JP2854164B2 - Crane swing 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 a crane load control apparatus suitable for achieving an improvement in work efficiency by automating the control of the load of a suspended load.

[0002]

2. Description of the Related Art Conventionally, in a construction site or the like, when performing a cargo handling operation of moving a suspended crane from a current position to another target position, an operator manually operates the crane.
When the crane starts moving from the current position to the target position, various operations are performed, such as performing an acceleration operation, and when moving the crane to the target position, performing a deceleration operation. In this case, when the crane is accelerating or decelerating, the effects of the crane's lift, the shape of the suspended load and the magnitude of the weight, the effect of the turning operation such as the turning radius of the crane, the effect of the crane's undulating operation, the wind direction and wind force Due to factors such as the degree, a three-dimensional complicated load swing occurs in the suspended load of the crane.

[0003]

However, the above-mentioned prior art has the following problems. That is, during acceleration operation or deceleration operation when the crane with the load is moved for a predetermined distance, load fluctuation occurs due to various factors as described above. The crane accelerated and decelerated to minimize the occurrence. However, a driving operation that suppresses the load swing of the crane requires skilled driving skills of the operator,
In particular, there is a problem that long-term experience and operation skills are required for an operation operation that suppresses a load swing of a crane having a high head. For this reason, in the case of an unskilled operator, there is a problem that a load swing occurs and the work efficiency is deteriorated.

An object of the present invention is to solve the above-mentioned problems, and an object of the present invention is to provide a crane load swing control device capable of improving work efficiency and the like by automating swing control of a suspended load.

[0005]

SUMMARY OF THE INVENTION According to the present invention, a swing of a load suspended via a rope by a crane which performs a turning operation by driving a turning motor and performs an undulating operation by driving a hoist motor is controlled. And a swing two-stage acceleration timing for turning and a two-stage acceleration for undulation based on the input of the rope length at the start and end of the operation of the crane. A two-stage acceleration timing inference unit that calculates and outputs the result by fuzzy inference, and a two-stage acceleration timing for a turn output from the two-stage acceleration timing inference unit, the turning operation amount and the driving speed are used for the turning operation. The start time, the two-step acceleration time, the deceleration start time, and the two-step deceleration time are calculated and output. Based on the two-stage acceleration timing, and the amount of movement of the relief from the operating speed, the operation start time for relief, 2
An operation pattern creating unit that calculates and outputs a step acceleration time, a deceleration start time, and a two-step deceleration time, and corresponds to a turning operation speed pattern based on the turning times output from the operation pattern creating unit. A motor command unit that outputs a control signal to the motor for turning, and outputs a control signal corresponding to an operating speed pattern of the undulation to the motor for undulation based on the undulating time output from the operation pattern creating unit. And characterized in that:

[0006]

According to the present invention, when performing automatic operation of a crane, two-stage acceleration timings for turning and undulating are calculated by fuzzy inference based on the rope length of the crane at the start and end of the operation. By calculating the turning and hoisting operation patterns based on the timing, the turning motor and the hoisting motor are controlled, so it is possible to accurately prevent load swing during crane operation and improve the crane's work efficiency. Can be done.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram of a crane load deflection control device according to the present embodiment. The two-stage acceleration timing inference unit 1 calculates a two-stage acceleration timing of a jib crane based on fuzzy inference, and an operation pattern creation that creates an operation pattern of the jib crane. A motor command unit 3 for outputting a motor control signal to the turning motor and the hoisting motor of the jib crane, a turning motor 4 for the turning operation of the jib crane, and a hoisting motor 5 for the hoisting operation of the jib crane. It is configured.

The two-stage acceleration timing inference unit 1 includes:
The rope length at the start of the operation of the jib crane and the rope length at the end of the operation of the jib crane are input. The two-stage acceleration timing inference unit 1 optimizes the input rope length based on fuzzy logic. Two-stage acceleration timing t1 and two-stage acceleration timing t
2 is output to the operation pattern creating unit 2. In this case, the timing t1 is a two-stage acceleration timing at the start of the turning operation of the jib crane and at the end of the operation, and the timing t2 is a two-stage acceleration timing at the start of the operation of the jib crane and at the end of the operation. . In addition, the operation pattern creating unit 2
Is a two-stage acceleration timing t1 and a two-stage acceleration timing t2 input from the two-stage acceleration timing inference unit 1.
Based on the movement amount and the operating speed related to the turning operation of the jib crane, the turning motion timings T _{11 to} T ₁₄
Is output to the motor command unit 3, and the motion timings T _{21 to} T ₂₄ for undulation are output to the motor command unit 3 based on the movement amount and the operation speed related to the up-and-down operation of the jib crane. In this case, the motion timing T ₁₁ is turning operation start time for the swivel, T ₁₂ is a two-step acceleration time, T ₁₃ is the deceleration starting time, T ₁₄ is a two-step deceleration time, similarly, the motion for the relief Timing T ₂₁
The undulating operation start time, T ₂₂ is a two-step acceleration time, T ₂₃ is the deceleration starting time, T ₂₄ is a two-step deceleration time. In addition, the motor command unit 3 determines a time-series turning motor control signal V1 (operating speed pattern) that determines the operating speed pattern of the jib crane based on the turning motion timing and the clock input from the operating pattern creating unit 2. ) Is output to the turning motor 4 and the operation pattern creating unit 2 is output.
A time-series hoisting motor control signal V2 (operating speed pattern) is output to the hoisting motor 5 based on the hoisting motion timing and the clock input from the controller. FIG. 2 is a characteristic diagram showing a relationship between the motion timing and the motor control signal.

In this embodiment, when an operation pattern of a jib crane is created, the operation pattern is created by performing fuzzy inference twice. That is,
In the first fuzzy inference, an operation pattern is created by calculating the timing based on the rope length of the jib crane. In the second fuzzy inference, the accuracy and reliability of the operation pattern created in the first fuzzy inference are calculated. In order to improve the timing, the rope length at the position where the timing is output is calculated again to calculate the timing, and a new operation pattern is created based on the calculated timing.

The operation pattern of the jib crane described above is created by the following procedure. Enter the jib crane's turning angle, up / down start angle, and up / down end angle, enter the danger height corresponding to the height of the suspended load at which the jib crane can start operating, and enter the final height corresponding to the height of the suspended load at the target position. Input. The rope length at the start of operation (dangerous height) of the jib crane is calculated, and the rope length at the end of operation (final height) is calculated. From the rope length of the jib crane, a two-step acceleration timing for turning and a two-step deceleration timing are calculated based on fuzzy calculation, and a two-step acceleration timing for undulation and two-step deceleration timing are calculated based on fuzzy calculation. A speed pattern in the turning operation is created based on the turning angle of the jib crane, the two-stage acceleration timing, and the two-stage deceleration timing, and a speed pattern in the undulating operation is created based on the undulation angle, the two-stage acceleration timing, and the two-stage deceleration timing. . The control time of the jib crane is compared in the case of turning with the jib crane and in the case of the ups and downs, and the one with the longer control time is determined as the preceding operation of the jib crane. After the operation speed of the preceding operation of the jib crane reaches the maximum speed, the operation pattern is shifted so as to start the following operation. After shifting the operation pattern of the jib crane,
At the start of turning operation, at the time of two-step acceleration, at the time of deceleration start, and at the time of two-step deceleration, calculate the rope length. calculate. A fuzzy calculation is performed based on the new rope length calculated by the jib crane, and a new two-stage timing is calculated. Create a new turning and undulating operation pattern including pre-operation and post-operation of the jib crane.

FIG. 3 shows the acceleration timing, deceleration timing, deceleration start time,
Turning speed pattern diagram showing the relationship between all control times, FIG. 4 is an up / down speed pattern diagram showing the relationship between acceleration timing, deceleration timing, deceleration start time, and total control time when the jib crane is up and down. The rope speed is controlled among the hoisting angular speed and the hoisting rope speed.

Next, the case where the first operation pattern and the second operation pattern of the jib crane of this embodiment are created will be described. (1) First operation pattern creation. In the first operation pattern of the jib crane, the two-stage acceleration timing is calculated based on the rope length at the start of the jib crane operation and calculated at the end of the operation, that is, the ups and downs and the turning start and end at the same time. The two-stage acceleration timing is calculated based on the fuzzy calculation assuming that the half operation speed time is determined based on the timing, and the maximum operation speed is determined based on the rising time constant and the total operation angle. Is calculated so that the time is possible. Then, a two-step acceleration start time, a deceleration start time, and a two-step deceleration start time are calculated from the calculated data, and an operation pattern is created. FIG. 5 is a first operation pattern diagram at the time of undulation precedence when the undulation is longer than the turning control time. Next, in the created rough operation pattern, the one in which the control time is longer is set as the preceding operation, and the operation start time in which the control time is shorter is delayed. In this case, the delay time is a time set for avoiding simultaneous activation of the turning motor 4 and the hoisting motor 5 from the relation of the supplied power, and is a time until the preceding operation speed reaches the maximum speed. It has become time. FIG. 6 shows the operation pattern after the operation priority order of the jib crane is determined. Since the operation pattern is a rough operation pattern, the input value (rope length) at the time of fuzzy calculation at the time of the second operation pattern creation described later is described. It is designed to be used for calculations.

(2) Creating a second operation pattern. After determining the preceding operation and the following operation of the jib crane and shifting the operation pattern, a new timing and an operation pattern that match the operation situation are created by fuzzy calculation in the case of turning and undulating. I have. First, when creating a turning operation pattern of the jib crane, in the diagram showing the relationship between the control pattern and the rope length in FIG. 7, the rope length of the turning start time is L1, and the rope length of the two-step acceleration start time is L2. If the rope length of the deceleration start time is L3 and the rope length of the two-step deceleration start time is L4, the two-step acceleration timing used for actual control is as follows.
(T (L1) + T (L2)) / 2, and the two-step deceleration timing is (T (L3) + T (L4)) / 2
This is calculated by the following formula. That is, as the two-stage acceleration timing of the turn, an average value of the timing obtained from the rope length at the start of the turn and the timing obtained from the rope length at the start of the two-stage acceleration is applied. Then, since the time of the 旋回 turning speed is determined from each of the above timings, the time constant of the rise is added, and the time during which the operation can be performed at the maximum turning speed is calculated. The time, the deceleration start time, and the two-step deceleration start time are determined, and a turning operation pattern is created. On the other hand, when creating the operation pattern of the jib crane undulation, in the diagram showing the relationship between the control pattern and the rope length in FIG. 7, the rope length of the undulation start time is L5, the rope length of the two-stage acceleration start time is L6, Assuming that the rope length of the deceleration start time is L7 and the rope length of the two-stage deceleration start time is L8, the two-stage acceleration timing used for the actual control is calculated by the formula (T (L5) + T (L6)) / 2. The two-step deceleration timing is (T (L7) + T
(L8)) / 2. That is, as the two-step acceleration of the undulation, the average value of the timing obtained from the rope length at the start of the undulation and the timing obtained from the rope length at the start of the two-step acceleration is applied. Then, since the time of the 1/2 undulation speed is known from each of the timings, the time constant of the rise is added, and the time at which the maximum undulation speed is possible is calculated.
The two-step acceleration start time, the deceleration start time, and the two-step deceleration start time from the operation start point are determined, and an undulating operation pattern is created. FIG. 8 is a control pattern diagram after completion.

FIG. 9 is an explanatory diagram of a membership function used in the fuzzy processing for timing output (FIG. 14 described later) of the present embodiment. The horizontal axis represents the rope length of the jib crane, and the vertical axis represents the fitness. Is represented. For example, rope length 2
If there is an input of 0 m, the input is 10 m on the horizontal axis and 3
The midpoint of 0 m is reached, and when a perpendicular line is drawn from the midpoint, the intersection between NB and NM is obtained, but the height up to the intersection becomes the degree of conformity.
That is, a conformity of 0.5 for NB and 0.5 for NM is obtained. Note that the reason why the membership functions for the rope lengths of 10 m to 50 m are dense is that a slight difference in the acceleration timing in the rope length range is expected to greatly affect the load deflection. For example, in the membership function for turning timing output shown in FIG. 10, consider the case where the suitability of NB and NM is 0.5 and the suitability of NS, PS, and PB are 0. Leave a trapezoid below 0.5 and also cut off NM at 0.5 leaving a trapezoid below 0.5. Other membership functions NS, P
Since S and PB have a matching degree of 0, no output figure remains. Therefore, the center of gravity of the figure remaining on the set of the turning timing output membership functions is obtained, and the two-stage acceleration timing of the turning is obtained from the output value corresponding to the value of the horizontal axis at that point. In the membership function for output of undulation timing shown in FIG. 11, two-stage acceleration timing of undulation is obtained in the same manner as described above.

Next, a description will be given of a load swing control operation of the crane of the present embodiment having the above-described configuration. Those indicated by * in the figure below are subroutines. Jib crane load deflection control main process (Fig. 12, Fig. 1)
3) At the start of the jib crane load swing control main process, the jib crane is initialized (for example, the turning angle, the up / down starting angle, the up / down ending angle, the dangerous height, the final height, etc.) are set (step SA1), and the lifting is performed. The load height (rope length) is set (step SA2). Thereby, the calculation processing of the hoisting time of the suspended load is performed (step SA3). Next, it is determined whether or not the jib crane is to be raised and lowered (step SA4).
After setting LG1 to 1 (1: undulation) (step SA
5) While the process proceeds to the process of step SA6, when the jib crane is raised and lowered, the process directly proceeds to the process of step SA6. Next, it is determined whether or not the jib crane is to be prone (step SA6). When the jib crane is to be prone, the flag FLG1.1 is set to 1 (1: prone) (step SA7), and the process proceeds to step SA8. If the jib crane is not turned down, the flow directly proceeds to the processing in step SA8. Next, it is determined whether the jib crane does not turn (step SA8). If the jib crane does not turn, the flag FLG2 is set to 1 (1: turn) (step SA9), and the process proceeds to step SA10. Step S when turning the jib crane
The process proceeds to A10. Next, after setting the rope length for creating the first operation pattern of the jib crane (step SA10), the first operation pattern is created, and the longer one of the turning and the undulation is set as the preceding operation and the control is performed. The order of priority is set such that the shorter time is the subsequent operation (step SA11).

Thereafter, whether the flag FLG3.1 is 1 or not,
That is, it is determined whether or not the undulation is prior (step SA12).
In the case of undulation advance, the rope length in each state of undulation (rope length at undulation start time, rope length at two-step acceleration start time, rope length at deceleration start time, rope length at two-step deceleration start time) is calculated ( In step SA13), the process proceeds to step SA14. On the other hand, when it is not the ups and downs, the process directly proceeds to step SA14. Next, the flag FLG
It is determined whether or not 3.1 is 0, that is, whether or not the vehicle is ahead of the turn (step SA14). In the case of the advance of the turn, each state of the turn (the rope length of the turn start time, the rope length of the two-step acceleration start time, After calculating the rope length of the deceleration start time and the rope length of the two-step deceleration start time) (step SA15), the process proceeds to step SA16, and if not, the process directly proceeds to step SA16. Thereafter, a second operation pattern of the jib crane is created (step SA16).

Next, the various parameters of the jib crane are set, and the suspended load and the wind conditions (wind speed, wind direction) are set (step SA17). Thereby, the initial screen is displayed on the monitor (step SA18). Next, integration of the Runge-Kutta-Gill numerical values is performed (step SA19), a parameter screen is displayed on the monitor (step SA20), and a graphic is displayed (step SA21). Thereafter, the turning timing and the hoisting timing for operating the simulator of the jib crane are output (step SA22). The processing of steps SA19 to SA22 is repeated until the operation of the jib crane ends. Thereafter, it is determined whether or not the operation of the jib crane has been completed (step SA2).
3) If the operation has not been completed, the process returns to the process of step SA19. On the other hand, if the operation has been completed, the maximum residual deflection angle and the maximum deflection angle of the jib crane are displayed on the monitor (step SA24).

Fuzzy processing for timing output (FIG. 1)
4) In the timing output fuzzy processing, the rope length at each of the jib crane turning and undulating positions is input. That is, in the case of turning, the rope lengths L1, 2 at the turning start time are set.
The rope length L2 of the step acceleration start time, the rope length L3 of the deceleration start time, and the rope length L4 of the two-step deceleration start time are input. In the case of undulation, the rope length L of the undulation start time is input.
5, the rope length L6 of the two-step acceleration start time, the rope length L7 of the deceleration start time, and the rope length L8 of the two-step deceleration start time are input (step SB1). Next, the membership function (see FIG. 9) is set (step S).
B2) A fuzzy calculation rule for outputting the turning timing or the undulation timing based on the input of the rope length is set (step SB3). Next, a fuzzy calculation for turning the jib crane is performed (step SB4), and the timing for the turning pattern at each time of starting the turning, starting the two-step acceleration, starting the deceleration, and starting the two-step deceleration is output (step SB5). ). Further, a fuzzy operation for raising and lowering the jib crane is performed (step SB6).
After outputting the timing for the undulation pattern at each of the start of the two-stage acceleration, the start of the deceleration, and the start of the two-stage deceleration (step SB7), the process returns to the original state.

First Operation Pattern Creation Process (FIG. 15) When creating the first operation pattern of the jib crane, F
LC subroutine processing (step SC1), averaging processing for calculating two-stage acceleration timing based on the timing obtained based on the rope length at the start of operation and the timing obtained at the end of operation (step SC2), and the turning timer A timing process for counting the control time of the turn (step S
C3) The total control time is calculated (step SC5) based on the time counting process of counting the control time of the undulation by the undulating timer (step SC4). Next, based on the calculated total control time, it is determined whether or not the turning operation of the jib crane precedes (step SC6). If the turning operation of the jib crane precedes, the flag FLG3.1 is set to 0 (turn). (Step SC7) While the process proceeds to the process of step SC8, if the turning operation of the jib crane does not precede, the process proceeds to the process of step SC8. Next, it is determined whether or not the up-and-down operation of the jib crane precedes (step SC8). If the up-and-down operation of the jib crane precedes, the flag FLG3.1 is set to 1 (up and down) (step SC9). While moving to processing,
If the ups and downs operation of the jib crane does not precede, the process directly proceeds to the process of step SC10.

Further, it is determined whether or not the turning range of the jib crane is too small (step SC10). If the turning range of the jib crane is too small, the flag FLGS is set to 1, and it is impossible to apply the turning two-stage acceleration method. After storing the fact (step SC11), the process proceeds to the process of step SC12, while if the turning range is appropriate, the process proceeds to step S12.
The process proceeds to C12. Next, it is determined whether the undulation range of the jib crane is too small (step SC1).
2) If the up-and-down range of the jib crane is too small, the flag FLGK is set to 1 to memorize that the two-step up-and-down acceleration method cannot be applied (step SC13). If is appropriate, go back.

Second Operation Pattern Creation Process (FIG. 16) In the second operation pattern creation process of the jib crane, the FLC subroutine process (step SD1) and the timing obtained from the rope length at the start of turning (undulation) and 2
An averaging process for calculating a two-step acceleration timing of turning (undulation) corresponding to an average value of the timing obtained from the rope length at the start of the step acceleration (step SD2), and a timing for measuring a turning control time by a turning timer. The total control time is calculated (step SD5) based on the processing (step SD3), and the clocking processing of measuring the control time of the undulation by the undulating timer (step SD4). Next, based on the calculated total control time, it is determined whether or not the above-mentioned flag FLGS is 1 (step SD6). When the flag FLGS is 1, it is stored that the turning two-stage acceleration method cannot be applied, and After turning each parameter for turning to 0 (step SD
7) The process proceeds to step SD8 while the flag F
If LGS is not 1, the flow directly proceeds to the processing in step SD8. Next, it is determined whether or not the above-mentioned flag FLGK is 1 (step SD8). When the flag FLGK is 1, it is stored that the application of the two-step acceleration method is not possible, and each parameter for the undulation is set to 0. (Step SD
9) On the other hand, if the flag FLGK is not 1, the process returns.

Uplifting process (FIG. 17) In the uplifting process of the jib crane, the flag F
It is determined whether or not LG is 1, that is, whether or not the jib crane is to be raised / lowered (step SE1). When the jib crane is not to be raised / lowered, the process returns to the original state. When the jib crane is to be raised / lowered, the flag FLG1.1 is 1 or not. No, that is, whether the jib crane is to be prone or not (step SE)
2). If the jib crane is to be laid down, ARP is set to -1, and the hoisting rope of the jib crane is extended (step SE3). Then, the process proceeds to step SE4. If the jib crane is not laid down, the process directly proceeds to step SE4. Thereafter, the rope length (LL1) at the start of the turn of the jib crane is calculated (step SE4), the rope length (LL2) at the start of the two-step turn acceleration is calculated (step SE5), and the rope length at the start of the turn deceleration (LL) is obtained. LL3) is calculated (step SE6), and the rope length (LL4) at the time of the two-step turning deceleration is calculated (step SE7). Further, the rope length (LL5) at the start of the ups and downs of the jib crane is calculated (step SE8), and the ups and downs 2
The rope length (LL6) during step acceleration is calculated (step SE9), and the rope length (LL7) during up-down deceleration.
Is calculated (step SE10), and the rope length (LL8) at the time of the two-step deceleration is calculated (step SE1).
1).

Turning Advance Processing (FIG. 18) In the turning advance processing of the jib crane, the flag F
It is determined whether or not LG is 1, that is, whether or not the jib crane is raised / lowered (step SF1). When the jib crane is not raised / lowered, the process returns to the original state. When the jib crane is raised / lowered, the process directly proceeds to step SF2. Next, it is determined whether or not the above-mentioned flag FLG1.1 is 1, that is, whether or not the jib crane is to be prone (step SF2). When the jib crane is to be prone, the ARP is set to −1, and the hoisting rope of the jib crane is extended. Thereafter (step SF3), the process proceeds to step SF4, while if the jib crane is not turned down, the process directly proceeds to step SF4. Next, it is determined whether or not the above-mentioned flag FLGK is 1 or not, that is, whether or not the jib crane cannot be raised or lowered (step SF).
5) If the jib crane cannot be undulated, set GAN to 1
Is set so that the jib crane is not raised and lowered (step SF5), and then the process proceeds to step SF6. If the jib crane can be raised and lowered, the process directly proceeds to step SF6.

Thereafter, the rope length (LL1) at the start of the turn of the jib crane is calculated (step SF6), and the rope length (LL2) at the start of the two-step turn acceleration is calculated (step SF7). The rope length (LL3) is calculated (step SF8), and the rope length (LL4) during the two-step deceleration of the turn is calculated (step SF9). Further, the rope length (LL5) at the start of the hoisting and lowering of the jib crane is calculated (step SF10), the rope length (LL6) at the time of the two-step hoisting acceleration is calculated (step SF11), and the rope length (LL7) at the time of the hoisting and deceleration is calculated. Calculation is performed (step SF12), and the rope length (LL8) at the time of two-step deceleration is calculated (step SF13).

According to the present embodiment, however, since the run-out of the jib crane is controlled based on the fuzzy control, the run-out of the jib crane can be greatly suppressed as compared with the conventional case. That is, in the present embodiment, the load fluctuation characteristic (with fuzzy control, no wind) as shown in FIG. 19 is improved from the load fluctuation characteristic (without fuzzy control, no wind) as shown in FIG. The remarkable effect that it can perform can be produced.

In this embodiment, the case of the jib crane has been described. However, the present invention is not limited to the jib crane, but can be applied to other cranes.

[0027]

As described above, according to the present invention, the following effects can be obtained. When performing automatic operation of the crane, based on the crane rope length at the start and end of operation,
The two-step acceleration timing for the undulation is calculated by fuzzy inference, and the turning and undulating operation patterns are calculated based on the timing to control the turning motor and the undulating motor. Can be accurately prevented. As a result, the working efficiency of the crane can be improved. As described above, for example, when the position of a pillar or the position of a concrete pump truck or the like is predetermined in a building construction site, this is suitable for automatically operating a crane without load swing. The above is suitable for, for example, automatically driving a casting crane from a patcher plant or the like without any load swing at a dam construction site. As described above, it is possible to solve the problem that the load swing of the crane cannot be suppressed without the skilled operator's skill in accelerating or decelerating the crane as in the related art.

[Brief description of the drawings]

FIG. 1 is a block diagram of a crane load deflection control device according to an embodiment of the present invention.

FIG. 2 is a characteristic diagram illustrating a relationship between a motion timing and a motor control signal according to the present embodiment.

FIG. 3 is a turning speed pattern diagram of the present embodiment.

FIG. 4 is an undulation speed pattern diagram of the present embodiment.

FIG. 5 is a diagram of a first operation pattern at the time of undulation precedence in this embodiment.

FIG. 6 is an operation pattern diagram after the operation priority order is determined in the embodiment.

FIG. 7 is a diagram illustrating a relationship between a control pattern and a rope length according to the present embodiment.

FIG. 8 is a completed control pattern diagram of the present embodiment.

FIG. 9 is an explanatory diagram of a membership function of the embodiment.

FIG. 10 is an explanatory diagram of a membership function for turning timing output according to the present embodiment.

FIG. 11 is an explanatory diagram of a membership function for undulating timing output according to the present embodiment.

FIG. 12 is a flowchart of a jib crane load swing control main process of the present embodiment.

FIG. 13 is a flowchart of a jib crane load swing control main process of the present embodiment.

FIG. 14 is a flowchart of a timing output fuzzy process of the present embodiment.

FIG. 15 is a flowchart of a first operation pattern creation process of the present embodiment.

FIG. 16 is a flowchart of a second operation pattern creation process of the present embodiment.

FIG. 17 is a flowchart of the undulation advance processing of the present embodiment.

FIG. 18 is a flowchart of a turn advance process of the present embodiment.

FIG. 19 is a graph showing load fluctuation characteristics of the present embodiment.

FIG. 20 is a diagram showing load fluctuation characteristics of a conventional example.

[Explanation of symbols]

 1 Two-stage acceleration timing inference unit 2 Operation pattern creation unit 3 Motor command unit 4 Turning motor 5 Undulating motor

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Shigeki Murayama 3-1-1, Toyosu, Koto-ku, Tokyo Ishikawa Shima-Harima Heavy Industries Co., Ltd. Toji Technical Center (72) Inventor Toshiaki Saito Toyosu 3-chome, Koto-ku, Tokyo No. 1-15 Ishikawa Shima Harima Heavy Industries Co., Ltd. Tojin Technical Center (72) Inventor Tahara 1-1-1 Kanda Ogawacho, Chiyoda-ku, Tokyo Inside Ishikawajima Transport Co., Ltd. (56) References JP-A-3-56397 (JP, A) JP-A-50-541 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) B66C 19/00-23/94

Claims (1)

(57) [Claims] A crane load swing control device configured to control the swing of a load suspended via a rope by a crane that performs a swing operation by driving a swing motor and performs an up / down operation by driving an up / down motor. Yes, based on the input of the rope length at the start and end of the operation of the crane, the two-stage acceleration timing for turning and the two-stage acceleration timing for undulation are calculated and output by fuzzy inference according to the rope length. A two-stage acceleration timing inference unit, based on the two-stage acceleration timing for turning output from the two-stage acceleration timing inference unit, based on the moving amount of the turning and the driving speed, a driving start time for turning, a two-step acceleration time, The deceleration start time and the two-step deceleration time are calculated and output, and the two-step acceleration timing for undulation output from the two-step acceleration timing inference unit is calculated. An operation pattern creation unit that calculates and outputs an operation start time for undulation, a two-step acceleration time, a deceleration start time, and a two-step deceleration time from the amount of movement of the undulation and the operation speed; Based on the respective times for turning, a control signal corresponding to an operating speed pattern of turning is output to the motor for turning, and based on each of the times for raising and lowering output from the operation pattern creating unit, And a motor command unit that outputs a control signal corresponding to an operation speed pattern to the hoisting motor.