JPH1135281A - Control method of rail rope cable crane - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control method of a rail rope cable crane which can improve the stopping accuracy by suppressing the deflection of a bucket effectively in the acceleration time and the deceleration time of a traverse trolley, as well as can control the operation of the cable crane automatically. SOLUTION: The behabiors of a traverse trolley 9, a bucket 12, and the like are analyzed to model into an operation pattern, by making the delivery length of a running cable 5, the delivery length of a main cable regulation rope 8, as the calculation elements, according to the conveyance starting position and the conveyance finishing position, and when a cable crane 50 is operated, the operation pattern modeled according to the setting condition is selected so as to control the cable crane 50 automatically, and at the same time, the actual movement of the traverse trolley 9 along a main cable 7, and the actual movement of the bucket 12 hung down from the traverse trolley 9, are detected, in the acceleration time and the deceleration time of the traverse trolley 9, and the deflection of the bucket 12 is set off by feedback controlling in a fuzzy inference depending on the detecting result.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control method for a cable-type cable crane, and more particularly, to a method for controlling a cable-type cable crane capable of improving the stopping accuracy of a bucket.

[0002]

2. Description of the Related Art As is well known, a cable crane is used as one of means for transporting concrete from a manufacturing site to a casting site in a construction site of a large structure such as a dam.

For example, in the case where concrete is cast over a wide range, a track-type cable crane is used so that the concrete bucket can be directly transported to each of the casting locations. Is done.

[0004] Such a cable-type cable crane is
For example, as shown in FIG. 1, a rail 3 that is stretched between two main towers 2 and 2 ′ while sandwiching a construction site of a dam 1, and a traveling trolley that runs along the rail 3 4 and
A traveling rope 5 for pulling the traveling trolley 4, a stationary tower 6 on one side of the traveling trolley 4, and the other end sandwiching the dam 1 on the other side.
A main cable 7, which is connected to the main cable 7 and is stretched therebetween; a main cable adjusting cable 8 interposed between the main cable 7 and the traveling trolley 4 to adjust the bending of the main cable 7; The trolley 9 includes a traverse trolley 9 that travels along the ropes 7, a traverse rope 10 that pulls the trolley 9, and a bucket 12 that is suspended below the trolleys via a suspension rope 11.

Further, according to the track-type cable crane, the traveling trolley 4 reciprocates along the track 3 in accordance with the unwinding amount of the traveling winch 13 for pulling the traveling rope 5. If the amount of suspension of the track 3 changes due to the movement of the traveling trolley 4, the distance between the traveling trolley 4 and the fixed tower 6 varies, so that the main rope adjusting winch 14 that pulls the main rope adjusting rope 8 is driven. By adjusting the length of the main rope 7, the distance between the traveling trolley 4 and the fixed tower 6 can be changed.

Further, according to this track-type cable crane, the traversing trolley 9 reciprocates along the main cable 7 in accordance with the unwinding amount of the traversing winch 15 that pulls the traversing cable 10, and traverses the trolley 9. The bucket 12 suspended below the trolley 9 operates the vertical winch 16 to suspend the rope 1.
1 can be raised and lowered by winding and unwinding.

Furthermore, each of these winches 13, 1
4, 15, 16 are installed in machine rooms 55, 55 ',
It is controlled by a drive control device provided in an operation room 17 adjacent to the fixed tower 6.

[0008]

According to such a track-type cable crane, the planar position of the main rope 7 is changed by the movement of the traveling trolley 4 along the track 3, so that the bucket The movement of the bucket becomes three-dimensional, and the deflection of the bucket during traversing and traveling increases, so that the transport start position of the bucket is smaller than that of a cable crane with fixed both ends, where the planar position of the main rope does not change. It is difficult to control when moving from the position to the transfer end position.

Therefore, according to the conventional track-type cable crane, control is performed by manual operation via a signal between an operator and a signal man, and efficient transfer operation cannot be performed. It has been desired to develop a control method for automatically controlling the operation of a cable crane that can perform accurate positioning while suppressing the deflection of a bucket at a transfer start position or a transfer end position.

In particular, when the transverse trolley is accelerated and decelerated, a response delay occurs in the bucket speed, and the bucket swings in a cycle corresponding to the extension length of the suspension cable.
It has been desired to develop a control method for stopping the vibration.

In view of the foregoing, the present invention has been made in view of such a conventional problem, and can automatically control the operation of a track-type cable crane, while accelerating and decelerating a traversing trolley. An object of the present invention is to provide a control method of a track-type cable crane which can effectively prevent the bucket from swaying at the time and improve stopping accuracy.

[0012]

SUMMARY OF THE INVENTION The present invention has been made to achieve the above object, and the gist of the invention is that a rail extending between two points on one side of a structure to be constructed such as a dam. Rope, a traveling trolley capable of traveling along the track, a traveling rope for towing the traveling trolley, one end of the traveling trolley via a main rope adjusting rope, and the other end sandwiching the dam. A main trolley connected to the fixed tower and extending between them, a traversing trolley capable of running along the main trolley, a traversing rope for towing the traversing trolley, and a hanging rope below the traversing trolley. A bucket suspended through the main line, a traveling winch for towing the traveling cable and reciprocating the traveling trolley along the track, and a A cable adjusting winch and pulling the traversing cable to pull the trolley A track-type cable crane including a traverse winch for reciprocating along ropes, a vertical winch for winding and lowering the suspension ropes to raise and lower a bucket, and a drive control device for each winch; A method for controlling a track-type cable crane used to move a bucket from a transfer start position to a transfer end position, the method comprising: The extension length of the cord adjusting rope, the extension length of the traversing cord, the extension length of the suspension cord, and the extension speed of these are calculated elements, and the behavior of the track, the main rope, the traversing trolley, and the bucket are calculated. Analyze the operation pattern to model, when operating the cable crane, select the modeled operation pattern according to the setting conditions, this While automatically controlling the cable crane according to the rotation pattern, at the time of acceleration and deceleration of the trolley, detect the actual movement of the trolley along the main rope and the actual movement of the bucket suspended from the trolley, A cable crane control method is characterized in that feedback control is performed by fuzzy inference based on the detection result to offset the swing of the bucket.

Further, the control method according to the present invention is based on the assumption that a track, a traveling rope, a main rope adjustment rope, a main rope, a traverse rope, and a suspension rope are suspension curves, and the rail rope, the main rope, and the trolley are provided. Preferably, the operation pattern is modeled by analyzing the behavior of the bucket.

Further, in the control method of the present invention, the feedback control based on fuzzy inference at the time of acceleration and deceleration of the traverse trolley is performed by inputting the swing angle and swing direction of the bucket and the speed of the transverse trolley during acceleration. When deceleration is performed, the swing angle and swing direction of the bucket and the speed and position of the traversing trolley are input, and when stopped, the swing angle and swing direction of the bucket and the speed and position of the trolley are input. Is preferred.

According to the control method of the present invention, the running length of the traveling rope, the feeding length of the main rope adjusting rope, The running length of the traversing cable, the paying out length of the suspension cable, and the payout speed thereof are used as calculation elements, and the behavior of the track, the main cable, the traversing trolley and the bucket are analyzed in advance to model the operation pattern. Become

That is, when the position information and the weight information of the bucket are given, for example, the arrangement position of the traversing trolley on the main rope, the connection position between the main rope adjustment rope and the main rope, the main rope adjustment rope and the traveling trolley, From the static equilibrium condition at the contact point of each cable such as the connection position of the traveling trolley and the position of the traveling trolley on the track, the extension length of the traveling rope corresponding to the position of the bucket and the extension length of the main rope adjustment rope , The extension length of the transverse rope and the extension length of the suspension rope are calculated. Therefore, the extension amounts are calculated for each position of the bucket, and stored as a database as necessary.

Since the runout of the bucket is related to the running speed of the traveling rope, the main rope adjusting rope, the traversing rope, and the suspension rope, an analysis is performed based on the equation of motion of the pendulum, and at each stop position of the bucket. Then, a combination of the payout speeds of the respective ropes for preventing the bucket from swinging is calculated and stored as a database as necessary.

Further, the data of the difference of the maximum unreeling speed of each rope, the location conditions of the transfer start position and the transfer end position, and the data of obstacles are analyzed and stored as a database as required.

According to the control method of the present invention, the track, the main cable,
An operation pattern is modeled by analyzing the behavior of the trolley and the bucket.

That is, since the extension amount of each rope corresponding to the position of each bucket is calculated, the behavior of the track, the main rope, and the trolley can be easily known. Controlling the feed amount of each rope so as to be continuous between the transfer start position and the transfer end position, and controlling the feed amount of each rope so as to suppress the swing of the bucket at each stop position after operation, A modeled driving pattern can be easily obtained and stored as a database as needed.

According to the control method of the present invention, when operating the cable crane, the extension length of the traveling rope, the extension length of the main rope adjustment rope, the extension length of the transverse rope, and the extension length of the suspension rope. From the above-described modeled operation pattern, the feed-out speed of these ropes and the feed-out speed of these ropes are calculated in advance, according to the setting conditions such as the transfer start position, the transfer end position, and the weight of the concrete-loaded bucket. By selecting the optimum operation pattern and controlling each winch that pulls each cable according to this operation pattern, the operation control of the track-type cable crane is automatically performed, and at the time of acceleration and deceleration of the traversing trolley , Based on fuzzy inference.

When setting conditions such as a transfer start position, a transfer end position, and a weight of a bucket are set, an operation pattern is calculated, and each winch is controlled in accordance with the calculated operation pattern, thereby automatically setting a track. It is also possible to control the operation of a cable-type cable crane.

That is, according to the control method of the present invention,
Automatic operation of a cable-type cable crane while operating in accordance with the modeled operation pattern, while suppressing the swing of the bucket at the final stop position and improving the stopping accuracy of the bucket by control based on fuzzy inference. Can be easily performed.

In addition, a track, a traveling rope, a main rope adjusting rope, a main rope,
By assuming that the traversing line and the hanging line are suspension curves, the operation pattern is modeled, so that an operation pattern that can perform more accurate positioning and steady rest can be easily obtained.

[0025]

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings. In this embodiment, the same reference numerals will be used for the same or corresponding parts as in the related art, and different parts or parts to be newly added will be described with new signs.

FIG. 1 is a schematic diagram showing the entire configuration of a track-type cable crane employing the control method of this embodiment. This track-type cable crane 50 is provided to construct the dam 1 by casting concrete in a mountain valley, and two main towers are provided on one mountain side across the planned construction site of the dam 1. 2, a traveling trolley 4 traveling along the railway 3, a traveling rope 5 for pulling the traveling trolley 4, and a traveling trolley 4 at one end.
A main cable 7 having the other end connected to a fixed tower 6 on the other mountain side with the dam 1 interposed therebetween and being stretched between them; and an interposition between the main cable 7 and the traveling trolley 4. Main rope adjustment rope 8
A trolley 9 that travels along the main rope 7, a traverse cable 10 that pulls the trolley 9, and a bucket 12 that is suspended below the trolley 9 via a suspension cable 11.
And

Further, according to the track-type cable crane 50, the traveling cable 5 for pulling the traveling trolley 4 is wound,
The traveling winch 13 for reciprocating the traveling trolley 4 along the rail 3 according to the unwinding amount, the main rope adjusting the bending of the main rope 7 according to the unwinding amount by winding the main rope adjusting rope 8. An adjustable winch 14, a traverse winch 15, which winds a traverse cable 10 for pulling the traverse trolley 9, and reciprocates the traverse trolley 9 along the main rope 7 according to the unwinding amount;
By winding and unwinding a suspension cable 11 for suspending the bucket 12 below the trolley 9, the bucket 1
2 has a vertical winch 16 for raising and lowering.

Further, this track type cable crane 50
According to this, in the operation room 17 provided adjacent to the fixed tower 6, a drive control device for each of the winches 13, 14, 15, and 16, a point-operating console, an operation pattern are calculated and analyzed, and data is stored. An arithmetic unit including a computer for storing data, a wireless device, and the like are provided.

On the other hand, a track 22 is laid on the flat surface on the mountain side where the fixed tower 6 is installed.
The transfer car 23 for transporting the concrete made in the batcher plant 56 to the bunker section 20 as a transfer start position provided one step below the flat surface on which the track 22 is laid runs, and the bunker section 20 is moved.
The transported concrete is put into the bucket 12 that has landed on the floor.

Here, the track 3 constituting the cable-type cable crane 50 of this embodiment is made of a wire rope, and has one end fixed to one main tower 2 'and the other end as shown in FIG. Is fixed to the other main tower 2 via a rope tensioning device 24, suspended between the main towers 2 and 2 'with a predetermined tension, and the wheels of the traveling trolley 4 are It can be rotated and moved.

A traveling cable 5 for pulling the traveling trolley 4
As shown in FIG. 3 as a conceptual explanatory diagram, both ends are respectively fixed to two main towers 2 and 2 ′, and a plurality of pulleys 25 and After being sequentially wound around a plurality of pulleys 26 attached to the main towers 2 and 2 ′ via side stays, the windings are wound around the traveling winch 13, and the traveling cable 5 is pulled by turning the traveling winch 13 left and right. By doing so, the traveling trolley 4 can be arbitrarily moved in both directions along the track 3. One of the plurality of pulleys 26 attached to the main tower 2 is a traveling cable tensioning device 27.
The traveling cable 5 is fixed to the main tower 2 via
A predetermined tension is maintained.

Further, as shown in FIG. 4, the main rope adjusting rope 8 of the main rope adjusting device 30 having a connecting rod 28 and a plurality of winding pulleys 29 which are connected to the traveling trolley 4 with pins. And one end thereof is fixed to one main tower 2 via a load cell 31, and the other end is guided by a guide pulley 32 attached to the other main tower 2 'via a side stay. After being wound around the main rope adjusting winch 14, the length of the main rope adjusting device 30 is adjusted by the rotation of the main rope adjusting winch 14. The fluctuation of the deflection of the rope 7 due to the movement of the traveling trolley 4 can be adjusted.

As shown in FIG. 5, one end of the main rope 7 is connected to the main rope adjusting device 30 and the other end is connected and fixed to the fixed tower 6, so that the traveling trolley 4 and the fixed tower 6 are connected to each other. And travels so as to cover a substantially fan-shaped area centered on the fixed tower 6 with the movement of the traveling trolley 4.

The transverse cable 10 has both ends connected to the side of the transverse trolley 9, and is wound around a guide pulley 31 attached to one end of the main cable adjusting device 30 and a guide pulley 32 attached to the fixed tower 6. After being wound, it is wound endlessly around the traversing winch 15,
The trolley 15 can be slid to any position along the main rope 7 by being pulled by the drive of the main trolley 7.

Further, the suspension cable 11 has one end fixed to the end of the main cable adjustment device 30 and a suspension pulley 34 at the upper end of the bucket 12 via suspension cable pulleys 33 provided on both sides of the trolley 15. After being wound around the vertical winch 16 via a guide pulley 34 attached to the fixed tower 6.
By rotating the vertical winch 16, the suspension cable 11 is wound up and down, and the bucket 12 is raised and lowered.

Each of these ropes 5, 8, 10, 11
Running winch 13, main rope adjustment winch 14,
The transverse winch 15 and the longitudinal winch 16 each include a drum, a motor, a brake, a speed reducer, a control device, and the like.
The drum is rotationally driven by a command from a drive control device of the operation room 17 to pull each of the ropes 5, 8, 10, and 11. Each motor is provided with a speed detector, and the detected values are fed back to each control device, whereby the motor is controlled to an appropriate rotation direction and speed in accordance with a traveling command from the drive control device. Further, each of the drums is provided with an encoder, and a detection value obtained by the encoder is input to the drive control device.

The bunker 20 at the transfer start position
In the, there is disposed a landing confirmation switch for detecting the landing of the bucket 12, an area sensor for controlling the bucket 12 at the time of landing, a control panel used when discharging concrete from the transfer car to the bucket 12, and the like. The bucket 12 can be automatically and accurately landed on the bunker portion 20 and the concrete can be easily put into the bucket 12 from the transfer car.

In the lower part of the bucket 12, a gate which is opened / closed by a hydraulic cylinder (not shown), an opening / closing detection limit switch, and an ultrasonic area sensor are provided. In addition, a radio is located above the bucket 12,
A gyro-type deflection angle detector, a control panel, a battery for driving these movable parts, and a solar-type charging device are arranged, and the detection values of the respective sensors are transmitted to the drive control device of the operation room 17 through the control panel and the wireless device. Will be transferred.

According to the control method of this embodiment, the extension length of the traveling rope 5, the extension length of the main rope adjustment rope 8, the extension length of the transverse rope 10, the extension length of the suspension rope 11, and Using the unreeling speeds of the ropes 5, 8, 10, 11 as calculation elements, the track 3, the main rope 7, the traversing trolley 1
The operation pattern of the cable crane 50 is modeled by analyzing the behavior of the cable crane 50 and the bucket 12, and when the cable crane 50 is operated, the modeled operation pattern is selected in accordance with the set conditions, and the cable crane 50 is operated in accordance with the operation pattern. Control automatically.

That is, when the position information and the weight information of the bucket 12 are given, in the arithmetic unit including the computer in the operation room 17, for example, the arrangement position of the traversing trolley 15 on the main cable 7, the main cable adjusting device cable From the static balance equation at each contact point such as the connection position between the main rope 7 and the main rope 7, the connection position between the main rope adjustment device 30 and the traveling trolley 4, and the arrangement position of the traveling trolley 4 on the track 3, the bucket 12
The extension length of the traveling rope 5, the extension length of the main rope adjustment rope 8, the extension length of the traversing rope 10, and the extension length of the suspension rope 11 corresponding to each position are calculated. The bunker part 20 which is the transfer start position
In addition, at each stop position of the bucket 12 such as a concrete placing position, which is a transfer end position, the traveling rope 5, the main rope adjustment rope 8, the traversing rope 10, and the traveling rope 5 for preventing the bucket 12 from swinging. Since the combination of the extension speeds of the suspension cable 11 is analyzed, an operation pattern is modeled from the results of the analysis, and this data is stored in the calculation unit.

In modeling the operation pattern, the entire space of the planned location of the dam 1 is divided into a three-dimensional grid with a pitch of several meters, and the traveling ropes 5 and 5 are taken into consideration for each block in consideration of the steady rest. The extension amount and extension speed of the main rope adjustment rope 8, the transverse rope 10, and the suspension rope 11 are analyzed.

In modeling the operation pattern, even when the number of unknowns is larger than the number of conditional expressions in the static balance conditional expression and the equation of motion of the pendulum, accurate analysis results can be obtained by iterative calculation. it can.

Further, in this embodiment, in modeling the driving pattern, it is assumed that the track 3, the traveling rope 5, the main rope adjusting rope 8, the main rope 7, the transverse rope 10, and the suspension rope 11 are suspension curves. By performing the analysis, it is possible to easily obtain an operation pattern in which accurate positioning and steadying can be performed.

In modeling such an operation pattern, it is necessary to consider various conditions such as a difference in the maximum unreeling speed of each cable, a location condition of a transfer start position and a transfer end position, and an obstacle. . That is, according to this embodiment, the traveling winch 1 of the traveling trolley 4 towed by the traveling rope 5 wound around the multiple pulleys 25 and 26.
The traveling speed along the track 3 due to the rotation of the traveling trolley 15 is lower than the traveling speed of the traversing trolley 15 along the main ropes 7.
In some cases, the traveling speed of the traveling trolley 4 is set to the maximum speed from the viewpoint of shortening the cycle time. However, especially at both ends of the track 3, the deflection of the main rope 7 due to the movement of the traveling trolley 4 is large, so that the adjustment amount of the main rope adjustment rope 8 due to the rotation of the main rope adjustment winch 14 cannot catch up. Eventually, the traveling speed of the traveling trolley 4 may be governed by the rotation speed of the main rope adjustment winch 14. That is, it is necessary to model the driving pattern in consideration of such a dependency between the traveling winch 13 and the main rope adjusting winch 14.

Further, the position of the bucket 12 on the bunker line is also changed by the movement of the traveling trolley 4 along the track 3, so that obstacles caused by such a change are considered, and It is necessary to model the operation pattern including the operation in the single operation mode.

On the other hand, the arithmetic unit of the operation room 17 has a function of selecting a feedback control amount based on fuzzy inference in order to cancel the swing according to the swing angle and the angular velocity of the bucket 12 when the transverse trolley 9 is accelerated and decelerated. Is built in, and the shake of the bucket 12 is canceled by such a function.

Here, the driving pattern along the main rope 7 of the traversing trolley 9 accelerates from the start coordinates as shown in FIG. 6 (a), then becomes a constant speed, and then becomes zero at the target coordinates by deceleration. The pattern is generally set. On the other hand, the lifting speed Vz of the bucket 12
Is the driving pattern of the trolley 9 as shown in FIG.
The operation pattern is set according to the operating pattern.

The operation patterns shown in FIGS. 6 (a) and 6 (b)
At the end of acceleration, at the start of deceleration, and at the time of stop, vibration occurs due to the response delay of the speed of the bucket 12 to the traversing trolley 9; Feedback control is performed for canceling the shake in accordance with the angle and the angular velocity. Therefore, in actuality, at the time of acceleration / deceleration, a step-like trajectory is drawn instead of a straight line.

FIG. 7 shows the outward route, that is, the bunker section 20.
Shows the control procedure of the trolley 9 and the bucket 12 from the position to the concrete placing position. When the operation is started, first the acceleration starts, and then the swing angle and the swing of the bucket 12 when the departure rule is applied by fuzzy inference. The direction and the speed of the traverse trolley 9 are input, and a steadying process is executed according to the departure rule of the bucket 12 built in the arithmetic unit (steps 101 to 104).

Next, when the application of the departure rule ends and the deceleration rule is applied by fuzzy inference, the bucket 12
The swing angle and the swing direction of the trolley 9 and the speed and position of the traversing trolley 9 are inputted, and the steady rest processing is executed by the deceleration rule of the bucket 12 built in the arithmetic unit (step 10).
5-108).

When the application of the deceleration rule is completed and the stop rule application area based on fuzzy inference is reached, the swing angle and swing direction of the length bucket 6 of the hanging cable 11 and the speed and position of the trolley 3 are input to the arithmetic unit. The operation of the built-in bucket 12 according to the stop rule is executed, and the operation is stopped when the stop rule is applied (steps 109 to 113).

FIGS. 8A to 8G show membership functions in which the contents of fuzzy inference to be described later are made to correspond to the actually measured values, and the contents will be described below.

(A) Length of the hanging cable 11: S (small) from 0 to 50 m, M (medium) from 30 to 70 m, 50 to 90 m
Is B (large), and 70 m or more is VB (maximum).

(B) Trolley speed: 1 to 5 indicate values for motor control, and indicate the relationship between the value of the continuously variable speed and the running speed (m / min) in the range of 1 to 5 notches.

(C) Deflection angle of bucket 12: Z (0) within 1.0 °, VS (minimum) from 0 to 3.0 °, 1.0 to
5.0 ° is S, 3.0 to 7.0 ° is M, and 5.0 to 9.0.
Let ° be B and 7.0 ° be VB.

(D) Deflection direction: The leading side with respect to the traveling direction of the bucket 12 is +, and the lagging side is-.

(E) Deviation from deceleration start position: shows how much deviation from the deceleration start position calculated from the numerical model, 0 to 0.5 m is Z, and 0.00 to 0.1 m is C.
(Near), 0.5-3.0m for M, 1.0-5.0m for F
(Far), and VF (extreme far) after 3.0 m.

(F) Deflection after stop and acceleration: Indicates the extent of deflection after stop or acceleration, 0 to 0.3 m
Is VS, S is 0.1 to 0.5 m, M is 0.3 to 1.0 m, B is 0.5 to 3.0 m, and VB is 1.0 m or more.

(G) Deviation of stop position: Indicates how much the bucket has deviated from the target position when the bucket has stopped.
0 to 0.5 m, S for 0.5 to 1.5 m, 1.5 to 2.
M for 5m, B for 2.5-3.5m, VB for 3.5m and beyond
And

Next, a feedback control method based on fuzzy inference based on the above definition will be described. 9, 10,
FIG. 11 shows the swing state and speed change of the bucket 12 during the acceleration in steps 101 to 104 on the outward route, and the rules and inference contents at the time of departure according to the state.

First, FIG. 9 is a schematic diagram showing the relationship between the speed at the time of departure and the deflection of the bucket 12 in the operation from the bunker portion, ie, the transfer start position, to the concrete placing position, ie, the transfer end position. As the traversing speed increases, the bucket 1
2 swings to the delay side (-). Assuming that the swing is stopped at, for example, two steps, if the speed is returned to the constant speed during the predetermined period Delta T during the acceleration period, the bucket 12 moves to the position (+) to the position in the figure due to the start. Looking back to some extent.

At the time of re-acceleration, the starting foot and the acceleration are synchronized by the re-acceleration, and when a constant speed state is reached after the re-acceleration, the bucket 12 stops at the neutral position as shown in FIG. The swing direction and traverse trolley speed are detected, and a time point based on the relationship between the swing angle and the speed of the traverse trolley 9, that is, whether or not the set swing width is reached, is re-estimated. When the vehicle accelerates, the bucket 12 stops at the neutral position at the end of the acceleration as shown in the figure.

FIG. 10 shows the contents of the rules at the time of departure. In the figure, for example, when the deflection angle is 0 and the deflection direction is + at one notch at the minimum traverse trolley speed of the condition part, the conclusion part is as follows. It is a medium swing, the minimum is the minimum, the small is the small, the middle is the middle, the large is the large, and the maximum is the maximum. .

When the value obtained by the inference from this rule is the set swing width, the voltage is converted to the horizontal winch 15.
Feedback to the control unit.

FIG. 11 illustrates the membership function according to the rule contents shown in FIG. 10 according to the condition part and the conclusion part. Actually, there are 24 combinations, but the middle part is omitted. .

The figure shows an example in which the current trolley speed is 60 m / min (1 notch), the swing angle of the bucket 12 is 6.0 °, and the swing direction is +, as an example. The detected value takes the smallest value that intersects the membership function.

For example, the combination of the second stage from the top of the inference contents is: traversing trolley speed 1, swing angle of bucket 12 −V
Since B is 0.5 and the deflection direction + of the bucket 12 is 1, the value B at the conclusion is 0.5 which is the minimum value, and in the third stage, the deflection angle -M of the bucket 12 crosses the detected value. Then, with the value 0.5, the conclusion part becomes 0.5.

Since the measured deflection angles do not intersect the membership function except for the second and third stages in the figure, the value of the conclusion part is 0, which is the minimum value.

Next, the calculation section superimposes the values obtained in the conclusion section, calculates the position of the center of gravity, and infers that when the current acceleration is started, the swing width of the bucket 12 at the constant speed is 0.75.

If the time point is set to, for example, an allowable error of 0.4, a control signal for acceleration is sent to the drive control unit when the inferred value becomes 0.4 or less, and the vibration is reduced. Can be completely stopped.

In this case, from the starting position and the starting position, the suspension cable 11 is not extended until it reaches a constant speed, has a constant length, and keeps the cycle of the bucket 12 constant to avoid complication of the control element. Although it is described that the sling lines 11 are sequentially pulled out and approached to the transfer end position during the period from the time when the speed becomes constant to the time when the speed is reduced, the fuzzy rule can be applied even when the sling lines 11 are drawn out.

Further, in the figure, the control for the steady rest is performed only once, but the feedback control may be performed several times until the speed becomes constant.

FIGS. 12 to 14 show the state of the swing of the bucket 12 from deceleration to stop and the rules at the time of deceleration and stop according to the speed change.

First, FIG. 12 is a schematic diagram showing the relationship between the speed from deceleration to stop and the deflection of the bucket 12. When the deceleration starts at the point, the delay of the response of the bucket 12 causes a delay of a predetermined time. The bucket 12 is on the leading side (+
Swing to the side). Since there is a possibility that the vehicle may swing in either the leading side or the lagging side during the constant speed, the time point is deduced by applying the deceleration rule shown in FIG. Is smaller than the allowable value, the speed is reduced by the control, and then the speed is reduced to minimize the swing width.

In the vicinity of the deceleration position, the extension length of the hanging cable 11 varies depending on the case, but the rule shown in FIG. 13A is applied to all the hanging cable lengths R.

Actually, the position deviates from the target deceleration start position calculated from the numerical model as shown by the dashed line in the figure. The application rule based on the relation between the deviated distance and the speed is shown in FIG. As shown in the figure, when the calculation is executed by each rule and an average value of the results is taken, or importance is placed on preventing the shake and priority is given to the application rule for the shake prevention, for example, the shake degree is set to 0.6. Then, the position shift is distributed to 0.4 or the like, each result is weighted, and the trolley 9 is controlled.

In this deceleration rule, control for steadying is performed only once in the figure, but the control can be performed in several steps.

Next, when the stop is to be applied, the rules shown in FIGS. 14A to 14D can be applied according to the magnitude of the deflection angle when the deflection angle is on the delay side (−side). In other words, if the trolley 9 is advanced at a speed corresponding to the magnitude of the swing angle when the vehicle is on the delay side, the swing is canceled out. (A) is the length R = S of the hanging cable 11, (b) is R = M,
(C) is divided into R = B, and (d) is divided into R = VB, and respective rules are determined.

Further, the rule of FIG. 14E can be applied to the displacement of the stop position at this time. However, as in the above case, either the average value or the steady rest and the displacement are prioritized.
Control with weight is performed.

Next, FIG. 15 shows a control procedure based on fuzzy inference during the return trip, that is, during the operation from the transfer end position to the transfer start position. When the operation is started, acceleration starts, and then a departure rule based on fuzzy inference. When the application area is reached, the swing angle and swing direction of the bucket 12, the length of the suspension cable 11 and the speed of the trolley 9 are input, and the steadying process is executed according to the departure rule of the bucket 12 built in the arithmetic unit (step 201 to step 201). 204).

Next, when the application of the departure rule is completed and the deceleration rule is applied by fuzzy inference, the bucket 12
The swing angle and swing direction of the trolley 9 and the speed and position of the trolley 9 are input, and a steadying process is executed according to a bucket deceleration rule built in the arithmetic unit (steps 206 to 20).
8).

When the application of the deceleration rule is completed and the stop rule is applied by fuzzy inference, the swing angle and swing direction of the bucket 12 and the speed and position of the trolley 9 are input.
Similarly, the operation according to the stop rule of the bucket 12 built in the arithmetic unit is stopped by the application of the stop rule (Steps 209 to 213).

Note that the return route control rules follow the procedure reverse to the outward route, and the length of the sling 11 at the departure position is different.

According to the control method of this embodiment, when the set conditions such as the start coordinates, the target coordinates, and the weight of the bucket 12 into which the concrete is put are input to the arithmetic unit, the arithmetic unit causes the stored target block to be stored. An optimal driving pattern is selected from the driving patterns described above, and the running out of the traveling rope 5, the main rope adjusting rope 8, the traversing rope 10, and the suspension rope 11 to the target point is calculated as a time function and stored in the memory of the computer.

In the drive control device, the running winch 13, the main rope adjusting winch 14, the traverse winch 15,
Then, an instruction is given to the control device of the vertical winch 16 to control the feeding speed of each winch, and the automatic operation is performed from the start position to the target position in consideration of the steady rest.

Further, each database is incorporated into a calculation formula,
By calculating this and giving control information to each winch, automatic driving can also be performed.

On the other hand, when the trolley 9 accelerates and decelerates, the actual movement of the trolley 9 along the main rope 7 and the actual movement of the bucket 12 suspended from the trolley 9 are detected. Based on the detection result, feedback control is performed by fuzzy inference to offset the swing of the bucket 12.

Therefore, according to the control method of this embodiment, it is possible to automatically control the operation of the track-type cable crane according to the modeled operation pattern, and at the time of acceleration and deceleration of the transverse trolley. As a result, the swinging of the bucket is canceled by the feedback control, so that the stopping accuracy can be easily improved.

[0089]

As described in detail in the above embodiments, according to the method for controlling a cable crane according to the present invention, the extension length of the traveling rope and the main rope adjustment rope according to the transport start position and the transport end position. The running pattern of the track, main rope, trolley, and bucket is analyzed by using the extension length of the cable, the extension length of the transverse rope, the extension length of the suspension cable, and the extension speed of these as calculation factors. When operating the cable crane, the modeled operation pattern is selected in accordance with the set conditions, and the cable crane is automatically controlled according to the operation pattern. The actual movement of the trolley along the trolley and the actual movement of the bucket suspended from the trolley are detected, and the Since the runout of the bucket is canceled by the feedback control based on the g-inference, the operation of the track-type cable crane can be automatically controlled, and the anti-sway of the bucket can be effectively prevented when the trolley is accelerated and decelerated. By doing so, the stopping accuracy can be easily improved.

[Brief description of the drawings]

FIG. 1 is a schematic diagram showing an overall configuration of a track-type cable crane employing a control method of the present invention.

FIG. 2 is an explanatory diagram showing a situation in which a traveling trolley travels along a track.

FIG. 3 is an explanatory diagram conceptually showing a state of arrangement of a traveling cable.

FIG. 4 is an explanatory view showing a state of attachment of a main rope adjusting rope.

FIG. 5 is an explanatory diagram showing a situation in which a trolley and a bucket are moved along a main rope.

FIGS. 6A and 6B are schematic diagrams showing program contents.

FIG. 7 is a flowchart illustrating a feedback control procedure on a forward path of a bucket.

FIGS. 8A to 8G are graphs showing membership functions in which the contents of fuzzy inference correspond to measured values.

FIG. 9 is a schematic diagram showing a speed change at the time of departure and a state change of a bucket.

FIG. 10 is a chart showing fuzzy inference contents at the time of departure.

FIG. 11 is a table showing membership functions of the condition part and the conclusion part.

FIG. 12 is a schematic diagram showing a speed change and a state change of a bucket during deceleration and stop.

FIGS. 13A and 13B are tables showing the contents of fuzzy inference during deceleration.

FIGS. 14A to 14E are tables showing the contents of fuzzy inference at the time of stop.

FIG. 15 is a flowchart illustrating a feedback control procedure in the return path of the bucket.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Dam 2, 2 'Main tower 3 Track 4 Traveling trolley 5 Traveling cable 6 Fixed tower 7 Main rope 8 Main rope adjusting rope 9 Traversing trolley 10 Crossing rope 11 Suspension rope 12 Bucket 13 Traveling winch 14 Main rope adjusting winch 15 Traverse winch 16 Longitudinal winch 17 Operation room 18 Drive control device 20 Bunker part (transfer start position) 50 Track cable crane

Claims (3)

[Claims] 1. A track stretched between two points while sandwiching a structure to be constructed such as a dam, a traveling trolley capable of traveling along the track, and a traveling rope for towing the traveling trolley. And one end is connected to the traveling trolley via a main cable adjusting cable,
The other end is connected to a fixed tower on the other side across the dam and is stretched between them, a traversing trolley that can run along the main rope, and a traversing rope for towing the trolley. A bucket suspended below the transverse trolley via a hanging cable, a traveling winch for towing the traveling cable and reciprocating the traveling trolley along the track, and towing the main rope adjusting cable. A main rope adjustment winch to adjust the deflection of the main rope
A traverse winch that pulls the traverse cable to reciprocate the trolley along the main rope, a traverse winch that winds and unwinds the suspension cable and raises and lowers a bucket, and a drive control device for each winch. In a track-type cable crane provided with: a method of controlling a track-type cable crane used when the bucket is moved from a transfer start position to a transfer end position, the method according to the transfer start position and the transfer end position. The running length of the traveling cable, the running length of the main rope adjusting cable, the running length of the traversing cable, the running length of the suspension cable, and the running speed of these as calculation elements, the track, The behavior of the main rope, the traversing trolley and the bucket is analyzed to model an operation pattern, and when operating the cable crane, the model is operated in accordance with a set condition. Select of been operated pattern,
The cable crane is automatically controlled according to this operation pattern, and at the time of acceleration and deceleration of the trolley, the actual movement of the trolley along the main rope and the actual movement of the bucket suspended from the trolley are detected. And a feedback control by fuzzy inference based on the detection result to cancel the swing of the bucket. 2. Assuming that said track, said traveling rope, said main rope adjustment rope, said main rope, said traverse rope, and said suspension rope are suspension curves, said rail, said main rope, said trolley and The method according to claim 1, wherein an operation pattern is modeled by analyzing the behavior of the bucket. 3. The feedback control based on fuzzy inference at the time of acceleration and deceleration of the traverse trolley is performed by inputting the swing angle and swing direction of the bucket at the time of acceleration and the swing angle of the bucket at the time of deceleration. 2. The operation is performed by inputting a swing angle, a swing direction and a speed and a position of the trolley, and further inputting a swing angle and a swing direction of the bucket and a speed and a position of the trolley when the vehicle is stopped. Or the control method of the track-type cable crane according to any one of claims 2 to 4.