JP3274051B2 - Crane steady rest / positioning control method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for controlling the steadying and positioning of a crane used for cargo handling work in a harbor, various factories, etc., and more particularly, to a steady rest of a suspended load of an automatically operated crane and a crane bogie. The present invention relates to a control method for controlling an operation speed of a crane bogie so that positioning can be achieved in a short time.

[0002]

2. Description of the Related Art FIG. 16 shows a model of a crane to be controlled. The crane 1 has a crane truck (trolley) 1a which moves in a horizontal direction and a hoist which can be lifted down from the truck 1a and moved up and down. 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 swing angle of the suspended load 3 is shown.

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 In such a case, it is strongly desired that the swing of the suspended load 3 is controlled to stop, that is, the swing angle θ of the suspended load 3 at the target position R is zero.

[0004] As a conventional method for controlling the steadying and positioning of a crane, Japanese Patent Application Laid-Open No. 6-92593 (Japanese Patent Application No.
No. 14282) assumes that the driving and speed control of the bogie 1a is performed by a high-precision system in which the speed command value for steadying / positioning and the actual speed value substantially match. In this case, the system generally comprises an expensive inverter and a cage motor.

[0005]

However, since existing overhead cranes are not usually provided with a high-precision speed control system, it is difficult to give theoretical speed commands and acceleration commands. In other words, existing overhead cranes can generally only give commands of acceleration / deceleration in the forward rotation direction and acceleration / deceleration in the reverse rotation direction, and then control the speed of the bogie 1a by stepwise operation of the resistor. Met.

For this reason, even if the control method described in Japanese Patent Application Laid-Open No. 6-92593 is applied to an existing overhead crane as it is, a logically necessary acceleration cannot be obtained, and an ideal vibration Stopping and positioning could not be performed. Therefore, in order to obtain the desired steadying / positioning action, the speed control system including the motor had to be replaced with a high-precision one, which required a large cost.

Further, as another prior art, Japanese Patent Laid-Open Publication No.
A crane steady rest control method described in Japanese Patent Publication No. 96 is also known, but it is difficult to apply this method to an existing overhead crane.

The present invention has been made to solve the above problems, and can be applied to an existing overhead crane without using a high-precision and expensive speed control system.
An active crane that can stabilize suspended loads and accurately position the crane at the target position even if there is disturbance such as initial shake or gust, and there is some calculation error in the shake cycle. It is an object of the present invention to provide a steady rest / positioning control method.

[0009]

Means for Solving the Problems To solve the above-mentioned problems, the invention according to claim 1 includes a self-position detection value and a speed detection value of a crane bogie, a swing angle of a hoist wire rope wound down from the crane bogie, A plurality of speed command values corresponding to various speed patterns from the departure position to the target position are calculated by the speed command value calculation device based on the swing angular speed and the winding wire rope length, and these speed command values are driven by the drive control device. A crane steadying / positioning control method for outputting a drive command to a motor for driving a crane bogie provided to the crane bogie, wherein the speed command value calculating device comprises: a swing angle of a hoist wire rope, a swing angular velocity, and a hoist wire rope. A calculator for calculating a high-speed steady-state acceleration / deceleration adjustment amount and a low-speed steady-state acceleration / deceleration adjustment amount based on the length; Alternatively, a high-speed steady-state speed command value calculator that calculates the speed command value in the high-speed steady-state pattern based on the speed detection value and the calculation cycle, and a reduction calculated from the start speed and the remaining operation distance of the low-speed steady-state / positioning pattern control. A low speed steady rest / positioning speed command value calculator for calculating a speed command value in the low speed steady rest / positioning pattern based on the speed, the low speed steady rest acceleration / deceleration adjustment amount, and the remaining operation distance of the crane bogie. In the steady rest / positioning control method for a crane, the drive control device changes an output torque according to a rotation speed of a motor.
A plurality of torque curves, and a deviation between a speed command value and a speed detection value output from the speed command value calculation device ,
Using the torque curve switched according to the motor speed
Thus , a drive command to output the motor for normal rotation acceleration / deceleration or reverse rotation acceleration / deceleration is output.

According to a second aspect of the present invention, there is provided the crane steady rest / positioning control method according to the first aspect.
The motor is a wound motor.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing a main part of a control block to which an embodiment of the present invention is applied, and the same components as those in FIG. 16 are denoted by the same reference numerals. In FIG. 1, 5
The vibration is stopped and positioning speed command value calculation unit, this arithmetic unit 5, the target position X _{m (target} position R), the self position detection value X _c of the crane trolley _1a, the speed detection value V _0, the hoisting wire The rope length L and the swing angle θ of the suspended load 3 are input,
The speed command value V of the carriage 1a is calculated and output.

Reference numeral 6A denotes a drive control device, which is a speed command value V from the speed command value calculation device 5 and a speed detection value V of the bogie 1a.
A simple open-loop speed controller that generates and outputs a drive command for forward rotation acceleration / deceleration or reverse rotation acceleration / deceleration for the winding type motor 1b based on the deviation from ₀ is provided. For convenience, the traveling direction of the truck 1a is defined as normal rotation, and the direction opposite to the traveling direction is defined as reverse rotation.

Next, FIG. 2 shows the structure of the steady rest / positioning speed command value calculating device 5.
Are the remaining operation distance calculator 10, the shake period calculator 20, the speed pattern generator 30, the high-speed steady rest acceleration / deceleration adjustment amount calculator 40, the high-speed steady stop speed command value calculator 50, the low-speed steady rest acceleration / deceleration adjustment amount calculation Device 60, low-speed steady rest / positioning speed command value calculator 70, speed pattern switching calculator 80
It is composed of

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:

The speed pattern generator 30 determines a basic speed pattern P as shown by an imaginary line in FIG. 3 from the detected position value X _c , the target position value X _m and the swing period T at the start of crane operation. At the same time, an acceleration pattern speed command value V _α (in other words, acceleration α) in the acceleration 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. determining the operation remaining distance X _L to the target position R in retaining and positioning pattern blur.

The high-speed steady rest acceleration / deceleration adjustment amount calculator 40 is
Based on the swing angle θ, the swing angular velocity θ ′, and the winding wire rope length L of the suspended load 3 detected by the swing angle measuring device 4, the steady-state acceleration / deceleration adjustment amount U in the high-speed steady pattern shown in FIG.
Is calculated. The high-speed steady-state speed command value calculator 50 calculates the speed command value V _H in the high-speed steady pattern from the current speed command value V or the current speed detection value V ₀ , the steady-state acceleration / deceleration adjustment amount U, and the calculation cycle Δt. calculate.

The low-speed steady rest acceleration / deceleration adjustment amount calculator 60 is
A low-speed steady rest acceleration / deceleration adjustment amount _Uf is calculated from the swing angle θ, the swing angular velocity θ ′, and the winding wire rope length L. In addition,
The process of calculating the acceleration and deceleration adjustment amount U _f will be described later. The low-speed steady rest / positioning speed command value calculator 70 is
From the deceleration β in the low-speed steady rest / positioning pattern from the speed pattern switching calculator 80 described below, the low-speed steady-state acceleration / deceleration adjustment amount _Uf and the remaining operation distance X, FIG.
To the calculated velocity command value V _r in the slow steadying and positioning pattern.

The speed pattern switching calculator 80 calculates a speed detection value V ₀ , an acceleration pattern speed command value V _α , a deceleration pattern speed command value V _β , a low-speed steady rest / positioning pattern remaining operation distance X _L , and a remaining operation distance X. , The run-out period T, the high-speed steady rest pattern speed command value V _H , the low-speed steady rest / positioning pattern operation start speed command value _VL, and the low-speed steady rest / positioning pattern speed command value V _r , and the control pattern The speed command value V of the truck 1a is calculated as V _α , V
_H , _Vβ , and _Vr are sequentially switched and output, and the above-described deceleration β is output to the arithmetic unit 70.

Here, in the operation of the crane 1 of this type, the causes of the swing of the suspended load 3 are considered as follows. (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 match 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 this embodiment, even if the run-out due to the various causes described above occurs, the crane 1 is operated in accordance with the speed pattern of FIG.
And the positioning can be made compatible. Also, even if a gust or the like is received in a state in which positioning is completed without vibration and this causes a vibration, the vibration can be stopped and the positioning can be corrected, and finally both the vibration prevention and positioning can be achieved. it can.

FIG. 3 shows an example of a speed pattern in the embodiment.
The speed pattern switching computing unit 80 determines that each speed command value V _α ,
V _H , V _β , and V _r are switched at a predetermined timing and output as a speed command value V. The speed command values V _α , V
_H, V _beta, of V _r, the V _alpha, V _beta is the speed pattern generator 30 as described above, V _H from stopping the speed command value calculator 50 shake fast, also, V _r is slow steadying and positioning The speed command value calculator 70 inputs the data to the speed pattern switching calculator 80.

[0022] In the speed pattern of FIG. 3, specifically, the acceleration pattern and starts the operation of the bogie 1a at a speed command value V _alpha i.e. acceleration alpha, fast steadying at time t ₁ reaches a predetermined acceleration complete speed pattern with switching to the speed command value V _H, and calculates the deceleration pattern velocity command value V _beta i.e. deceleration beta and deceleration distance. Then, switch to the deceleration pattern when t ₂ has moved a predetermined distance, a velocity command value V and deceleration pattern velocity command value V _beta.

[0023] Then, the low-speed anti-vibration at the time t ₃ when driving the remaining distance X has become the slow steady rest, positioning operation, the remaining distance X _L ·
Calculating the positioning deceleration beta, and in which switching to the speed command value V _r of a slow steady rest and positioning pattern added with slow steadying deceleration adjustment amount U _f. By controlling the operation of the bogie 1a according to such speed pattern, shake with annihilate the load 3 hanging before reaching the target position R, the target position bogie 1a at time t ₄ R
Positioning can be performed accurately.

Next, how to give the speed command value V in each pattern of FIG. 3 will be described in detail. (1) acceleration pattern (0 to t ₁₎ the bogie 1a operated by pre-calculated pattern acceleration pattern velocity command value V obtained by the control _alpha, deflection of the suspended load 3 at an acceleration completion accelerates so as not to generate . 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 anti-vibration 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 anti-vibration pattern, vibration will occur. Occurs. In order to remove these vibrations, the high-speed steady-state speed command value calculator 50 calculates the high-speed steady-state acceleration / deceleration adjustment amount U and the calculation cycle by using the formula 1 or the formula 2 to the current speed command value V or the speed detection value V _0. Δ
by adding the product of t to calculate the high-speed steadying velocity command value V _H, operated deceleration the carriage 1a by the velocity command value V _H.

[0026]

V _H = V + U · Δt

[0027]

V _H = V ₀ + U · Δt

FIGS. 4 to 7 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 truck 1a
Is moving rightward in the figure at a speed V, and the suspended load 3 is swaying right and left in the order shown in FIG. 4 → FIG. 5 → FIG. 6 → FIG. FIG. 4 shows a case where a large acceleration adjustment amount U ₁ (U ₁ = + K, K: constant) for anti-vibration is added to the bogie 1 a in the first quadrant of vibration.
The swing of the suspended load 3 is reduced. Similarly, FIG. 5 shows a moderate deceleration adjustment amount U ₄ [= (− g /
2θ) {θ ² + (θ ′ / ω) ² }], FIG. 6 shows a case where a large deceleration adjustment amount U ₃ (= −K) is added in the third quadrant of the shake, and FIG. The case where a moderate acceleration adjustment amount U ₂ [= (+ g / 2θ) {θ ² + (θ ′ / ω) ² }] is added in the quadrant is shown.

The constants K of the acceleration and deceleration adjustment amounts U ₁ and U ₃ in the first and third quadrants do not necessarily have to 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.

[0031] (3) by the reduction pattern (t ₂ ~t ₃₎ previously calculated by the deceleration pattern speed command value obtained by the pattern control V _beta driving a carriage 1a, deflection of the suspended load 3 does not occur in the deceleration completion So slow down. For example, the deceleration time is set to the swing period T of the suspended load 3.

(4) Low-speed steady rest / positioning pattern (t _{3 to} t ₄ ) If there is residual shake due to the above-mentioned cause at the time of completion of deceleration,
Alternatively, if disturbance such as a gust is received during operation by the low-speed steady rest / positioning pattern, the suspended load 3 swings. The bogie 1a is driven in accordance with a speed command value _Vr as described below in order to remove these shakes and accurately position the target position R.

Now, the speed of the truck 1a is V, the deceleration is β,
Time t, when the operation remaining distance is X, a V = beta · t, the ^{X = α · t 2/2} . Eliminating t from these two equations results in V = (2 · β · X) ^1/2 . This equation indicates that the speed decreases with distance when the deceleration β is constant, regardless of the time t. That is, a certain speed V
It can be used to control the speed according to the distance to the target position when moving with.

[0034] Although the deceleration β of the a deceleration for positioning, in this embodiment, a portion of the β by adding deceleration adjustment amount U _f for steady rests on this portion (beta-
U _f ), and the steady-state / positioning speed command value V _r (t) is calculated by the following equation in which a specific sign is added to the steady-state / positioning pattern speed command value V _r .

[0035]

V _r (t) = Sign · (2 · | ± β-U _f | ·
| _XL |) ^1/2

[0036] It should be noted that, in Equation ^{_{3, β = V L 2/}} 2 | X
_L | [m / s ² ], and as described above, V _L is the start speed [m / s] of the low-speed steady rest / positioning pattern control and X _L
Is the control remaining distance [m], and U _f is the low-speed steady rest acceleration / deceleration adjustment amount. Here, the deceleration β may be calculated sequentially,
It may be a value appropriately selected according to the control state.

Further, in Equation 3, the speed command value V
_r [m / s] is when V _r (t)> 0: the truck 1a rotates forward (the truck 1a in FIG. 4)
_Vr (t) <0: The carriage 1a moves in the reverse direction. Sign is + or - means a sign, a _{X m -X c = X> 0} ( forward rotation), beta-U
_{When f} > 0, + (that is, V _r (t) is positive), β-U _f
If <0, it is signified _as- (that is, _Vr (t) is negative). Further, when X <0 (at the time of reverse rotation), −β + U _f >
When it is 0, it becomes + (that is, V _r (t) is positive), and −β + U _f <
When it is 0, it is signed as-(that is, _Vr (t) is negative). When β-U _f = 0, V _r (t) = 0.

The slow steady rest and positioning slow steady rest in the pattern deceleration adjustment amount U _f is calculated on the basis of the phase plane diagram of FIG. That is, in the drawing, A is the current position on the phase plane, B is the movement of the suspended load 3 when the acceleration at the point C is applied, and C is the acceleration (C
The coordinates of the point are line segments OC = CA on the θ axis).

Since C is C = U _f / g, the low-speed steady rest acceleration / deceleration adjustment amount U _f is obtained as U _f = −g · {θ ² + (θ ′ / ω) ² } / 2θ. Can be Here, as described above, θ is the deflection angle,
θ ′ is the swing angular velocity, ω is the frequency = (g / L) ^1/2 , g is the gravitational acceleration = 9.8 [m / s ² ], and L is the winding wire rope length [m]. In the actual low-speed steady rest / positioning pattern control, since the low-speed steady rest acceleration / deceleration adjustment amount U _f in the first and third quadrants of FIG. 8 has a very large influence on positioning, U _f = 0. (That is,
It is set to be) that does not perform control by U _f.

Tables 1 and 2 show the control matrices for the forward rotation (Table 1) and the reverse rotation (Table 2) in the low-speed steady rest / positioning pattern of this embodiment, and FIG. 9 and FIG. shows a numbering deceleration β and slow steadying deceleration adjustment amount U _f.

[0041]

[Table 1]

[0042]

[Table 2]

Here, considering the speed command value _Vr from Table 1 showing the time of forward rotation of the crane, when the deflection is switched from the first quadrant to the fourth quadrant, the acceleration direction (direction for increasing the deflection) is changed. When the speed command value switches from the fourth quadrant to the third quadrant, the speed command value in the deceleration direction (direction for reducing the vibration) is changed when the speed command value switches from the third quadrant to the second quadrant. The command values are output individually.

As described above, the speed command value V is output from the steady rest / positioning speed command value calculation device 5 to the drive control device 6A, and the drive control device 6A outputs the speed command value V
And outputs a drive command of forward acceleration and deceleration or reverse acceleration or deceleration to the motor 1b in accordance with a deviation between the speed detection value V ₀ and.

FIG. 11 shows the torque characteristics of a speed control resistor such as a wound motor. Generally, the slope of the torque is adjusted to about 80% from a ₁ % by adjusting the resistor. By increasing a ₁ % of the torque curve, the torque (acceleration) required for steadying and positioning is output. Let it do. 11 shows that the torque output is a _{1 m%} when the rotational speed of the motor is N _a. The same torque curve is used for the deceleration torque, and the torque is generated by sufficiently setting the position of the intersection with the axis having the rotation number of 0.

Next, FIG. 12 shows an embodiment of the present invention.
FIG. 4 is a control block diagram showing the rotation speed N _{c of the} motor 1b .
The incorporation to the drive controller 6 in B, by switching in accordance with a plurality of torque curves prepared in advance the rotational speed N _c, one or if steadying and positioning the desired torque can not be obtained in the torque curve Control is performed when it is necessary to reduce the convergence time when performing the operation. Note that the configuration and operation of the vibration is stopped and positioning speed command value calculation unit 5, and the foregoing you
Is Ri.

FIG. 13 shows two torque curves selected according to the rotation speed _Nc , and the torque is switched in the order of (a) → (b) → (c) as the rotation speed increases. , High torque required for steadying and positioning a ₂ %, a ₃ %
Generate.

Next, a simulation performed by applying the embodiment of the present invention to a wound-type motor will be described with reference to FIG.
This will be described with reference to FIG. First, as the conditions of the simulation test, the swing of the suspended load 3 is set at a deflection angle θ = 0.0349 radians (2 degrees), a deflection angular velocity θ ′ = 0, and a wire rope length L = 6 from 0.1 m before the target position R.
From the state of m, steadying / positioning control was performed. The following restrictions were added in the simulation. The delay of the acceleration / deceleration switching was set to a primary delay of 0.05 seconds.
Switching between forward rotation and reverse rotation was set to a dead time of 0.05 seconds.

As a result, the results shown in FIGS. 14 and 15 were obtained. FIG. 14 shows the torque a when the rotation speed is 0 in FIG.
_In the case where control is performed by setting ₁ % to 120%, it converges in about 17.3 seconds from the start of control. FIG. 15 shows FIG.
The torque a ₂ % when the number of rotations of 0 is 0 is 120%, and the torque a ₃ % is 1
This is a case where control is performed at 40%, and converges in about 7.1 seconds from the start of control.

[0050]

As described above, according to the present invention, the winding type used in the existing overhead crane can be used without using a high-precision and expensive speed control device such as a combination of an inverter and a cage type motor. The desired steadying / positioning control can be performed by the motor and the simple speed control device.

[0051] In particular, it is possible to perform a stop-position control deflection only by changing the output characteristics of the motor for generating a driving force without significant changes of the devices constituting the existing system, highly precise drivability There is no need to change to a device with. Further, suppressing the maximum value of the torque output by dividing the torque curve of the motors to a plurality, shortening of the convergence time of the steadying and positioning control, and it is possible to reduce the burden of the equipment.

[Brief description of the drawings]

FIG. 1 is a block diagram of a control block to which an embodiment of the present invention is applied ;
It is a figure showing a principal part .

FIG. 2 is a block diagram illustrating a configuration of a steady rest / positioning speed command value calculation device.

FIG. 3 is a diagram showing a steady rest / positioning speed control pattern.

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.

7A and 7B 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.

FIG. 8 is a phase plan view for calculating a low-speed steady rest acceleration / deceleration adjustment amount.

FIG. 9 is a diagram for describing the signing of deceleration.

FIG. 10 is a diagram for explaining the signing of the low-speed steady rest acceleration / deceleration adjustment amount.

[11] Best Keru to an embodiment of the present invention, showing the adjustment operation of the torque during normal direction acceleration.

FIG. 12 is a control block diagram to which the embodiment of the present invention is applied ;

FIG. 13 is a diagram showing a switching operation of a plurality of torque curves in the embodiment of the present invention .

FIG. 14 is a diagram showing a result of a simulation test according to the embodiment of the present invention.

FIG. 15 is a diagram showing a result of a simulation test according to the embodiment of the present invention.

FIG. 16 is a diagram showing a model of a crane.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Crane 1a Truck 1b Motor 2 Hoisting wire rope 3 Suspended load 4 Deflection angle measuring device 5 Steady stop / positioning speed command value calculation device 6A, 6B Drive control device 10 Remaining operation distance calculator 20 Deflection period calculator 30 Speed pattern generation Device 40 High-speed steady rest acceleration / deceleration adjustment amount calculator 50 High-speed steady rest speed command value calculator 60 Low-speed steady-state acceleration / deceleration adjustment amount calculator 70 Low-speed steady rest / positioning speed command value calculator 80 Speed pattern switching calculator

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Kazutaka Shinmura 1 Fuji-cho, Hino-shi, Tokyo Inside Fuji Faccom System Co., Ltd. (72) Tadashi Suzuki 4-1.8 Konan, Minato-ku, Tokyo Fujiden (72) Inventor: Yasufumi Irie 1-chome, Kawasaki-dori, Mizushima, Kurashiki City, Okayama Prefecture Inside Kawatetsu Machinery Co., Ltd. (56) References JP-A-6-92593 (JP, A) JP-A-5-319780 (JP, A) JP-A-57-209191 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B66C 13/22

Claims (1)

(57) [Claims] 1. A departure position to a target position based on a self-position detection value, a speed detection value of a crane bogie, a swing angle of a hoisting wire rope wound down from a crane bogie, and a hoisting wire rope length. A plurality of speed command values corresponding to the various speed patterns are calculated by a speed command value calculating device, and these speed command values are given to a drive control device to output a drive command to a motor for driving a crane bogie. A positioning control method, wherein the speed command value calculating device adjusts a high-speed steady-state acceleration / deceleration adjustment amount and a low-speed steady-state acceleration / deceleration adjustment based on a deflection angle, a deflection angular speed, and a length of the winding wire rope of the winding wire rope; An arithmetic unit for calculating the respective amounts; a high-speed steady rest pattern based on the high-speed steady-state acceleration / deceleration adjustment amount, a current speed command value or a speed detection value, and a calculation cycle. High-speed steady-state speed command value calculator that calculates the speed command value in the above, a deceleration calculated from the low-speed steady-state / positioning pattern control start speed and the remaining operation distance, the low-speed steady-state acceleration / deceleration adjustment amount, and the operation of the crane bogie. A low-speed steady rest / positioning speed command value calculator for calculating a speed command value in the low-speed steady rest / positioning pattern based on the remaining distance, and a steady rest / positioning control method for a crane, comprising: Output torque according to motor speed
A torque curve that changes according to the deviation between the speed command value output from the speed command value calculation device and the detected speed value, and the rotation speed of the motor.
A steadying / positioning control method for a crane, which outputs a drive command for forward acceleration / deceleration or reverse acceleration / deceleration of the motor using a line .