JP2971318B2 - Sway control device for suspended load - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steady rest control device for a lifting device used in a large-sized container crane for lifting loads.

[0002]

2. Description of the Related Art FIG. 6 shows a schematic diagram of a conventional suspension device for preventing a steady load in a container crane, and FIG. 7 shows an operation state of the conventional suspension device for a steady load.

As shown in FIG. 6, a trolley 11 is disposed so as to be able to traverse (move left and right in FIG. 6) on a main girder of a crane (not shown). A pair of rails 1 laid on
The right and left sheave carriages 14 and 15 are supported along the moving directions 2 and 13 so as to be able to move a small distance along the moving direction of the transverse trolley 11. A trolley drive device 17 on a main girder for moving the traverse trolley 11 is connected to the traverse trolley 11 via a rope 16 and each sheave cart 1
The sheave carriage driving devices 18, 19 for moving the sheave carriages 14, 15 are drivingly connected to the sheave carriages 4, 15, respectively. Further, a hanging tool 22 having a hanging load steadying detection mark 21 displayed on the upper surface of the traversing trolley 11 via a hoisting rope 20.
Are suspended, and the suspending tool 22 suspends and supports a container 23 as a suspended load.

[0004] Such a steady rest of the lifting device has been conventionally used.
The operation is performed in the following manner by manual remote operation while the operator visually observes the movement of the hanging tool 22 from the crane cab.

That is, in the state shown in FIG. 6, when the trolley drive device 17 traverses the trolley 11 from left to right, when the trolley 11 enters the deceleration braking from the constant speed traverse, the suspended load 23 As shown in FIG.
It swings forward due to its inertia. The driver is in the driver's cab
This deflection is detected by visually confirming the detection mark 21 on 2 and, as shown in FIG. 7B, the trolley 11 is accelerated in the deflection direction in accordance with the deflection of the suspended load 23 in the translation direction. , Or by driving the left and right sheave carriage driving devices 18 and 19 on the trolley 11,
4, 15 are moved in the same swing direction as the suspended load 23. And the suspended load 2 that returns after swinging a certain amount forward
The traverse trolley 11 is decelerated in accordance with the recoil of 3, or the sheave trolleys 14 and 15 are moved in the opposite direction to the above to attenuate the traverse vibration and to prevent the traverse.

In FIG. 6, the suspended load 23 is skewed clockwise in the plane as shown by the arrow (turning swing).
Is detected in the same manner by the movement of the detection mark 21, and the one sheave truck 15 is driven to the left and the other sheave truck 14 is driven to the right in accordance with the skew shake by the driving devices 18 and 19, respectively. The recoil of the load 23
By moving the sheave carts 14 and 15 in the opposite direction as described above, the skew is similarly attenuated and stopped.

[0007]

The following problems have been encountered with the above-described steady rest operation by the driver using the steady rest device for suspended loads. That is, as described above, with respect to a single horizontal run-out or skew run-out of the suspended load 23,
The swing of the suspended load 23 can be attenuated and stopped by the driver's acceleration / deceleration of the trolley 11 or the movement of the sheave carts 14 and 15 in accordance with the swing of the suspender 22. However, when the horizontal swing and the skew run of the suspended load 23 occur at the same time and a complicated movement occurs, the horizontal trolley 1
1 or the sheave carts 14, 15 became difficult to drive, and could not be adequately handled.

At the same time as the suspension of the suspended load 23, the sheave carts 14 and 15 can be moved to either side in the transverse direction for the next time that the suspended load 23 swings. It is necessary to converge to the center position in the transverse direction on the transverse trolley 11. On the other hand, it is necessary to operate the trolley 11 at the maximum speed during the traverse in order to increase the transport efficiency of the suspended load 23, and to stop the suspended load 23 at the target position when approaching the target position where the suspended load 23 should be lowered to the ground. It is necessary to decelerate, and it is necessary to stop and fix it when it reaches the target load position. That is,
In addition to the steadying control of the suspended load 23, it is necessary to simultaneously perform the position control of the sheave carts 14, 15 and the speed control or position control according to the traversing position state of the traversing trolley 11. The conventional steady rest operation is manually operated by the driver, and this operation is a difficult operation requiring skill for the driver.

An object of the present invention is to solve such a problem, and an object of the present invention is to provide a suspension control device for a suspended load capable of easily and reliably performing a steady operation of the suspended load.

[0010]

In order to achieve the above-mentioned object, the present invention provides a steady rest control device for a suspended load, comprising: a trolley on both the left and right sides of the trolley along the trolley moving direction; In a lifting device provided with a pair of right and left sheave trucks that are relatively movable, a trolley motion state amount detector for detecting a motion state amount of the traversing trolley, and left and right ends of a suspended load suspended on the traversing trolley. A load motion state quantity detector for detecting the motion state quantity of each of the sheave trolleys, a sheave trolley motion state quantity detector for detecting the motion state quantity of each of the sheave trolleys, and a traverse operation notch operation provided on a driving operation panel of the traverse trolley. A notch operation amount detector for detecting the amount, and a control device for controlling the steadying of the lifting device based on a detection signal taken from each of the detectors, the control device is controlled by each of the detectors An optimal operation amount is set based on a pre-set steady-state optimal gain according to each of the exercise state amount and the driving notch operation amount output, and the transverse trolley and each sheave cart are driven with the optimal operation amount to shake. It is characterized by having an optimum control unit for executing the stop control.

According to a first aspect of the present invention, there is provided a steady rest control apparatus for a suspended load according to the present invention.
The control device is configured to detect an operation state of the traverse trolley based on a detection signal of an operation state amount of the traverse trolley and an operation notch operation amount, and an operation state detected by the operation state determination unit. An operating-state-specific optimal gain selecting unit that selects and outputs a predetermined operating state-specific steady-state optimal gain; and the traversing trolley and each of the traversing trolleys with an optimal operation amount based on the optimal gain output from the operating-state-specific optimal gain selecting unit. It is characterized by having an optimum control unit that drives the sheave trolley to execute the steadying control.

[0012] Further, according to the present invention, there is provided a steady rest control device for a suspended load.
The control device includes: an independent control optimal gain calculator for calculating and outputting an optimal gain for independently controlling the horizontal and skew shakes of the suspended load; and an optimal gain output from the independent control optimal gain calculator. Characterized in that it has an optimal control unit that drives the transverse trolley against the horizontal deflection of the suspended load with the optimal operation amount based on the skew, and drives the right and left sheave carts against the skew deflection to execute the steadying control. It is.

Further, in the steady rest control device according to the present invention, in the steady rest control device for a suspended load according to the first aspect, the control device may include an optimum gain for independently controlling the lateral deflection and the skew deflection of the suspended load. An optimum gain calculation unit for independent control that calculates and outputs the operating state of the trolley, and an operating state determination unit that detects the operating state of the trolley based on detection signals of the operating amount of the trolley and the operation notch operation amount. For each operating state, select and output the steady-state optimal gain for each operating state preset by the operating state or the optimal steady-state gain for each operating state set by the optimal gain calculation section for independent control according to the operating state detected by the determination unit. Driving the traverse trolley and each sheave trolley with an optimum operation amount based on an optimum gain selection unit and an optimum gain output from the operation state-specific optimum gain selection unit. Re is characterized in that it has an optimal controller for executing a stop control.

[0014]

According to the present invention, at the start of the operation of the container crane, each movement detected by the movement state quantity detector of the traversing trolley, the left and right sheave trolley operation state quantity detector, and the left and right movement state quantity detector of the suspended load. The state amount detection signal and the operation amount signal detected by the notch operation amount detector are sent to the control device, and the control device receives the traverse movement of the trolley, the deceleration positioning, the traverse of the load at the time of stop, the skew, and the like. The optimum steady rest gain according to the motion state amount such as the shake is set in advance, and the optimum control unit drives the transverse trolley and each sheave cart with the optimum operation amount according to the load operation state amount based on the optimum gain. As a result, the steady rest control is executed.

[0015] The operating state determination unit determines, for example, whether the trolley is moving, during deceleration positioning operation, the trolley stops, and only the load based on signals from the trolley motion state detector and the driving notch operation amount detector. It is determined whether or not it is in a swinging state, and this determination signal is output to an optimal gain selection unit for each operating state. The optimal gain is selected and output to the optimal control unit, and the optimal control unit drives the transverse trolley and the sheave trolley with the optimal operation amount according to the amount of movement of the load based on the optimal gain, thereby executing the anti-sway control. Is done.

The independent control optimum gain calculation section calculates an optimum gain required for each of the sway and skew of the suspended load, and outputs the optimum gain to the optimum control section. By driving the transverse trolley with the optimum gain and driving the left and right sheave trolleys with the skew steadying optimal gain, the steadying control is executed.

Further, the optimum gain calculation unit for independent control calculates the optimum gain necessary for the steadying of the traversing and skew of the suspended load and outputs the calculated optimum gain to the optimum gain selecting unit for each operating state. The determination unit is, for example, during the trolley traverse movement, during the deceleration positioning operation, by the signal of the traversing trolley operation state detector and the operation notch operation amount detector,
Determines whether the trolley is stopped and only the load is swinging and outputs it to the optimal gain selection unit for each operating condition.The optimal gain selecting unit for each operating condition receives these judgment signals and selects the optimal gain for each operating condition The optimal control unit outputs the optimal gain to the optimal control unit, and the optimal control unit drives the traverse trolley with the optimal anti-sway steady gain, while driving the left and right sheave trolleys with the optimal skew anti-sway gain to execute the anti-sway control. You.

[0018]

Embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 1 is a schematic diagram showing an overall structure of a suspension control device for a suspended load according to an embodiment of the present invention, and FIG. 2 is a control block showing a first embodiment of the control device. Note that members having the same functions as those in the related art are denoted by the same reference numerals, and redundant description will be omitted.

As shown in FIG. 1, the trolley driving device 17 of the traversing trolley 11 includes a displacement detector 31 and a speed detector 32 as trolley operation state amount detectors. Is installed. A displacement detector 33 and a speed detector 34 are mounted on the sheave truck 14 on the left side as a sheave carriage motion state quantity detector, and a displacement detector 35 and a speed detector are similarly mounted on the sheave truck 15 on the right side. 36 are mounted. Also,
On each side of the traversing trolley 11, the load 2
The swing motion detectors 37, 38 on the left and right sides of the suspended load for detecting the shake displacement and the shake speed of the swing load 3 are mounted. A traversing operation notch operation amount detector 40 is mounted on the traversing operation operation panel 39 of the crane cab.

The control device 41 includes the respective motion state quantity detectors 31 to 31.
38 and the detection signals from the traversing operation notch operation state quantity detector 40 are inputted, and the inputted operation state quantity, that is, the optimum operation quantity necessary for returning the swinging momentum of the suspended load 23 to zero is calculated. The drive command 17 of the trolley 11 and the drive 1 of the right and left sheave trucks 14 and 15
8 and 19.

This control device 41, as shown in FIG.
Based on the steady rest optimal gain K separately calculated and set in advance in the control device, according to the motion state amount of the suspended load 23 and the operation state amount of the traversing trolley 11 input from each of the detectors 31 to 38, 40. Set the optimal operation amount, traverse trolley 1
An optimal control unit 42 is provided for executing the anti-sway optimal control of the first drive device 17 and the right and left sheave carriages 14, 15 drive devices 18, 19.

Hereinafter, a specific steadying process performed by the suspended load steadying control device of this embodiment will be described.

(1) First, each of the detectors 31 to 38 and 40 includes a trolley 11, sheaves 14 and 15, and a suspended load 2.
The motion state amount and the driving notch operation amount of No. 3 are detected and output to the control device 41.

(2) Next, the optimum control unit 42 calculates the following equation (1) based on the motion state amount and the driving notch operation amount.
The speed command u0 of the transverse trolley 11 and the speed commands u1 and u2 of the sheave carriages 14 and 15 on the left and right sides are calculated by the calculation of the anti-sway optimal control.

[0026]

(Equation 1)

Here, u is an operation amount vector shown below, and each element is a speed command u0 of the transverse trolley 11, a speed command u1 of the left sheave truck 14, and a speed command u2 of the right sheave truck 15 in order from the left. is there. That is, Equation 2 below is obtained.

[0028]

(Equation 2)

Further, x is a state quantity vector shown below, and each element is composed of, in order from the left, a change x0 and a speed x1 of the traverse trolley 11, a displacement x2 and a speed x3 of the sheave carriage 14 on the left, and
Displacement x4 and speed x5 of right sheave cart 15, displacement x6 and speed x7 of left end of suspended load 23, displacement x8 of right end of suspended load 23
And speed x9. That is, Equation 3 below is obtained.

[0030]

(Equation 3)

Further, K is a 3 × 10 constant matrix shown below.

[0032]

(Equation 4)

Here, the above-mentioned constant matrix K is an optimum gain previously obtained by the following procedure.

[0034] Traversing trolley 11, right and left sheave cart 1
From Equations (4), (15), and the equations of motion established for the left-right deflection of the suspended load 23, the following state equation (5) is derived. This state equation is a linear differential equation expressing the swing of the suspended load 23 as a spring-mass system that moves in a traversing and skew manner, and a description thereof is omitted here, including a method of deriving the state equation. u and x are the above-mentioned manipulated variable vector and state variable vector, respectively, A is a 10 × 10 constant matrix, B
Is a 10 × 3 constant matrix.

[0035]

(Equation 5)

With respect to the state equation of the above equation 5, the optimum gain K of the equation 7 that minimizes the evaluation function J of the following equation 6 is obtained. Note that Q and R are each 10 × 1
It is a weight matrix of 0,3 × 3.

[0037]

(Equation 6)

[0038]

(Equation 7)

By minimizing the evaluation function J in this manner, the optimum gain K for quickly setting all the elements of the state quantity x to zero with the operation amount u as small as possible is obtained.

(3) Then, the optimum controller 42 detects each of the detectors 31 to 31 based on the optimum gain K obtained by the above calculation.
8 and 40, the optimum operation amount according to the motion state amount and the driving state is obtained, and the optimum operation amount is determined by the driving devices 17, 18, 1 of the transverse trolley 11 and the left and right sheave carriages 14, 15.
9, the control command signals of the speed commands u0, u1, u2 are output, and by driving these, the anti-sway optimal control of the suspended load 23 is executed.

FIG. 3 shows a control block showing a second embodiment of the suspension control device according to the present invention.

As shown in FIG. 3, in this embodiment,
The control device 51 is provided with the displacement and speed detectors 31 and 32 of the traversing operation notch operation amount detector 40 and the traversing trolley driving device 17.
Operating state of the trolley 11 in response to the detection signal from
That is, an operation state determination unit 52 that determines whether the traverse trolley 11 is driving in a traverse direction, is in the middle of stopping at a target position, or stops and needs to be steady, and outputs a signal, and an operation state determination unit 5.
Operating state optimum gain selecting section for selecting an optimum gain K for an operating state detected based on a plurality of operating state optimum gains K ₁ , K ₂ , and K ₃ previously calculated and set for each of the signal 2 and the operating state. 53 and the optimum gain K selected by the optimum gain selection unit 53, and sets an optimum operation amount in accordance with the motion state amount input from each of the detectors 31 to 38; An optimal control unit 54 for executing the steadying optimal operation amount control of the driving devices 18 and 19 of the carriages 14 and 15 is configured.

Here, a specific anti-shake process by the control device 51 of this embodiment will be described.

(1) The operating state determination section 52 determines the operating state of the traversing trolley 11 by using the traversing operation notch operation amount detector 40.
And the displacement of the traversing trolley driving device 17 and the speed detector 31,
The determination is made based on the 32 detection signals. At this time, when the driver is performing the notch operation, that is, when the notch operation amount is not zero, it is determined that the state is still far from the target position where the suspended load 23 should be dropped on the ground. Then, when the notch operation amount becomes zero, it is determined that the vehicle is approaching the target position. If the notch operation amount is 0, the traversing trolley displacement is at the target position, and the traversing speed is zero, it is determined that the target position has been reached.

(2) Optimal gain selection section 53 for each operating state
Selects _one of the three types of optimum gains K ₁ , K ₂ , and K ₃ as the optimum gain K in accordance with the operation state determined in (1). Note that the optimal gains K ₁ , K ₂ , and K ₃ are the first gains.
As in the case of the first embodiment, it is obtained by the procedure of (2) described in the first embodiment. However,
The evaluation function J is expressed by the following three equations as the optimal gains K ₁ and K
Calculating a _2, K _3.

[0046]

(Equation 8)

Accordingly, three types of optimum gains are obtained, and K ₁ , K ₂ , and K ₃ correspond to J ₁ , J ₂ , and J ₃ , respectively.
And K _3.

Here, Q₁Is the position system of the trolley 11
Speed-following type notch operation
A weight matrix for calculating the optimal gain,_TwoIs a trolley
Position control type optimal gain that allows -11 to reach the target position
Weight matrix for calculation, _ThreeIs the trolley 11
Stop regularly and stop sheave carts 14 and 15 independently.
This is a weight matrix for calculating the optimal gain. R is a unit
One type is a matrix.

The respective weight matrices of Q ₁ , Q ₂ and Q ₃ are shown in the following equation (9).

[0050]

(Equation 9)

(3) This optimum gain selecting section 5 for each operating state
The method for selecting the optimum gain K according to No. 3 is as follows.

(A) If the operating state is far from the target position, the optimum gain K is a speed-following type optimum gain K ₁ for the notch operation of the driver.

(B) If the operating state is close to the target position, the optimum gain K is the position control type optimum gain K ₂ for causing the trolley 11 to reach the target position.

[0054] (c) operating condition if reaching the target position state, the optimum gain K is an optimum gain K ₃ to perform steady rests solely sieve carriage 14,15.

(4) Then, similarly to the first embodiment, the motion state amount and the transverse notch operation amount detected by the detectors 31 to 38, 40 are output to the control device 51.

(5) The control device 51 calculates the speed command u0 of the traverse trolley 11 and the right and left sheave carriages 14 and 15 speed commands u1,
Calculate u2.

(6) The optimum control section 54 calculates the optimum gain K
The optimal operation amount according to the motion state amount and the driving state by each of the detectors 31 to 38 and 40 is obtained based on the above, and the optimal operation amount is determined by the driving devices 17 and 18 of the transverse trolley 11 and the left and right sheave carriages 14 and 15. , 19, speed commands u0, u
1 and u2 are output as control command signals, and by driving these, the anti-sway optimal control of the suspended load 23 is executed.

As described above, according to the control device 51 shown in the second embodiment, the operation state of the traverse trolley 11 is determined by the operation state determination unit 52, and the operation state of the trolley 11 is changed by the operation state optimum gain selection unit 53. In accordance with the conventional technology, the speed control, the target position arrival, or the independent optimal gain K of the sheave trucks 14 and 15 is selected, and the optimal control unit 54 executes the anti-sway optimal control based on the selected optimal gain K. It is possible to eliminate the difficult judgment and the driving operation for each driving state.

FIG. 4 shows a control block representing a third embodiment of the suspension control device for a suspended load according to the present invention.

As shown in FIG. 4, in this embodiment,
The control device 61 includes an optimum gain calculator 62 for independent control of traverse shake and skew shake, which calculates and supplies an optimum gain to be applied in the case where the traverse shake and the skew shake are independently controlled. An optimal control unit 03 that performs anti-sway control based on the optimal gain K in which the result calculated by the optimal gain calculation unit 62 is set. The optimum control unit 63 is provided by the optimum gain calculation unit 62 for independent control of the traverse shake and the skew shake when the traverse shake and the skew shake occur together according to the motion state amounts detected by the detectors 31 to 38. Based on the set optimum gain K, the trolley driving device 1
In addition, for the skew shake, the anti-sway control is executed by setting the optimum operation amounts for the right and left sheave carriage driving devices 18 and 19 respectively.

Here, a specific anti-shake process by the control device 61 of this embodiment will be described.

(1) The transverse gain and skew shake independent control optimum gain calculation unit 62 calculates the optimum gain by the following method.

With respect to the state equation of Equation 5 described above,
The mode conversion is performed by substituting x = T × x ′ to obtain the state equation of the following Expression 10. Note that x 'is a new state quantity vector, and T is a mode conversion matrix.

[0064]

(Equation 10)

That is, the elements are, in order from the left, the displacement x0 and speed x1 of the traversing trolley 11, the sheave carts 14, 15
Displacement x2 'and velocity x3' of the transverse component of
4, 15 skew component displacement x4 'and velocity x5', traverse component displacement x6 'and velocity x7' of suspended load 23, suspended load 23
This means that a state equation has been derived for a new state quantity vector x 'which is the displacement x8' of the skew component and the velocity x9 '.

With respect to the state equation of Equation 10, the optimum gain K ′ of Equation 12 that minimizes the evaluation function J of Equation 11 below is obtained. Q and R are 10
It is a weight matrix of × 10, 3 × 3.

[0067]

[Equation 11]

[0068]

(Equation 12)

By minimizing the evaluation function J in this way, the optimum gain K 'for quickly setting all elements of the state quantity x' to zero with the smallest possible operation amount has been obtained.

Here, there is a problem as to which one of the trolley trolley and the anti-sway optimal control by the sheave trolley is effective. This depends on the adjustment of the weight matrix Q in Expression 11 described above.

The swing of the suspended load 23 during traversing qualitatively causes a large transverse deflection due to the inertia of the suspended load 23 during acceleration / deceleration, and a small skew due to the eccentricity of the suspended load 23 or the like. I do. The sheave carts 14 and 15 are used by the trolley 11 for the traverse vibration having relatively large tremor.
Since the robot can only move within the short stroke range above and cannot cope with it, the anti-sway optimal control by the traverse trolley 11 is applied, and the trolley 11 cannot control the skew run in principle. Since the target deflection is small, the anti-sway optimal control using the sheave carts 14 and 15 is applied.

The role assignment is based on q which is an element of the weight matrix Q.
It is realized as follows by adjusting 2, q3, q4, and q5.

Q2 and q3 are weighting coefficients for the transverse movement components of the sheave carriages 14 and 15, and when they are set to large values, the sheave carriages 14 and 15 necessary for preventing the vibration of the transverse movement.
You will limit your traversing movement. Therefore, the anti-sway control is performed only by the trolley 11 for the traverse shake.

Q4 and q5 are weighting factors for the skew motion components of the sheave carts 14 and 15, and are set to a small value so that the sheave carts 1 necessary for preventing the skew runout can be prevented.
The movement of the sheave carriages 14, 15 can be ensured within the stroke range of the sheave carriages 14, 15. In addition, since the trolley 11 cannot perform skew movement in principle, the skew is controlled by the sheave cart alone.

Next, x = T ^-1 ×
Substituting x gives Equation 13 below. Thus, an optimum gain K = K ′ × T ⁻¹ for the feedback state quantity x can be obtained.

[0076]

(Equation 13)

The optimum gain obtained by the above calculation is set as the optimum gain section K. (2) And the first
As in the case of the embodiment, the motion state amount and the transverse notch state operation amount detected by the detectors 31 to 38, 40 are output to the control device 61.

(3) The control unit 61 calculates the speed command u0 of the traverse trolley 11 from the input motion state amount and the traversing notch operation amount in the optimal control unit 63 by the calculation of the anti-sway optimal control by the above-described equation (1). Left and right sheave trolley 1
The speed commands u1 and u2 of 4, 15 are calculated.

(4) The optimum control section 63 obtains the optimum operation amount according to the motion state and the operation state of each of the detectors 31 to 38, 40 based on the optimum gain K, and calculates the optimum operation amount by the traversing trolley. 11 and the drive devices 17, 18, 19 of the left and right sheave carts 14, 15, the speed commands u0, u0,
u1 and u2 are output as control command signals, and by driving these, the anti-sway optimal control of the suspended load 23 is executed.

As described above, according to the control device 61 shown in the third embodiment, the state quantity vector x received from the detectors 31 to 38 is multiplied by the mode conversion matrix T ^-1 to determine the swing movement of the suspended load 23. A new state quantity vector x ′ separated into a component and a skew shake component is generated, and an optimum gain K ′ is multiplied by this to obtain an optimum operation amount vector u,
The optimal control unit 63 responds to the movement of the trolley 11 by driving the trolley 11 for the traversing shake component and the drive of the sheave carts 14 and 15 for the skew shake component. This solves the conventional problem of how to drive the sheave carts 14 and 15.

FIG. 5 is a control block diagram showing a fourth embodiment of the suspension control device according to the present invention.

As shown in FIG. 5, in this embodiment,
The control device 71 is configured by combining the control devices 51 and 62 described in the second and third embodiments.

That is, in this control device 71, the optimum control unit 72 always controls both the control devices 51 and 61 of the second and third embodiments in accordance with the detection signals from the detectors 31 to 38 and 40. In the processing of (1), an optimal operation amount based on the optimum gain K for each operating state and for each of the horizontal runout and the skew runout is set, and the steadying control is executed.

Here, a specific anti-shake process by the control device 71 of this embodiment will be described.

(1) As in the third embodiment described above,
Optimal gain calculator 62 for shake and skew shake independent control
Derives the state equation of Equation 10. And this state
For the equation of state, the evaluation of Expression 8 is performed as in the second embodiment.
Function J₁, J_Two, J_ThreeOptimize your gain to minimize
K₁, K_Two, K_ThreeAsk for. Note that the weight matrix Q₁,
Q_Two, Q _ThreeIs shown in the second embodiment.
Q₁, Q_TwoIs, as shown in the third embodiment, q
_Two, Q_Three, Q_Four, Q_FiveBy adjusting the optimum gain K₁,
K _TwoIs a trolley 11 for traversing
-Independent against run-out with sheave carts 14, 15
To the optimal gain to be controlled.

(2) Thereafter, the same processing as in the second embodiment will be performed, and a description thereof will be omitted.

As described above, the control device 7 shown in the fourth embodiment
According to No. 1, the state vector x received from the detectors 31 to 38, 40 is multiplied by the mode conversion matrix T ^-1 to separate the swing motion of the suspended load into a new swing vector component x ′ and a skew swing component. Is generated by multiplying this by the optimum gain K ′ to obtain the respective optimum manipulated variable vectors u. The driving of the traverse trolley 11 for the traversing vibration component and the driving of the sheave carriages 14 and 15 for the skew vibration component are performed. By coping with the steady-state control by driving, the conventional control unit 72 solves the conventional problem of how to drive the transverse trolley 11 or the sheave carts 14 and 15 for steady-state operation.

The operating state of the trolley 11 is determined by the operating state determination unit 52, and the optimum gain selection unit 53 for each operating state follows the speed or reaches the target position or the sheave truck 14 according to the operating state of the trolley 11. The 15 independent gains K are selected, and the optimum control unit 72 executes the anti-sway optimal control based on the selected optimum gain K, thereby eliminating the conventional difficult judgment and driving operation for each driving state. can do.

[0089]

As has been described in detail with reference to the embodiments, according to the apparatus for controlling the steadying of a suspended load of the present invention, a pair of left and right trolleys which can be moved relative to the trolley are provided on both left and right sides of the trolley. A sheave trolley is provided, and each detector for detecting the amount of motion of the traverse trolley, the amount of motion at the left and right ends of the suspended load, the amount of motion of each of the right and left sheave trolleys, and the traverse provided on the operation panel of the trolley. An operation notch operation amount detector is provided, and a control device for controlling the steadying of the lifting device based on a detection signal taken from each detector is provided, and the control device detects the motion state amount and the traverse amount detected by each detector. An optimum control unit is provided for driving the traverse trolley and each sheave trolley with an optimum operation amount based on the optimum steady rest gain set in advance according to the driving notch operation amount to execute the steady rest control. After automate difficult steadying operation of the suspended load that have been a problem easily it can be surely performed, and it is possible to achieve an optimal control that can be quickly suppressed by attenuating the vibration of the suspended load. As a result, it is possible to drastically reduce the driver's work and improve the efficiency of transporting the suspended load by shortening the time of the steady rest.

Further, according to the steady rest control device for a suspended load of the present invention, the operating condition judging section for detecting the operating condition of the traversing trolley based on the motion condition amount of the traversing trolley and the operation notch operation amount detection signal. And an operating-state-specific optimal gain selecting section for selecting and outputting a predetermined steady-state anti-sway optimal gain according to the operating state detected by the determining section and the optimal gain output from the optimal-gain selecting section. An optimal control unit is provided to drive the trolley trolley and each sheave trolley with the optimal operation amount and to execute the steady rest control, so that the operation state of the traverse trolley is in a traverse movement, in the middle of a stop, or stopped. It is determined whether the steady rest is necessary and the optimum gain is set, so that it is possible to easily perform the determination for each operating state and the driving operation.

Further, according to the swing load steadying control device of the present invention, an independent control for calculating and outputting the optimum gain for independently controlling the swing deflection and the skew swing of the suspended load separately is provided to the control device. The traverse trolley is driven by the optimal gain based on the optimal gain calculated by the optimal gain calculator and the optimal gain output from the calculator. Since the optimal control unit to be executed is provided, the lateral vibration and the skew vibration of the suspended load are separately reduced and suppressed, and the driving of the lateral trolley and the sheave trolley is appropriately controlled with respect to the steady rest. Can be.

Further, according to the steady rest control device for a suspended load of the present invention, the optimal gain for independent control for calculating and outputting the optimal gain for independently controlling the steady run-out and skew of the suspended load to the control device is output. A driving state determination unit that detects the driving state of the traversing trolley based on the gain calculation unit, the motion state amount of the traversing trolley, and the driving notch operation amount detection signal, and a driving that is set in advance according to the driving state detected by the determination unit. Selects and outputs the steady state optimal gain for each operating state or the steady state optimal gain set by the optimal gain calculation section for independent control, and the optimal gain output section for each operating state. An optimal control unit that drives the trolley trolley and each sheave trolley based on the optimal operation amount and executes the steady rest control based on the operation amount of the trolley is provided. In addition, the optimum gain is set according to the swing state of the suspended load, and it is possible to facilitate the judgment and the driving operation according to the operating state, and to appropriately drive and control the trolley and the sheave trolley with respect to the steady rest. be able to.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram illustrating an entire configuration of a suspension control device for a suspended load according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a first embodiment of the control device.

FIG. 3 is a block diagram illustrating a second embodiment of the control device.

FIG. 4 is a block diagram showing a third embodiment of the control device.

FIG. 5 is a block diagram showing a fourth embodiment of the control device.

FIG. 6 is a schematic diagram of a suspended load steadying device in a conventional container crane.

FIG. 7 is an explanatory diagram of an operation state of the conventional suspended load steadying device.

[Explanation of symbols]

REFERENCE SIGNS LIST 11 traversing trolley 14, 15 sheave trolley 17 traversing trolley drive 18, 19 sheave trolley drive 21 detection mark 22 hangers 23 hanging load 31 traversing trolley displacement detector 32 traversing trolley speed detector 33, 35 sheave trolley displacement detector 34 , 36 Sheave truck speed detector 37, 38 Hanging load swing motion detector 39 Traversing operation panel 40 Traversing notch operation amount detector 41, 51, 61, 71 Controller 42, 54, 63, 72 Optimal controller 52 Operating state determination unit 53 Optimal gain selection unit for each operating state 62 Optimal gain calculation unit for independent control K, K ₁ , K ₂ , K ₃ Optimal gain

──────────────────────────────────────────────────続 き Continuing on the front page (72) Yoshiaki Okubo, Inventor Hiroshima Prefecture, Hiroshima Prefecture, Hiroshima Prefecture, 4-2-2, Kannon Shinmachi Hiroshima Works, Mitsubishi Heavy Industries, Ltd. (72) Inventor Noriaki Miyata 2-5-2 Marunouchi, Chiyoda-ku, Tokyo No. 1 Inside Mitsubishi Heavy Industries, Ltd. (56) References JP-A-63-27393 (JP, A) JP-A-63-82295 (JP, A) JP-A-2-132098 (JP, A) JP-A-4 −333491 (JP, A) Japanese Utility Model Application No. 50-119194 (JP, U) Japanese Utility Model Application No. 62-168085 (JP, U) German Patent Application Publication No. 4223561 (DE, A1) (58) Fields investigated (Int. Cl. ⁶ , DB name) B66C 13/22 B66C 13/06 WPI / L (QUESTEL)

Claims (4)

(57) [Claims] 1. A lifting device in which a pair of right and left sheave trucks movable relative to the transverse trolley in the same direction as the transverse trolley moving direction is disposed on both left and right sides of the transverse trolley. A trolley motion state quantity detector for detecting a state quantity, a suspended load motion state quantity detector for detecting the left and right ends of the suspended load suspended on the traversing trolley, and a motion state quantity of each of the sheave carts. A sheave trolley motion state amount detector, a notch operation amount detector provided on a driving operation panel of the traversing trolley to detect a traversing operation notch operation amount, and a detection signal taken from each of the detectors. A control device for performing a steadying control of the lifting device, wherein the control device is configured to perform a predetermined swing according to each of the motion state amount and the operation notch operation amount detected by each of the detectors. An anti-vibration control for a suspended load, comprising an optimal control unit that sets an optimal operation amount based on the optimal stop gain, and drives the traverse trolley and each sheave cart with the optimal operation amount to execute anti-sway control. apparatus. 2. The apparatus according to claim 1, wherein the control unit detects an operation state of the traverse trolley based on a detection signal of an operation state amount of the traverse trolley and an operation notch operation amount. A state determining unit, an operating state optimal gain selecting unit that selects and outputs a preset steady state optimal steady-state gain according to the operating state detected by the operating state determining unit, An anti-sway control device for a suspended load, comprising: an optimum control unit that drives the transverse trolley and each of the sheave trolleys with an optimum operation amount based on an optimum gain output by a gain selection unit to execute anti-sway control. 3. The apparatus according to claim 1, wherein the control apparatus calculates and outputs an optimum gain for independently controlling the horizontal deflection and the skew deflection of the suspended load. An optimal gain calculator and a drive trolley for traversing swing of the suspended load with an optimal operation amount based on the optimal gain output from the optimal gain calculator for independent control, while driving the right and left sheave carts for skew shake. A steady rest control device for a suspended load, comprising: an optimal control unit that executes steady rest control. 4. The apparatus according to claim 1, wherein the control apparatus calculates and outputs an optimum gain for independently controlling the horizontal deflection and the skew deflection of the suspended load. An optimal gain calculation unit, an operation state determination unit that detects an operation state of the traverse trolley based on a detection signal of the operation state amount of the traverse trolley and an operation notch operation amount, and an operation state detected by the operation state determination unit. An operating state-specific optimum gain selecting unit that selects and outputs an operating state-specific steady-state optimal gain set by an operating state-specific steady-state optimal gain or an independent control optimal gain calculating unit that is set in advance according to the operating state; An optimal control unit that executes the anti-sway control by driving the traverse trolley and each sheave trolley with the optimal operation amount based on the optimal gain output from the separate optimal gain selection unit. A steady rest control device for a suspended load.