JPH0218296A - Vertical vibration preventive operation control method for lifting load - Google Patents

Abstract

PURPOSE:To prevent a vertical vibration so as to improve the safety by performing a process of lifting a load up and down at a maximum speed thereafter adequately damping the vibration of the lifting load generated during the time of that process, in the case of a crane which automatically controls the lifting load in its moving motion. CONSTITUTION:An arithmetic processing unit 4 inputs a winding target rope length from a cargo handling data while weight M of a lifting load 2 and a rope length in the traversing start time. The arithmetic processing unit 4 determines a maximum lifting speed from the weight M by a fixed output control to be input to an operation unit 6. The operation unit 6 performs lifting increasing a speed so as to obtain that speed. While the arithmetic processing unit 4 determines the operation time at this maximum lifting speed by a fuzzy controller simultaneously calculates deceleration corresponding to this operation time. The operation unit 6 switches the lifting speed being based on these values, lifting the load to reach a lifting position where a predetermined amount of winding is obtained.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an operation control method for preventing vertical vibration of a suspended load, and in particular, to prevent vertical vibration of a suspended load in a crane that moves the suspended load by automatic control. Concerning driving control methods.

[Prior Art] Generally, cargo is lifted and lowered by a container crane or the like at a predetermined maximum speed in order to improve work efficiency.

On the other hand, in recent years, various proposals have been made to operate cranes under automatic control, and even during the lifting and lowering processes, for example, by using constant output control, the cranes can be operated at the maximum speed determined by the weight of the lifted load. I was supposed to.

[Problems to be Solved by the Invention] By the way, when accelerating or decelerating to lift or lower a load at maximum speed, due to the difference between the amount of vertical movement of the load due to inertia and the amount of winding of the rope, The suspended load may vibrate vertically.

This vibration has an adverse effect on the stability of the suspended load and may cause damage to the suspended rope.

Furthermore, in cranes that are automatically controlled, it is difficult to grasp the position of the suspended load and the vibration of the swing pattern and control it appropriately, so it is an issue to incorporate operational control to prevent this vibration. It had become.

In view of the above circumstances, the present invention was devised in order to provide a control method for operating a hoist in such a way as to appropriately attenuate the vibrations of a hoisted load that occur during the hoisting/hanging process.

[Means and effects for solving the problem] The present invention accelerates the lifting and lowering of a load until a predetermined maximum speed is reached, and then calculates the speed according to the maximum speed based on the weight of the suspended load and the amount of rope winding. The driving time and the deceleration to reach a predetermined lifting/lowering position are determined based on empirical rules, and after the driving time has elapsed, the driving is switched to the driving at the deceleration.

Further, the deceleration speed may be defined by a deceleration operation time determined based on the empirical rule.

Preferably, the above empirical rule is numerically input onto a rule map to which fuzzy inference is applied.

In this way, the upward movement of the suspended load due to lowering and lifting is attenuated to approximately zero.

[Example] Embodiments of the present invention will be described below with reference to the accompanying drawings.

First, with reference to FIG. 2, an embodiment of an automatic control system for a crane to which the operation control method for preventing L-side vibration of a suspended load according to the present invention is applied will be described.

This device 1 includes a detection hand VL3 for detecting the state of a suspended load 2, an arithmetic processing device 4 that performs calculations based on the information, and a hoisting device that appropriately applies driving force from a power source (not shown). It is mainly composed of an operating device 6 that transmits information to a motor 5 and the like.

The arithmetic processing unit 4 has the driving conditions appropriately digitized and inputted as a rule map based on the empirical rules conventionally used by the driver, and can be taken out as driving data as necessary. , a known fuzzy controller (not shown) is installed.

The detection means 3 includes a tension sensor 7 that detects the tension of the hanging rope, and a winding amount sensor 8 that detects the winding amount thereof. By inputting these tensions and winding amounts into the arithmetic processing device 4, the load M of the suspended load and the length Ll of the suspended rope are determined.
It is designed to calculate.

The operating device 6 is configured to carry out a desired operation by appropriately comparing and calculating when receiving the signal from the arithmetic processing device 4. The driving device 6 outputs an electric signal in the form of an electric signal, which sequentially drives the electric motor 9 and the drum 10, which are the hoisting device 5, to move the suspended load 2 up and down.

Next, an embodiment of the present invention will be described as an effect of the above configuration.

As shown in FIGS. 1 and 3, when a load is engaged with a lifting device or the like and a lifting command is input to the operating device 6, the control of the present invention is started.

First, from the cargo handling data, the winding target rope length L2 is input to the arithmetic processing device 4, and the weight JiM of the suspended load 2 and the rope length at the start of traversing are input. Arithmetic processing unit 4
determines the maximum lifting speed vH from the weight M by constant output control and inputs it to the operating device 6. The operating device 6 increases the speed to achieve the above speed and performs lifting.

On the other hand, the arithmetic processing device 4 uses the fuzzy controller to determine the operating time T at the maximum lifting speed (■8) and at the same time calculates the corresponding deceleration α□. Then, the operating device 6 switches the lifting speed based on these values, and reaches the lifting position X8 where the predetermined winding amount is obtained.

That is, the lifting speed V changes as shown in Fig. 1, and the position It changes in a meandering manner (indicated by a solid line). This vibration is attenuated so as to be offset by the vertical vibration caused by the switched deceleration operation, and becomes approximately 0 when the lifting position X8 is reached.

In this way, since the timing of deceleration from the maximum lifting speed VH is adjusted as appropriate, vertical vibrations can be reliably damped and no extra work time is required. Furthermore, the operational data is determined by empirical rules that take into account the rope length and load, which is extremely practical.

Note that the deceleration αH is determined based on the deceleration operation time'
VH is also determined (see FIG. 1), and the determination procedure is the same no matter which one is calculated first.

Furthermore, although the present embodiment has been described with reference to the effect in the lifting process, it also acts in the same way in the suspending process. In this case, the control is initiated by position information from a traverse position sensor (not shown) and input data (L
, , L, , M>, the driving time T and deceleration α are determined.

Here, the deceleration operation time T in this embodiment. The procedure for determining the decelerations α and Lt will be explained with reference to Fig. 4.The rule map prepared includes the rope length L1 at the start of lifting and the winding at a certain maximum lifting speed V, Ll. An appropriate deceleration operation time T□ corresponding to the target rope length L2 and hanging load amount M is set in advance.

For example, if L and L2 are set every 5 m and M is set every 10 tons and introduced, in each case, what is the
If T is set to such a value, whether the vertical vibration will be Q when the predetermined lifting position X6 is reached is determined based on the driver's experience and computer simulation.

When data from actual driving is input, rules that are close to the set numerical values related to the data are extracted, and the degree of conformity μ is calculated using a member depth function. Based on this fitness μ, the modification (
The "center of gravity" of the union of these is detected and set as the determined value 'T''n,l.

This allows you to extract the heuristics as continuous data.

In addition, T1. At the same time, the deceleration α□ may also be prepared so that it can be determined without relying on the calculation. That is, T
The setting of H is made in consideration of the most appropriate deceleration αH.

Although the above embodiments have been described in the case where they are applied to a crane that is automatically controlled, they can also be applied to a crane that performs part of the stroke manually.

[Effects of the Invention] In summary, according to the present invention, the following excellent effects are achieved.

(1) After accelerating the lifting and lifting of the load to a predetermined maximum speed, calculate the operating time at maximum speed and deceleration or deceleration operating time from the weight of the lifted load and the amount of rose winding. It is determined based on empirical rules, and after the operating time has elapsed, the operation is switched to deceleration, so vertical vibration of the suspended load can be prevented, and safety and efficiency can be improved.

(2) In a method in which empirical rules are numerically input on a rule map applying fuzzy reasoning, it is possible to appropriately utilize vertical vibration prevention methods obtained through manual operation.

[Brief explanation of drawings]

Figure 1 shows the operation rPI for preventing vertical vibration of a suspended load according to the present invention.
Figure 2 is a diagram showing a configuration for implementing the method, and Figure 3 is a flowchart for explaining Figure 1. , FIG. 4 is a flowchart for explaining the application of fuzzy inference. In the figure, T is the operating time at maximum speed, and α□ is the deceleration. Patent Applicant Ishikawajima Heavy Industries Co., Ltd. Representative Patent Attorney Nobuo Kinutani

Claims (1)

[Scope of Claims] 1. After accelerating the lifting and lowering of the load to a predetermined maximum speed, the operating time and the predetermined lifting and lowering at the above maximum speed are determined based on the weight of the lifted load and the amount of winding of the rope. A method for controlling an operation to prevent vertical vibration of a suspended load, characterized in that a deceleration to reach a position is determined based on empirical rules, and after the operation time has elapsed, the operation is switched to the deceleration. 2. The operation control method for preventing vertical vibration of a suspended load according to claim 1, wherein the deceleration is defined by a deceleration operation time determined based on the empirical rule. 3. The operation control method for preventing vertical vibration of a suspended load according to claim 1 or 2, wherein the empirical rule is numerically input on a rule map to which fuzzy inference is applied.