JPH07101672A - Driving control device for wire suspension type conveying device - Google Patents

Abstract

PURPOSE:To control conveyance of a suspending cargo according to target speed or a target stopping position designated by an operator while restraining a swing of the suspending cargo automatically. CONSTITUTION:A controller 30 carries out operation on a speed control signal to make elevation/depression angular velocity of an actual boom 12 follow target elevation/depression angular velocity (omegad) designated by an operation lever 24 and a swing preventive control signal to attenuate a swing angle of a suspended cargo 16 when it is elevated/depressed, and outputs a synthetic signal (u) of both signals, and controls extension and contaction of an elevation/ depression cylinder 18.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drive control device for a wire hanging type transfer device such as an overhead traveling crane, a mobile crane, a tower crane, a derrick and the like.

[0002]

2. Description of the Related Art Conventionally, in a wire hanging type crane or the like, the following means have been known as a means for preventing the swing of a suspended load during transportation.

A) An acceleration pattern that suppresses the swing of the suspended load at the target stop position of the suspended load is set in advance, and open loop feed-forward control for moving the suspended load according to the acceleration pattern is performed (Japanese Patent Publication No. 62- Two
3714 publication).

B) In addition to the main rope for hoisting the suspended load, an auxiliary rope for steadying is used, and a mechanism for generating a force for reducing the oscillation of the suspended load is attached to this auxiliary rope (Japanese Patent Publication No. 52-45971). Issue).

C) The swing angle of the suspended load is detected and is fed back to prevent the suspended load from vibrating.
1-333487).

[0006]

When transporting a suspended load in a crane or the like, the driver may want to specify a target transport speed or a target transport stop position by operating an operation lever for the purpose of safety or the like. is there. However, in any of the above methods, the speed and position of the wire fulcrum are automatically controlled in order to suppress the swing of the suspended load, and there is no room for the driver to intervene during the control.

On the other hand, if the above-mentioned transport operation depends only on the driver's operation, it is necessary to perform a very complicated operation to carry the cargo while minimizing the swing of the suspended load, which requires the driver's skill. In addition to that, the burden on the driver becomes very large.

In view of the above situation, the present invention can execute the transfer control of the suspended load based on the target speed or the target stop position designated by the driver while automatically suppressing the swing of the suspended load. The purpose is to provide a device.

[0009]

As a means for solving the above problems, the present invention provides a hanging member for hanging a hanging load with a wire and a hanging member for driving the hanging load by driving the hanging member. In a drive control device of a wire suspension type conveying device provided with a conveyance driving means for conveying in a hanging state, a target speed input means for inputting a target speed of the wire fulcrum in a predetermined direction and an actual speed of the wire fulcrum. And a steadying control computing means for computing a steadying control signal for damping the swing of the suspended load during the transportation of the suspended load. And a signal output means for outputting a combined signal obtained by combining the speed control signal and the steady rest control signal to the conveyance driving means (claim 1).

The present invention also relates to a wire suspending device comprising a suspending member for suspending a suspended load with a wire, and a transport driving means for driving the suspending member to transport the suspended load in a suspended state. In the drive controller of the die transfer device,
Target stop position input means for inputting the target stop position of the wire fulcrum, stop control calculation means for calculating a position control signal for stopping the wire fulcrum at the target stop position, and during the transportation of the suspended load. A steady rest control computing means for computing a steady rest control signal for attenuating the swing of the suspended load, and a signal output means for outputting a composite signal obtained by combining the position control signal and the steady rest control signal to the transport driving means. And (Claim 2).

Further, the present invention provides a wire suspending device comprising a suspending member for suspending a suspended load with a wire, and a transport drive means for driving the suspending member to transport the suspended load in a suspended state. In the drive controller of the die transfer device,
Target speed input means for inputting a target speed in a predetermined direction of the wire fulcrum, speed control calculation means for calculating a speed control signal for causing the speed of the actual wire fulcrum to follow the target speed, and the target speed Position control calculation means for calculating a position control signal for stopping the wire fulcrum at the position of the wire fulcrum at the time of the input when the target speed of 0 is inputted by the input means; A steady rest control calculation means for computing a steady rest control signal for damping the swing of the suspended load, and the speed control signal and steady rest control signal when a target speed other than 0 is input by the target speed input means. A composite signal obtained by combining and is output to the transport drive means, and when the target speed of 0 is input by the target speed input means, the position control signal and the steady rest are held. A synthesized signal obtained by synthesizing the control signal is obtained and a signal output means for outputting to said transport drive means (Claim 3).

[0012]

According to the apparatus of claim 1, a speed control signal for causing the speed of the actual wire fulcrum to follow the target speed input by the target speed input means, and the suspended load during the transportation of the suspended load. The steady rest control signal for attenuating the run-out is calculated, and the combined signal of both signals is output to the carrying drive means, so that the carrying speed is automatically controlled to the above-mentioned target speed while suppressing the run-out of the suspended load. The control that causes the tracking is executed.

Similarly, according to the apparatus of claim 2, the position control signal for stopping the wire fulcrum at the target stop position input by the target stop position input means and the steady rest control signal are calculated. Since the combined signal of both signals is output to the transport drive means, control is performed to stop the wire fulcrum at the target stop position while automatically suppressing the swing of the suspended load.

Further, in the apparatus according to the third aspect, when the target speed other than 0 is input by the target speed input means, the combined signal obtained by combining the speed control signal and the steady rest control signal is the conveying drive means. When the target speed of 0 is input by the target speed input means while the control of causing the conveyance speed to follow the target speed while automatically suppressing the swing of the suspended load is output by A composite signal, which is a combination of a position control signal and a steady rest control signal, is output to the transport driving means, so that the wire swing is automatically suppressed at the wire fulcrum position at the time of the input while automatically suppressing the swing of the suspended load. The control for stopping the fulcrum will be executed.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described with reference to FIG.

The crane shown in the figure comprises a boom (drooping member) 12, which has a pin 10 on a fixed side wall.
Is connected so as to be rotatable about (i.e., undulating). Wire 1 from the wire fulcrum 13 at the tip of the boom 12
4 is hung down, and the hanging load 16 is connected to the lower end thereof. A predetermined portion of the boom 12 is connected to a fixed bottom wall via a hydraulic undulation cylinder (transportation drive means) 18.
The boom 12 is raised and lowered by the expansion and contraction of the hoisting cylinder 18, and the suspended load 16 is transported in a suspended state.

This crane includes the undulating cylinder 18
Cylinder differential pressure sensor 19 for detecting the cylinder differential pressure p of
A hoisting angle sensor 20 that detects the hoisting angle ψ of the boom 12, a load cell 22 that detects the tension of the wire 14, a boom 12
Control lever 24 for inputting the target undulation angular velocity ωd of
Etc. are provided, and these are input to the controller 30.

The controller 30 is provided with a steady rest control arithmetic unit 32, a speed control arithmetic unit 34, a position control arithmetic unit 36, and a signal output unit 38 as shown in FIG.

The steady rest control computing unit 32 computes a steady rest control signal us for suppressing the swing of the suspended load 16 during the transportation thereof, based on the cylinder differential pressure p detected by the cylinder differential pressure sensor 19. Is. Speed control calculation unit 34
Is the target hoisting angular velocity ωd other than 0 by the operating lever 24.
Is input, based on the boom hoisting angle ψ detected by the hoisting angle sensor 20, the actual boom hoisting angular velocity ω (=
dψ / dt) is used to calculate the speed control signal uv for causing the target undulating angular speed ωd to follow.

The position control calculation unit 36 receives the undulation angle sensor 2 when 0 is input as the target undulation angular velocity ωd (that is, the stop command signal is input) by the operating lever 24.
A position control signal up for stopping the wire fulcrum 13 at the undulating position of the wire fulcrum 13 at the time when the stop command signal is input is calculated on the basis of the boom hoisting angle ψ detected at 0.

When a target hoisting angular velocity ωd other than 0 is input by the operating lever 24, the signal output unit 38 outputs a composite signal u of the speed control signal uv and the steady rest control signal us while operating the operation. When 0 is input as the target undulating angular velocity ωd by the lever 24, a composite signal u of the position control signal up and the steady rest control signal us is output.

Returning to FIG. 1, the non-linear compensation circuit 40 performs non-linear compensation of the composite signal u output from the signal output section 38 and transmits it to the undulating cylinder drive circuit (hydraulic circuit) 44 through the amplifier 42. is there. The undulating cylinder drive circuit 44 includes a hydraulic pump 46 for driving the cylinder.
Is provided between the undulation cylinder 18 and the undulation cylinder 18, and guides the oil discharged from the hydraulic pump 46 to the undulation cylinder 18 so as to expand and contract the undulation cylinder 18 at the direction and speed according to the signal.

Next, the arithmetic control operation performed in this apparatus will be described.

First, when a target hoisting angular velocity ωd other than 0 is input by the operating lever 24, the velocity control calculation unit 34
Is the boom hoisting angle ψ detected by the hoisting angle sensor 20,
Based on the undulation angular velocity ω obtained by differentiating this with time,
The speed control signal uv given by the following equation is calculated.

[0025]

Uv = −f ₁ · (ω−ωd) + K · ωd where K is the gain set for the target undulating angular velocity ωd, and f ₁ is for making the actual undulating angular velocity ω follow the target undulating angular velocity ωd. It is the set proportional element gain.

At the same time, the steady rest control calculation unit 32
Calculates the steady rest control signal us given by the following equation based on the detected cylinder differential pressure p.

[0027]

[Equation 2] us = −f ₂ · (p−pd) where pd is the target cylinder differential pressure determined according to the undulation angle ψ and the rope tension T in order to keep the swing angle of the suspended load within a steady value. , F ₂ are proportional element gains set to make the detected cylinder differential pressure p follow the target cylinder differential pressure pd.

The signal output unit 38 outputs the speed control signal uv.
Then, a combined signal u = uv + us of the steady rest control signal us is calculated and output to the non-linear compensation circuit 40. The non-linear compensation circuit 40 performs non-linear compensation of the combined signal u and outputs it to the cylinder drive circuit 44 through the amplifier 42. As a result, expansion and contraction control of the hoisting cylinder 18 is performed so that the hoisting angular velocity ω of the boom follows the target hoisting angular velocity ωd while suppressing the swing of the suspended load 16.

On the other hand, when 0 is set as the target hoisting angular velocity ωd by operating the operation lever 24, the wire fulcrum 1 at the time when the target hoisting angular velocity ωd of 0 is input.
3 is set as the target stop angular position ψd, and the position control signal up for stopping the wire fulcrum 13 at this target stop angular position ψd is the position control calculation unit 36.
Is calculated by This position control signal up is given by the following equation.

[0030]

Equation 3] _{up = -f 3 · (ψ-} ψd) + f 4 · ω The gain f ₄ is set for relief angular velocity omega,
f ₃ is a proportional element gain set to match the actual undulation angle ψ with the target stop angle position ψd.

The composite signal u = up + us of the position control signal up and the steady rest control signal us is the signal output unit 3
8 is calculated and output, and thereafter, the undulating cylinder drive circuit 4 is passed from the non-linear compensation circuit 40 through the amplifier 42 in the same manner as described above.
4 is input, the expansion / contraction control of the undulating cylinder 18 is performed so as to stop the boom 12 at the target stop angle position ψd while suppressing the swing of the hanging load 16.

FIGS. 3A and 3B show the simulation results when it is assumed that the speed control is performed only with the control signal u = Kω, and the broken line in FIG. Input signal (ie target undulation angular velocity ωd)
The solid line in FIG. 7A shows the actual hoisting angular velocity ω, and the solid line in FIG. 7B shows the swing angle of the suspended load in the radial direction of the boom. As is clear from this figure, with the simple control as described above, the actual hoisting angular velocity ω can be made to follow the target hoisting angular velocity ωd, but the suspended load 16
The deflection angle of cannot be damped unless there is friction.

On the other hand, in FIGS. 4A and 4B, the control signal u = uv + us = -f _1. (Ω-ω) as in the above embodiment.
d) + K · ωd−f ₂ · (p−pd) is a simulation result when the control is assumed to be performed. The broken line in FIG. The undulation angular velocity ωd) is shown in FIG.
The solid line indicates the actual undulation angular velocity ω, and the solid line in FIG. 7B indicates the deflection angle of the suspended load in the boom radial direction. As is clear from this figure, in the control of the present embodiment, while making the actual undulation angular velocity ω substantially follow the target undulation angular velocity ωd,
The swing angle of the suspended load 16 can also be suppressed.

Next, a second embodiment will be described with reference to FIG. In this embodiment, in the overhead crane in which the wire fulcrum 13 runs along a straight line along the X axis, the target speed vd of the wire fulcrum speed v in the X axis direction is designated by the operation lever 24 shown in the first embodiment. It has become so. Further, instead of the undulation angle sensor 20, the wire fulcrum 13
A position sensor (not shown) for detecting the position in the X-axis direction is provided, and instead of the cylinder differential pressure sensor 19, the suspended load 1
An unillustrated shake angle sensor for linearly detecting the shake angle θ of 6 is installed.

Even in such a configuration, the controller 30 shown in the above-described embodiment performs the following drive control, for example, to control the target speed vd and the target stop position xd while suppressing the swing of the suspended load 16. Wire fulcrum 1
3 can be followed.

First, when the target speed vd other than 0 is input by the operating lever 24, the speed control calculation unit 34 calculates the speed control signal uv based on the following equation.

[0037]

Uv = −f ₁₁ · (v−vd) + K ′ · vd where K ′ is the gain set for the target speed vd,
f ₁₁ is a proportional element gain set to make the actual speed v follow the target speed vd.

At the same time, the steady rest control calculation unit 32
Calculates the steady rest control signal (feedback control signal) us given by the following equation based on the detected shake angle θ.

[0039]

Equation 5] _{us = f 12 · θ + f} 13 · (dθ / dt) where, f _12, f ₁₃ is a proportional element gain set to fit the deflection angle of the suspended load to a steady value.

A signal output unit 38 outputs a composite signal u = uv + us of the speed control signal uv and the steady rest control signal us.
According to the first embodiment, the boom speed v is reduced by suppressing the vibration of the suspended load 16 as in the first embodiment.
Of the wire fulcrum 13 to make the target follow the target speed vd.
Can be controlled.

On the other hand, when 0 is set as the target speed vd by operating the operation lever 24, the position x of the wire fulcrum 13 at the time when the target speed vd of 0 is input is set as the target stop position xd. , This target stop position xd
Position control signal up to stop the wire fulcrum 13
May be calculated by the position control calculation unit 36. This position control signal up is given by the following equation.

[0042]

[6] _{up = -f 14 · (ψ-} ψd) + f 15 · v Note, f ₁₅ is gain set for the speed v, f ₁₄ is set to match the actual position x at the target stop position xd It is a proportional element gain.

The signal output unit 3 outputs the composite signal u = up + us of the position control signal up and the steady rest control signal us.
By carrying out the calculation and output in 8, it is possible to perform the transport control so as to stop the wire fulcrum 13 at the target stop position xd, as in the first embodiment.

As described above, according to the present invention, the wire fulcrum 13
It does not matter whether the moving direction of the load is irrelevant, or the direction of the hanging load shake. For example, in a general crane in which the boom 12 is extendable and retractable as shown in FIG. 6, the speed control and The stop position control can be executed, for example, when the undulation angle ψ or the expansion / contraction amount r and the wire length L are simultaneously controlled while keeping the height of the suspended load 16 constant, or the height of the wire fulcrum 13 is constant. The present invention can be applied to a case where the undulation angle ψ and the expansion / contraction amount r are simultaneously controlled while maintaining Here, the radial deflection angle θ of the suspended load 16 can be suppressed by controlling the boom expansion / contraction amount r and the undulation angle ψ, and the suspension angle ρ of the suspended load 16 in the swing direction can be suppressed. It can be performed by controlling φ.

In each of the above embodiments, the operation lever 24, which is the target speed input means, is also used as the target stop position input means, and both speed control and stop position control are performed based on the operation of this single operation lever 24. However, the present invention can also be applied to an apparatus including only one of the target speed input means and the target stop position input means.

Further, in the present invention, in addition to the proportional element shown in the above embodiment, an integral element for eliminating steady deviation, a differential element for improving responsiveness, and a first-order lag element for ensuring stability are added. It is possible to apply various means for improving each control function, such as configuring an observer for estimating the swing angle of the suspended load. Further, in order to cope with the rope length, boom length, vehicle body inclination, etc., the various control gains shown in the above embodiment may be adjusted by an external operation.

[0047]

As described above, the present invention is provided with the input means for inputting the target speed or the target stop position of the wire fulcrum in the predetermined direction, and the actual speed or stop position of the wire fulcrum is the target by the input means. While calculating the position control signal for the speed control signal to match the value, it also calculates the steady rest control signal for attenuating the shake of the suspended load during the transportation of the suspended load, and the speed control signal and the position control signal Since the composite signal obtained by combining the steady rest control signal is output to the transport driving means, while automatically suppressing the swing of the suspended load, the target transport speed specified by the driver's operation or Control can be performed in consideration of the target stop position.
Therefore, there is an effect that the suspended load can be safely transported at the target speed or stopped at the target stop position by a simple operation that does not require skill.

Particularly, in the apparatus according to the third aspect, when a target speed other than 0 is input by the target speed input means, the speed control signal and the steady rest control signal for following the target speed are combined. When the target speed of 0 is input by the target speed input means, the combined signal is output to the transport driving means, and the wire fulcrum is located at the position of the wire fulcrum at the time when the target speed of 0 is input. Since the composite signal obtained by combining the position control signal for stopping the sway control signal and the steady rest control signal is output to the conveyance drive means, the speed control and the stop position can be performed by operating a single target speed input means. There is an effect that control and control can be performed arbitrarily.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of a crane according to a first embodiment of the present invention.

FIG. 2 is a block diagram showing a drive control device for the crane.

3A and 3B are graphs showing simulation results for a conventional control device.

4 (a) and (b) are graphs showing simulation results for the apparatus of the above-described embodiment.

FIG. 5 is a schematic diagram showing a suspended state of a suspended load in the second embodiment of the present invention.

FIG. 6 is a perspective view of a general swing crane.

[Explanation of symbols]

12 boom 13 wire fulcrum 14 wire 16 suspended load 18 undulation cylinder (conveyance drive means) 19 cylinder differential pressure sensor 20 undulation sensor 24 operation lever (target speed input means and target stop position input means) 30 controller 32 steady rest control calculation section ( Steady stop control calculation means) 34 Speed control calculation part (speed control calculation means) 36 Position control calculation part (position control calculation means) 38 Signal output part (signal output means)

Claims (3)

[Claims] 1. A wire pendant type conveying device comprising: a hanging member for hanging a suspended load with a wire; and a transport drive means for driving the suspended member to transport the suspended load in a suspended state. In the drive control device, a target speed input means for inputting a target speed of the wire fulcrum in a predetermined direction, and a speed control calculation for calculating a speed control signal for causing an actual wire fulcrum speed to follow the target speed. Means, a steady rest control computing means for computing a steady rest control signal for attenuating the swing of the suspended load during conveyance of the suspended load, and a composite signal obtained by combining the speed control signal and the steady rest control signal. A drive control device for a wire pendant type transport device, comprising: a signal output means for outputting to the transport drive means. 2. A wire pendant type conveying device provided with a hanging member for hanging a suspended load with a wire, and a transport driving means for driving the suspended member to transport the suspended load in a suspended state. In the drive control device, the target stop position input means for inputting the target stop position of the wire fulcrum, the stop control calculating means for calculating a position control signal for stopping the wire fulcrum at the target stop position, A steady rest control calculation means for computing a steady rest control signal for damping the swing of the suspended load during transport of the suspended load, and a composite signal obtained by combining the position control signal and the steady rest control signal with the transport drive means. And a signal output means for outputting to a drive control device for a wire pendant type transport device. 3. A wire pendant type conveying device comprising: a hanging member for hanging a suspended load with a wire; and a transport drive means for driving the suspended member to convey the suspended load in a suspended state. In the drive control device, a target speed input means for inputting a target speed of the wire fulcrum in a predetermined direction, and a speed control calculation for calculating a speed control signal for causing an actual wire fulcrum speed to follow the target speed. Means, position control calculation means for calculating a position control signal for stopping the wire fulcrum at the position of the wire fulcrum at the time when the target speed of 0 is input by the target speed input means, and the suspension. A steady-state control calculation means for calculating a steady-state control signal for damping the swing of the suspended load during the transportation of the load, and a target speed other than 0 by the target speed input means. Is input, a composite signal obtained by combining the speed control signal and the steady rest control signal is output to the conveyance drive means, and when the target speed of 0 is input by the target speed input means, the position A drive control device for a wire pendant type transporting device, comprising: a signal output means for outputting a synthesized signal obtained by synthesizing a control signal and a steady rest control signal to the transport driving means.