explaining a steadying effect when a steadying acceleration / deceleration adjustment amount is added.

5A and 5B are a phase plan view and a state explanatory view of a crane for explaining a steadying effect when a steadying acceleration / deceleration adjustment amount is added.

6A and 6B are a phase plan view and a state explanatory view of a crane for explaining a steady rest effect when a steady rest acceleration / deceleration adjustment amount is added.

FIG. 7 is a diagram showing the result of a conventional high-speed steady rest simulation test for comparison with the embodiment of FIG. 1;

FIG. 8 is a diagram showing the results of a high-speed steady rest simulation test according to the embodiment of FIG. 1;

FIG. 9 is a block diagram showing an embodiment of the second invention.

10 is a diagram showing an antecedent part membership function in the fuzzy steady rest acceleration / deceleration adjustment amount calculator of FIG. 9;

11 is a diagram showing an antecedent part membership function in the fuzzy steady rest acceleration / deceleration adjustment amount calculator of FIG. 9;

12 is a diagram illustrating a membership function of a consequent part in the fuzzy steady rest acceleration / deceleration adjustment amount calculator of FIG. 9;

FIG. 13 is a diagram showing a model of a crane.

FIG. 14 is a pattern diagram of a steady rest speed in conventional pattern control.

[Description of Signs] 1 Crane 1a Crane bogie 2 Hoisting wire rope 3 Suspended load 10 Remaining operation distance calculator 20 Runout cycle calculator 30 Speed pattern generator 40 Steady acceleration / deceleration adjustment amount calculator 40 'Fuzzy steadying acceleration / deceleration Adjustment amount calculator 50, 50 'High-speed steady rest speed command value calculator 60 Speed pattern switching calculator 70 Controller 80 Shake angle measuring device

Continued on the front page (72) Inventor Yasufumi Irie 1-chome, Mizushima-Kawasaki-dori, Kurashiki-shi, Okayama Prefecture (No.Nan) Inside Kawatetsu Tekko Kogyo Co., Ltd. No. 1 Fuji Electric Co., Ltd. (72) Inventor Hirohisa Mita 1-1, Tanabe Nitta, Kawasaki-ku, Kawasaki City, Kanagawa Prefecture Inside Fuji Electric Co., Ltd. (72) Naoki Mitsui No. 1, Tanabe Nitta, Kawasaki-ku, Kawasaki City, Kanagawa Prefecture No. 1 Fuji Electric Co., Ltd. (56) References JP-A-60-218290 (JP, A) JP-A-62-157186 (JP, A) JP-A-1-313299 (JP, A) (58) Field (Int.Cl. ⁶ , DB name) B66C 13/00-15/06

Claims (2)

(57) [Claims] 1. From a departure position to a target position based on a self-position detection value and a speed detection value of a crane bogie, and a measured value of a swing angle, a swing angular velocity and a length of a hoisting wire rope wound down from the crane bogie. Control that calculates a plurality of speed command values according to the acceleration pattern, high-speed steady rest pattern, and deceleration pattern, and controls the speed of the crane bogie in accordance with these speed command values to stabilize the suspended load. A device for calculating a steady-state acceleration / deceleration adjustment amount for calculating a steady-state acceleration / deceleration adjustment amount in a high-speed steady-state pattern based on the measured value of the deflection angle, the deflection angular velocity, and the length of the winding wire rope; and a maximum allowable load of the suspended load. The deceleration set based on the deflection angle
The steady-state acceleration / deceleration adjustment amount is added or subtracted according to the sign of the difference between the target speed and the current set speed, and the result multiplied by the calculation cycle is added to the current set speed or the speed detection value to obtain high-speed shake. A steady rest control device for a crane, comprising: a fast steady rest speed command value calculator that computes a speed command value in a stop pattern. 2. From the departure position to the target position based on the self-position detection value and the speed detection value of the crane bogie, and the measured values of the swing angle, the swing angular velocity and the length of the hoisting wire rope wound down from the crane bogie. Control that calculates a plurality of speed command values according to the acceleration pattern, high-speed steady rest pattern, and deceleration pattern, and controls the speed of the crane bogie in accordance with these speed command values to stabilize the suspended load. In the apparatus, based on the measured value of the deflection angle, the deflection angular velocity, and the length of the winding wire rope, a fuzzy steady-state acceleration / deceleration adjustment amount calculator that calculates a fuzzy steady-state acceleration / deceleration adjustment amount in the high-speed steady-state pattern by fuzzy inference, The deceleration set based on the maximum allowable swing angle of the suspended load is
The fuzzy steady rest acceleration / deceleration adjustment amount is added / subtracted in accordance with the sign of the deviation between the target speed and the current set speed, and the result is multiplied by a calculation cycle and added to the current set speed or speed detection value. A steady rest control device for a crane, comprising: a fast steady rest speed command value calculator for calculating a speed command value in a fast steady rest pattern.