JPH1160153A - Swing angle measuring device for hoisted load on crane - Google Patents

Swing angle measuring device for hoisted load on crane

Info

Publication number
JPH1160153A
JPH1160153A JP22235197A JP22235197A JPH1160153A JP H1160153 A JPH1160153 A JP H1160153A JP 22235197 A JP22235197 A JP 22235197A JP 22235197 A JP22235197 A JP 22235197A JP H1160153 A JPH1160153 A JP H1160153A
Authority
JP
Japan
Prior art keywords
accelerometer
trolley
crane
measured
observer
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP22235197A
Other languages
Japanese (ja)
Inventor
Hidetsugu Kojima
Hiroshi Morita
英嗣 小島
洋 森田
Original Assignee
Sumitomo Heavy Ind Ltd
住友重機械工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sumitomo Heavy Ind Ltd, 住友重機械工業株式会社 filed Critical Sumitomo Heavy Ind Ltd
Priority to JP22235197A priority Critical patent/JPH1160153A/en
Publication of JPH1160153A publication Critical patent/JPH1160153A/en
Pending legal-status Critical Current

Links

Abstract

PROBLEM TO BE SOLVED: To provide a swing angle measuring device which is accurate, is high reliable, and is used for a hoisted load on a crane, by using acceleration information for hoisted load which is measured by a first accelerometer and trolley's acceleration information which is measured by a second accelerometer, and estimating swing angle and angular velocity of a hoisted load using an observer operation method. SOLUTION: A first accelerometer 1 is fixed to a hoisting accessory 6 for a hoisted load 8 with screws or the like and measures acceleration information for the hoisted load, and a second accelerometer 2 is fixed to a trolley 7 with screws or the like and measures trolley's acceleration information. Output signals from the first accelerometer 1 and the second accelerometer 2 are transmitted to an operation device 3 through a first communication wire 4 and a second communication wire 5, respectively. The operation device 3 employs an observer operation method and can estimate angle of the hoisted load 8 from the vertical direction and its angular velocity. Therefore, a swing angle measuring device which is accurate, is high reliable, and is used for the hoisted load on a crane can be provided.

Description

【発明の詳細な説明】DETAILED DESCRIPTION OF THE INVENTION
【0001】[0001]
【発明の属する技術分野】本発明はクレ−ン等で荷を吊
下げた際に、吊り荷の鉛直方向からの振れ角度(振れ
角)を計測する装置に関するものである。特に加速度計
と演算装置を利用することにより、正確な計測を行うこ
とのできる吊り荷の振れ角計測装置に関するものであ
る。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for measuring a swing angle of a suspended load from a vertical direction when the load is suspended by a crane or the like. In particular, the present invention relates to an apparatus for measuring a swing angle of a suspended load capable of performing accurate measurement by using an accelerometer and an arithmetic unit.
【0002】[0002]
【従来の技術】クレ−ンにおいては吊り荷を巻き上げる
時、クレ−ンの横行あるいは走行時に、吊り荷の振れが
発生する。特に自動クレ−ンにより吊り荷を運搬し、所
望位置に正確に吊り荷を着床させるときには、この吊り
荷の振れを検出して振れを抑制する制御を行う必要があ
る。従来、クレ−ン等で荷を吊り下げた際に、その荷の
鉛直方向からの振れ角度は、傾斜計や画像処理等によっ
て計測されているが、それぞれ次の(1)〜(4)に示すよ
うな問題点があった。
2. Description of the Related Art In a crane, when a suspended load is hoisted, or when the crane traverses or runs, the suspended load swings. In particular, when a suspended load is transported by an automatic crane and the suspended load is accurately landed at a desired position, it is necessary to detect the swing of the suspended load and perform control to suppress the swing. Conventionally, when a load is hung by a crane or the like, the deflection angle of the load from the vertical direction is measured by an inclinometer, image processing, or the like. There were the following problems.
【0003】(1)傾斜計では、計測の対象を吊り荷で
はなくロ−プにとる。このため、ロ−プに曲がりやたわ
みがある際には誤差が大きくなる。また、ロ−プを複数
本で吊った場合には正しく計測できない。 (2)画像処理は、雪などの自然環境に影響を受けやす
い。また、目標を誤って認識することがあり、この時の
危険性が高く、正しい目標の認識が難しい。加えて、画
像処理装置は非常に高価である。 (3)また、加速度計を用いて計測する場合には、次の
ような問題が存在し、これを解決しなければ正しい値を
求めることができない。即ち、加速度計には、取り付け
た物体の運動による加速度と、傾きに応じた重力加速度
成分の2つを足し合せた加速度がかかるが、これらを分
離して別々に計測することができない。ジャイロを併用
すればこれらを分離する演算も可能であるが、装置がコ
スト高となる。 (4)加速度計を利用して角度等を求める場合、単純に
加速度情報を積分する手法では、風や振動などによって
受けた外乱や測定誤差が、時間とともに蓄積してしま
う。
(1) In the inclinometer, the object to be measured is not a suspended load but a rope. Therefore, when the rope has a bend or a bend, an error becomes large. Also, when a plurality of ropes are hung, measurement cannot be performed correctly. (2) Image processing is easily affected by natural environments such as snow. In addition, the target may be erroneously recognized. At this time, there is a high risk, and it is difficult to recognize the correct target. In addition, image processing devices are very expensive. (3) In the case of measurement using an accelerometer, the following problems exist, and correct values cannot be obtained unless these problems are solved. That is, the accelerometer is subjected to an acceleration obtained by adding the acceleration due to the motion of the attached object and the gravitational acceleration component according to the tilt, but these cannot be separately measured. If a gyro is used together, it is possible to perform an operation to separate them, but the cost of the apparatus is high. (4) When an angle or the like is obtained using an accelerometer, disturbance or measurement error received due to wind, vibration, or the like accumulates with time in a method of simply integrating acceleration information.
【0004】[0004]
【発明が解決しようとする課題】上にのべた従来技術の
問題点を解決し、加速度計と演算装置を用いて正確で信
頼性の高いクレ−ンの吊り荷の振れ角計測装置を提供す
ることを課題とする。
An object of the present invention is to solve the above-mentioned problems of the prior art and to provide an accurate and highly reliable swing angle measuring apparatus for a crane using a accelerometer and an arithmetic unit. That is the task.
【0005】[0005]
【課題を解決するための手段】本発明に係るクレ−ンの
吊り荷の振れ角計測装置は、クレ−ンにおいて、吊り具
に取り付けた第一加速度計により計測された吊り荷の加
速度情報と、トロリに取り付けた第二加速度計により計
測されたトロリの加速度情報を利用し、オブザ−バ演算
方式を用いて吊り荷の鉛直方向からの振れ角度および角
速度を推定することを特徴とする。また、トロリに取り
付けた第二加速度計により計測されたトロリの加速度情
報に代えて、モ−タの回転速度計により計測されるトロ
リの速度、モ−タコントロ−ラへの指令値またはモ−タ
への指令値等の駆動部への指令値、またはモ−タの電圧
または電流等の駆動力の何れかの情報を利用してもよ
い。
According to the present invention, there is provided an apparatus for measuring the swing angle of a suspended load of a crane according to the present invention, wherein acceleration information of a suspended load measured by a first accelerometer attached to a lifting device is used in the crane. The swing angle and the angular velocity of the suspended load from the vertical direction are estimated by using an observer calculation method using acceleration information of the trolley measured by the second accelerometer attached to the trolley. Instead of the trolley acceleration information measured by the second accelerometer attached to the trolley, the trolley speed measured by the motor tachometer, the command value to the motor controller, or the motor Any information such as a command value to the drive unit such as a command value to the motor or a driving force such as a motor voltage or current may be used.
【0006】[0006]
【発明の実施の形態】図1に基いて、本発明装置の実施
の形態の一例を説明する。図1の装置は、第一加速度計
1と第二加速度計2及び演算装置3により構成されてい
る。第一加速度計1は、吊り荷8の吊り具6にネジ等で
固定されている。第二加速度計2は、横行台車(以下ト
ロリ)7にネジ等で固定されている。第一加速度計1お
よび第二加速度計2の出力信号は、それぞれ第一通信線
4および第二通信線5を介して演算装置3に伝達され
る。演算装置3は、図2で表わされる構造を持ったオブ
ザ−バ演算手法(1986年オ−ム社発行・上滝・明石
著「制御理論の基礎と応用」参照)が用いられており、
これにより第一加速度計1および第二加速度計2の情報
から、吊り荷8の鉛直方向からの角度および角速度を推
定することができる。
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the apparatus of the present invention will be described with reference to FIG. The apparatus shown in FIG. 1 includes a first accelerometer 1, a second accelerometer 2, and an arithmetic unit 3. The first accelerometer 1 is fixed to the hanging member 6 of the hanging load 8 with a screw or the like. The second accelerometer 2 is fixed to a trolley (hereinafter referred to as a trolley) 7 with screws or the like. Output signals of the first accelerometer 1 and the second accelerometer 2 are transmitted to the arithmetic unit 3 via the first communication line 4 and the second communication line 5, respectively. The arithmetic unit 3 employs an observer arithmetic method having the structure shown in FIG. 2 (see "Basics and Application of Control Theory" by Umaki and Akashi, published by Ohmsha in 1986).
Thereby, the angle and angular velocity of the suspended load 8 from the vertical direction can be estimated from the information of the first accelerometer 1 and the second accelerometer 2.
【0007】因みに、オブザ−バ(observer)は制御対
象の状態を、そのモデルを利用して推定する演算手法で
ある。一般に実際の制御対象を完全にモデル化する事は
できないため、モデルに制御対象と同一の入力を与えて
も、モデルの状態から制御対象の状態を知ることはでき
ない。同一入力に対する制御対象の出力とモデルの出力
の差を利用して、状態を補正しながら推定するシステム
をオブザ−バ(観測器)という。
[0007] Incidentally, an observer is an arithmetic technique for estimating the state of a controlled object using its model. In general, since an actual controlled object cannot be completely modeled, even if the same input as the controlled object is given to the model, the state of the controlled object cannot be known from the state of the model. A system that estimates while correcting the state by using the difference between the output of the control target and the output of the model for the same input is called an observer.
【0008】以下にオブザ−バについて図3を参照して
概略説明する。動特性が次式、即ち
Hereinafter, the observer will be schematically described with reference to FIG. The dynamic characteristic is as follows:
【0009】[0009]
【数1】 (Equation 1)
【0010】で表される系について図3を用いてオブザ
−バの構成を説明する。図3の上部の点線の枠の中が制
御対象であり、下部の点線の枠の中が系のモデルで、そ
の動特性を
The structure of the observer will be described with reference to FIG. The inside of the dotted line in the upper part of FIG. 3 is the control target, and the inside of the dotted line in the lower part is the system model.
【0011】[0011]
【数2】 (Equation 2)
【0012】[0012]
【数3】 (Equation 3)
【0013】[0013]
【数4】 (Equation 4)
【0014】[0014]
【数5】 (Equation 5)
【0015】さて、本発明に於けるオブザ−バは、図2
に示すような構成となっている。第一加速度計1の出力
信号を伝達する第一通信線4および第二加速度計2の出
力信号を伝達する第二通信線5からは、それぞれ第一加
速度計1および第二加速度計2からの加速度信号が出力
される。積分器9への入力は、第一加速度計1および第
二加速度計2から第一通信線4と第二通信線5を介し伝
達される各加速度信号と、積分器9の出力とに、それぞ
れ図2に示すように、適切なゲインB,E及び(A−E
C)をかけてから加え合わせることによって算出され
る。それぞれのゲインは以下に示すようにして求められ
る。かくして積分器9の出力がそれぞれ角度,角速度お
よび外乱の推定値となる。
The observer in the present invention is shown in FIG.
The configuration is as shown in FIG. From the first communication line 4 for transmitting the output signal of the first accelerometer 1 and the second communication line 5 for transmitting the output signal of the second accelerometer 2, signals from the first accelerometer 1 and the second An acceleration signal is output. The inputs to the integrator 9 are the acceleration signals transmitted from the first and second accelerometers 1 and 2 via the first communication line 4 and the second communication line 5, and the output of the integrator 9, respectively. As shown in FIG. 2, appropriate gains B and E and (A-E)
It is calculated by multiplying by C) and then adding. Each gain is obtained as described below. Thus, the output of the integrator 9 becomes the estimated value of the angle, angular velocity and disturbance.
【0016】[0016]
【数6】 (Equation 6)
【0017】u(t)=[トロリ駆動力]、y(t)=[吊
り荷加速度]とおくと、これらの関係を、次のような形
の数式で表わすことができる。
If u (t) = [trolley driving force] and y (t) = [suspension of load], these relations can be expressed by the following mathematical expressions.
【0018】[0018]
【数7】 (Equation 7)
【0019】ロ−プ長lの横行クレ−ンであれば、クレ
−ンによって決まる定数δおよび重力加速度gを用い
て、A,B,Cはそれぞれ、
If the crane is a traversing crane having a loop length l, A, B, and C are respectively defined using a constant δ determined by the crane and a gravitational acceleration g.
【0020】[0020]
【数8】 (Equation 8)
【0021】このようにクレ−ンを数式表現することに
より、前記オブザ−バとなる状態推定機構を設計するこ
とができる。このオブザ−バを利用することにより、単
純に加速度情報を積分するという手法で起きる測定誤差
や外乱の蓄積を防ぐことができる。実際の計測では、次
のような問題が生じることがある。 (1)ロ−プの長さ、ロ−プの掛け方、荷の状態等によ
って振れ方が変わる。 (2)吊り荷の加速度のみを正しく測定することができ
ない。 加速度計に、吊り荷の振れによって生じる加速度と、吊
り荷の傾きに応じた重力加速度の成分の2つを足しあわ
せた値が計測されることによる問題として、次のような
ものがある。 (2−1)荷の偏りのために定常的に傾くことなどによ
るもの。 (2−2)ロ−プを複数本で吊ることによって生じる振
れにしたがった傾きによるもの。 (3)トロリの駆動力u(t)を測定することができな
い。
By expressing the crane as a mathematical expression in this manner, a state estimating mechanism serving as the observer can be designed. The use of this observer can prevent accumulation of measurement errors and disturbances caused by a method of simply integrating acceleration information. In actual measurement, the following problems may occur. (1) The swing varies depending on the length of the rope, the manner of hanging the rope, the state of the load, and the like. (2) Only the acceleration of the suspended load cannot be correctly measured. As a problem due to the fact that the accelerometer measures a value obtained by adding two values of the acceleration caused by the swing of the suspended load and the component of the gravitational acceleration according to the inclination of the suspended load, there are the following problems. (2-1) Steady inclination due to load imbalance. (2-2) An inclination caused by swing caused by hanging a plurality of ropes. (3) The driving force u (t) of the trolley cannot be measured.
【0022】これらの問題は、A,B,Cおよびx
(t),y(t),u(t)をそれぞれ次のように設定して、
オブザ−バを設計することにより解決する。
These problems are A, B, C and x
(t), y (t) and u (t) are set as follows, respectively.
The problem is solved by designing an observer.
【0023】(1)のロ−プの長さ、ロ−プの掛け方、
荷の状態によって荷の振れ方が変わる問題について ロ−プの長さが変化すると、振れの周期が変化する。こ
のため、適切なロ−プ長のモデルを用いないと(適切に
A,B,Cを設定しないと)、正しい推定ができない。
正確な推定のためには、それぞれのロ−プ長ごとにA,
B,Cを求め、オブザ−バを設計する。このオブザ−バ
のパラメ−タとロ−プ長の関係の関数または対応表を求
め利用する(図4のロ−プ長とゲインの対応表参照)。
(1) The length of the rope, the method of applying the rope,
The problem of how the load changes depending on the load condition When the length of the rope changes, the period of the change changes. Therefore, unless a model having an appropriate loop length is used (unless A, B, and C are set appropriately), correct estimation cannot be performed.
For accurate estimation, A,
Obtain B and C and design an observer. A function or correspondence table of the relationship between the parameters of the observer and the loop length is obtained and used (see the correspondence table between the loop length and the gain in FIG. 4).
【0024】また、複数本のロ−プで吊った場合にも振
れ方が変わる。さらに、吊り荷の有無や、重心の変化に
よっても振れ方が変わる。振れ方の変化は主に周期に表
われる。そこで、同じ周期となる単振り子のクレ−ンの
モデルで近似する。この関係について関数または対応表
を求め利用する(図5の同じ振れ周期となるロ−プ長の
表参照)。
Further, the swinging manner changes even when a plurality of ropes hang. Furthermore, the swinging method changes depending on the presence or absence of a suspended load and the change in the center of gravity. The change in the swing is mainly reflected in the cycle. Therefore, approximation is made using a single pendulum crane model having the same period. A function or correspondence table is obtained and used for this relationship (see the table of the loop length having the same swing period in FIG. 5).
【0025】(2−1)荷の偏りのために通常的に傾く
ことによる問題について 荷の偏りによって吊り荷が傾く、または加速度計自体に
オフセットがあるといった定常的な外乱は、その外乱を
推定するという手法をとることによって、悪影響を抑え
ることができる。具体的には外乱量をx(t)の要素に追
加する。この結果、
(2-1) Problem caused by tilting due to load imbalance A stationary disturbance such as a suspended load tilting due to load imbalance or an offset in the accelerometer itself is estimated by the disturbance. By adopting a technique of doing so, adverse effects can be suppressed. Specifically, the amount of disturbance is added to the element of x (t). As a result,
【0026】[0026]
【数9】 (Equation 9)
【0027】(2−2)ロ−プを複数本で吊ることによ
って生じる振れに従った傾きについて 吊り荷を複数本のロ−プで吊ると、振れにしたがって傾
く(図6参照)。このため、吊り荷の運動による加速度
のみでなく、傾きにしたがった重力加速度の成分が加速
度計に計測される。この重力加速度の成分と、振れ角度
の関係の関数または対応表を求め利用する(図7参
照)。
(2-2) Inclination in accordance with run-out caused by hanging a plurality of ropes When a suspended load is hung by a plurality of ropes, the load is tilted according to the run-out (see FIG. 6). Therefore, not only the acceleration due to the motion of the suspended load, but also the component of the gravitational acceleration according to the inclination is measured by the accelerometer. A function or correspondence table of the relationship between the gravitational acceleration component and the shake angle is obtained and used (see FIG. 7).
【0028】例えば、図7のようであれば、C=(0−
1.8 001)とすることにより、 y(t)=[運動による加速度]+[振れに従った重力加速
度]+[オフセット]=[加速度計出力値] となる。
For example, in the case of FIG. 7, C = (0−
By setting 1.8 001), y (t) = [acceleration due to motion] + [gravity acceleration according to shake] + [offset] = [accelerometer output value].
【0029】(3)トロリの駆動力u(t)を測定するこ
とができない問題について u(t)とy(t)を独立の量に設定すれば、変数変換によ
って、同様の設計が可能である。y(t)と独立な量のう
ち、トロリの加速度,トロリの速度,トロリ駆動部への
指令値等は、計測可能であり、u(t)として利用でき
る。u(t)=[トロリ加速度]とするならば、A,B,
Cはそれぞれ次のように変換される。
(3) Regarding the problem that the driving force u (t) of the trolley cannot be measured If u (t) and y (t) are set to independent quantities, a similar design can be made by variable conversion. is there. Among the quantities independent of y (t), the acceleration of the trolley, the speed of the trolley, the command value to the trolley drive unit, and the like can be measured and used as u (t). If u (t) = [trolley acceleration], A, B,
C is converted as follows.
【0030】[0030]
【数10】 (Equation 10)
【0031】[0031]
【数11】 [Equation 11]
【0032】このように求まったA,B,Cについてオ
ブザ−バを設計すると、オブザ−バのゲインEはロ−プ
長にしたがって変わる値として求まる。図8はこの対応
関係を示したものである。
When an observer is designed for A, B, and C obtained as described above, the gain E of the observer is obtained as a value that changes according to the loop length. FIG. 8 shows this correspondence.
【0033】(作動)以上の如き構成であって、その動
作を下記に示す。吊り具6の振れとトロリ7の動きに従
って、第一加速度計1および第二加速度計2で加速度情
報が計測される。この加速度情報は、第一通信線4およ
び第二通信線5を介して演算装置3に伝わる。演算装置
3では、オブザ−バによりこの加速度情報を用いて吊り
荷8の鉛直方向からの角度および角速度が算出される。
オブザ−バには、クレ−ンの運動のモデルを内部に含ん
でおり、計測値に誤差や外乱が含まれても、フィ−ドバ
ックにより値を修正しながら推定を行う。また、このオ
ブザ−バのモデルには第一加速度計1の測定値に、吊り
具6の運動による加速度と吊り具6の傾きによる重力加
速度の2つが含まれることが考慮されているので、この
2種類の加速度が分離できないことによる悪影響は生じ
ない。
(Operation) The operation as described above will be described below. Acceleration information is measured by the first accelerometer 1 and the second accelerometer 2 in accordance with the swing of the hanging device 6 and the movement of the trolley 7. This acceleration information is transmitted to the arithmetic unit 3 via the first communication line 4 and the second communication line 5. In the arithmetic unit 3, the angle and angular velocity of the suspended load 8 from the vertical direction are calculated by the observer using the acceleration information.
The observer contains a model of the movement of the crane inside, and even if an error or disturbance is included in the measured value, estimation is performed while correcting the value by feedback. In addition, the model of the observer considers that the measured value of the first accelerometer 1 includes two factors, the acceleration due to the movement of the hanging device 6 and the gravitational acceleration due to the inclination of the hanging device 6. There is no adverse effect due to the inability to separate the two types of acceleration.
【0034】(実施の形態2)本装置の基本的な構成は
上記の前記実施形態1と同じであるが、トロリ7の速
度,駆動部への指令値,駆動力のどれかを知ることが可
能であれば、吊り具6に取り付けた第一加速度計1のみ
でも、角度および角速度の推定が可能となる。このとき
第二加速度計2は不必要で、第二通信線5は代わりの測
定箇所と演算装置をつなぐように配される。トロリ駆動
モ−タへの指令値が既知の場合第一加速度計1からの信
号と、トロリ7の駆動部への指令値は、それぞれ第一通
信線4と第二通信線5を介して、演算装置3に伝達され
る。演算装置3では、オブザ−バを利用して第一加速度
計1の情報と指令値から角度および角速度を推定する。
オブザ−バの構造は図3の実施形態1と同じで、パラメ
−タのみ異なる。パラメ−タの設定は、前記実施形態1
に従って行うことができる。
(Embodiment 2) The basic configuration of the present apparatus is the same as that of the above-mentioned Embodiment 1, but it is possible to know any one of the speed of the trolley 7, the command value to the drive unit, and the drive force. If possible, it is possible to estimate the angle and the angular velocity only by the first accelerometer 1 attached to the hanging device 6. At this time, the second accelerometer 2 is unnecessary, and the second communication line 5 is arranged so as to connect the alternative measuring point to the arithmetic unit. When the command value to the trolley drive motor is known, the signal from the first accelerometer 1 and the command value to the drive unit of the trolley 7 are transmitted via the first communication line 4 and the second communication line 5, respectively. It is transmitted to the arithmetic unit 3. The arithmetic unit 3 estimates an angle and an angular velocity from information and a command value of the first accelerometer 1 using an observer.
The structure of the observer is the same as that of the first embodiment shown in FIG. 3, except for the parameters. The parameters are set in the first embodiment.
Can be performed according to
【0035】[0035]
【発明の効果】クレ−ンにおいて、請求項1の如く吊り
具に取り付けた第一加速度計による吊り荷の加速度情報
と、トロリに取り付けた第二加速度計によるトロリの加
速度情報を利用し、オブザ−バ演算方式を用いて吊り荷
の鉛直方向からの振れ角を計測するようにした。以上の
如く、オブザ−バには、クレ−ンの運動のモデルを内部
に含んでおり、計測値に誤差や外乱が含まれても、フィ
−ドバックにより値を修正しながら推定を行うことがで
きる。また、このオブザ−バのモデルには第一加速度計
1の測定値に、吊り具6の運動による加速度と吊り具6
の傾きによる重力加速度の2つが含まれることが考慮さ
れているので、この2種類の加速度が分離できないこと
による悪影響は生じないで正確性において極めて信頼性
が高い。あるいは又請求項2の如く、トロリに付けた第
二加速度情報に代え、モ−タの回転速度計により求まる
トロリの速度、モ−タコントロ−ラへの指令値、モ−タ
への指令値等駆動部への指令値又はモ−タの電圧又は電
流等の駆動力の何れかの情報にしたので、同様に加速度
計と演算装置により正確で信頼性の高いクレ−ンの吊り
荷の振れ角計測装置を得ることが可能となった。
According to the present invention, the crane utilizes the acceleration information of the suspended load by the first accelerometer attached to the hanging device and the trolley acceleration information by the second accelerometer attached to the trolley. -The deflection angle of the suspended load from the vertical direction was measured using the bar calculation method. As described above, the observer contains a model of the movement of the crane inside, and even if the measurement value includes an error or disturbance, estimation can be performed while correcting the value by feedback. it can. The model of the observer also includes the measured value of the first accelerometer 1 and the acceleration due to the motion of
It is taken into account that two types of gravitational acceleration due to the inclination are included, so that there is no adverse effect due to the inability to separate the two types of acceleration, and the accuracy is extremely high in accuracy. Alternatively, in place of the second acceleration information attached to the trolley, the speed of the trolley determined by the tachometer of the motor, the command value to the motor controller, the command value to the motor, etc. Since the information is either the command value to the drive unit or the drive force such as the motor voltage or current, the swing angle of the crane's suspended load is accurate and highly reliable by the accelerometer and the arithmetic unit. It became possible to obtain a measuring device.
【図面の簡単な説明】[Brief description of the drawings]
【図1】本発明に係る振れ角計測装置の構成を示す概念
図。
FIG. 1 is a conceptual diagram showing a configuration of a deflection angle measuring device according to the present invention.
【図2】本発明のオブザ−バの構成図。FIG. 2 is a configuration diagram of an observer of the present invention.
【図3】一般のオブザ−バの構成説明図。FIG. 3 is a diagram illustrating the configuration of a general observer.
【図4】ロ−プ長とオブザ−バゲインの対応を示すグラ
フ。
FIG. 4 is a graph showing a correspondence between a loop length and an observer gain.
【図5】同じ振れ周期となるロ−プ長と単振り子ロ−プ
長の関係を示すグラフ。
FIG. 5 is a graph showing a relationship between a loop length and a single pendulum loop length having the same swing period.
【図6】吊り荷の傾き想定図。FIG. 6 is a view showing an assumed inclination of a suspended load.
【図7】振れ角度と動加速度の対応を示すグラフ。FIG. 7 is a graph showing a correspondence between a shake angle and a dynamic acceleration.
【図8】ロ−プ長とオブザ−バゲインとの関係を示すグ
ラフ。
FIG. 8 is a graph showing a relationship between a loop length and an observer gain.
【符号の説明】[Explanation of symbols]
1 第一加速度計 2 第二加速度計 3 演算装置 4 第一通信線 5 第二通信線 6 吊り具 7 トロリ 8 吊り荷 9 積分器 DESCRIPTION OF SYMBOLS 1 First accelerometer 2 Second accelerometer 3 Arithmetic unit 4 First communication line 5 Second communication line 6 Hanging tool 7 Trolley 8 Hanging load 9 Integrator

Claims (2)

    【特許請求の範囲】[Claims]
  1. 【請求項1】 クレ−ンにおいて、吊り具に取り付けた
    第一加速度計により計測された吊り荷の加速度情報と、
    トロリに取り付けた第二加速度計により計測されたトロ
    リの加速度情報を利用し、オブザ−バ演算方式を用いて
    吊り荷の鉛直方向からの振れ角度および角速度を推定す
    ることを特徴とするクレ−ンの吊り荷の振れ角計測装
    置。
    In a crane, acceleration information of a suspended load measured by a first accelerometer attached to a suspending device;
    A crane characterized by estimating a swing angle and an angular velocity of a suspended load from a vertical direction using an observer calculation method using acceleration information of the trolley measured by a second accelerometer attached to the trolley. For measuring the swing angle of suspended loads.
  2. 【請求項2】 トロリに取り付けた第二加速度計により
    計測されたトロリの加速度情報に代えて、モ−タの回転
    速度計により計測されるトロリの速度、モ−タコントロ
    −ラへの指令値またはモ−タへの指令値等の駆動部への
    指令値、またはモ−タの電圧または電流等の駆動力の何
    れかの情報を利用することを特徴とする請求項1記載の
    クレ−ンの吊り荷の振れ角計測装置。
    2. A trolley speed measured by a motor tachometer, a command value to a motor controller or a command value to a motor controller instead of the trolley acceleration information measured by a second accelerometer attached to the trolley. 2. A crane as claimed in claim 1, wherein said information is a command value to said drive unit such as a command value to said motor or a driving force such as voltage or current of said motor. A swing angle measuring device for suspended loads.
JP22235197A 1997-08-19 1997-08-19 Swing angle measuring device for hoisted load on crane Pending JPH1160153A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP22235197A JPH1160153A (en) 1997-08-19 1997-08-19 Swing angle measuring device for hoisted load on crane

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP22235197A JPH1160153A (en) 1997-08-19 1997-08-19 Swing angle measuring device for hoisted load on crane

Publications (1)

Publication Number Publication Date
JPH1160153A true JPH1160153A (en) 1999-03-02

Family

ID=16780987

Family Applications (1)

Application Number Title Priority Date Filing Date
JP22235197A Pending JPH1160153A (en) 1997-08-19 1997-08-19 Swing angle measuring device for hoisted load on crane

Country Status (1)

Country Link
JP (1) JPH1160153A (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10008235A1 (en) * 2000-02-16 2001-09-06 Mannesmann Ag Device for determining deflection angle of load pendulum motion has acceleration sensor whose output signal is multiplied by earth's acceleration correction factor to determine angle
JP2007511441A (en) * 2003-11-14 2007-05-10 シーメンス アクチエンゲゼルシヤフトSiemens Aktiengesellschaft System and method for swing control
JP2012111561A (en) * 2010-11-19 2012-06-14 Ube Machinery Corporation Ltd Crane run-out angle detection method and system and crane run-out stop control method and system
WO2013041770A1 (en) 2011-09-20 2013-03-28 Konecranes Plc Crane control
WO2014054318A1 (en) * 2012-10-03 2014-04-10 三菱重工マシナリーテクノロジー株式会社 Gravity center position detection device, gravity center position detection method, and program
WO2019167765A1 (en) * 2018-02-28 2019-09-06 オムロン株式会社 Simulation device, method, and program

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10008235A1 (en) * 2000-02-16 2001-09-06 Mannesmann Ag Device for determining deflection angle of load pendulum motion has acceleration sensor whose output signal is multiplied by earth's acceleration correction factor to determine angle
JP2007511441A (en) * 2003-11-14 2007-05-10 シーメンス アクチエンゲゼルシヤフトSiemens Aktiengesellschaft System and method for swing control
US7648036B2 (en) 2003-11-14 2010-01-19 Siemens Aktiengesellschaft Systems and methods for sway control
JP2012111561A (en) * 2010-11-19 2012-06-14 Ube Machinery Corporation Ltd Crane run-out angle detection method and system and crane run-out stop control method and system
WO2013041770A1 (en) 2011-09-20 2013-03-28 Konecranes Plc Crane control
US20140224755A1 (en) * 2011-09-20 2014-08-14 Konecranes Plc Crane control
EP2753568A4 (en) * 2011-09-20 2015-05-06 Konecranes Plc Crane control
US9108826B2 (en) 2011-09-20 2015-08-18 Konecranes Plc Crane control
WO2014054318A1 (en) * 2012-10-03 2014-04-10 三菱重工マシナリーテクノロジー株式会社 Gravity center position detection device, gravity center position detection method, and program
WO2019167765A1 (en) * 2018-02-28 2019-09-06 オムロン株式会社 Simulation device, method, and program

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