JPH1160158A - Control method of parallel running type cable crane - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control method of a parallel running type cable crane by which the cable crane can be automatically operated and controlled and the swing of a bucket can be effectively suppressed when a transverse trolley is accelerated and decelerated. SOLUTION: Using running travel amounts of a main tower 4 and an auxiliary tower 5, reeling out length of a transverse rope 10, reeling out length of a hoisting rope 11, running speeds of the main tower 4 and the auxiliary tower 5, and reeling out speeds of the transverse rope 10 and the hoisting rope 11 as calculation elements in accordance with a conveyance start position and a conveyance end position, the behaviors of the main tower 4, the auxiliary tower 5, a main rope 7, a transverse trolley 9, and a bucket 12 are analyzed to put operation patterns into models. When a cable crane 50 is operated, the operation pattern put in the model in accordance with set conditions is selected to automatically control the cable crane 50 in accordance with the operation pattern, and the swing of the bucket 12 is offset by feedback control when the transverse trolley 9 is accelerated and decelerated.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for controlling a parallel traveling cable crane, and more particularly, to a method for controlling a parallel traveling cable crane which can easily suppress the deflection 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.

[0003] In addition, for example, when concrete is to be cast over a wide range, a parallel traveling cable crane is employed so that the concrete bucket can be directly transported to each of the casting locations. In some cases.

As shown in FIG. 1, for example, such a parallel traveling type cable crane mainly travels along traveling paths 2 and 3 laid in parallel with a dam 1 to be constructed therebetween. Tower 4 and sub-tower 5, one end to main tower 4,
The other end is connected to the auxiliary tower 5 and the main rope 7 is stretched between them.
A trolley 9 that can travel along the main ropes 7,
The trolley 9 is constituted by a traversing cable 10 that pulls the trolley 9 and a bucket 12 suspended below the trolley 9 via a hanging cable 11.

Further, according to the parallel traveling type cable crane, the main tower 4 and the sub tower 5 are driven by the main tower traveling winch 13 and the sub tower traveling winch 14 to move the main tower 4 and the sub tower traveling winch 14 via the traveling cable 17. The trolley 9 reciprocates along the traveling paths 2 and 3 and the traversing rope 10
The bucket 12 reciprocated along the main rope 7 according to the unwinding amount of the traverse winch 15 for pulling the trolley 9, and the bucket 12 suspended below the traverse trolley 9 operates the longitudinal winch 16 to operate the suspension rope 11. Can be raised and lowered by winding and unwinding.

Further, each of these winches 13, 14,
15 and 16 are installed in the machine rooms 56, 57 and 55, and the respective winches 13, 14, 15, 16
Is controlled by a drive control device provided in an operation room 18 adjacent to the main tower 4.

[0007]

According to such a parallel traveling type cable crane, the main rope 4 and the sub-tower 5 are moved in parallel along the traveling paths 2 and 3 so that the main ropes 7 are flat. Since the position changes, the movement of the bucket becomes three-dimensional, and the swing of the bucket increases when traversing and traveling. Therefore, compared to a cable crane with fixed both ends, the planar position of the main rope does not change. Therefore, it is difficult to control when the bucket is moved from the transfer start position to the transfer end position.

[0008] Therefore, according to the conventional parallel traveling type cable crane, control is performed by manual operation through a signal between a skilled operator and a signaling man, so that an efficient transport operation can be performed. Therefore, there has been a demand for the development of a control method for automatically operating and controlling a cable crane, which 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 speed of the bucket, and the bucket is touched at a period corresponding to the length of the extension of the hanging cable, so that the swing is effectively stopped. It has been desired to develop a control method for causing the control.

In view of the above, the present invention has been made in view of such conventional problems, and can automatically control the operation of a parallel traveling cable crane.
It is an object of the present invention to provide a control method of a parallel traveling cable crane that can effectively suppress the deflection of a bucket during acceleration and deceleration of a traversing trolley.

[0011]

SUMMARY OF THE INVENTION The present invention has been made to achieve the above-mentioned object, and the gist of the invention is that a vehicle travels along a traveling path laid in parallel across a structure to be constructed such as a dam. A moving main tower and sub-tower, one end connected to the main tower, the other end connected to the sub-tower and stretched between them, and a traversing trolley that can travel along the main rope. A trolley towing the trolley, a bucket suspended below the trolley via a hanging cable, and a main tower traveling winch and a sub tower traveling winch for traveling in parallel with the main tower and the sub tower. A traverse winch for pulling the traverse cable to reciprocate the trolley trolley along the main rope; a traverse winch for winding and lowering the traction cable to raise and lower a bucket; and drive control of each winch. Parallel traveling cable crane with equipment A method of controlling a parallel traveling cable crane used when moving the bucket from a transfer start position to a transfer end position, wherein the main tower and the sub-tower are controlled according to the transfer start position and the transfer end position. The travel distance of the, the extension length of the traversing line, the extension length of the suspension line, the traveling speed of the main tower and sub-tower, and the extension speed of the traversing line and the suspension line as the calculation elements, the main tower, Analyzing the behavior of the subtower, the main rope, the traversing trolley, and the bucket to model a driving pattern,
When operating the cable crane, the modeled operation pattern is selected according to set conditions, and the cable crane is automatically controlled according to the operation pattern. A cable crane control method characterized by detecting the position and speed of a traversing trolley along the path and the swing angle and angular velocity of the bucket and canceling the swing of the bucket by feedback control.

Further, the control method according to the present invention, assuming that the main rope, the traversing rope, and the suspension rope are suspension curves, determines the behavior of the main tower, the sub tower, the main rope, the trolley, and the bucket. It is preferable to analyze and model the driving pattern.

Further, in the control method according to the present invention, the feedback control for canceling the swing of the bucket performed at the time of acceleration and deceleration of the traverse trolley is performed by accelerating or decelerating the traverse trolley in the same direction in a stepwise manner. It is preferable to carry out.

According to the control method of the present invention, the travel distance of the main tower and the sub-tower, the extension length of the transverse rope, The main tower, the sub-tower, the main rope, the traversing trolley, and the running length of the hanging line, the traveling speed of the main tower and the sub-tower, and the running speed of the traversing line and the hanging line as calculation elements. An operation pattern is modeled by analyzing the behavior of the bucket.

That is, given the position information and the weight information of the bucket, the main tower and the sub-tower corresponding to the position of the bucket are obtained from, for example, a static balance equation at the position of the trolley on the main rope. Travel distance of
Since the extension length of the transverse rope and the extension length of the suspension rope are calculated, the movement amount and the extension amount of each position of the bucket are obtained and stored as a database as necessary.

Since the swing of the bucket is related to the running speed of the main tower and the sub-tower, and the unwinding speed of the traversing line and the hanging line, an analysis is performed based on the equation of motion of the pendulum, and each stop position of the bucket is determined. In the above, a combination of the traveling speed of the main tower and the sub-tower and the unwinding speed of the traversing line and the hanging line for preventing the bucket from swaying is calculated and stored as a database as necessary.

Further, data such as differences in the maximum unreeling speed of each of the ropes including the traveling ropes, the location conditions of the transport start position and the transport end position, and obstacles are analyzed and stored as a database as necessary.

According to the control method of the present invention, the operation pattern of the main tower, the sub-tower, the main rope, the traversing trolley, and the bucket is analyzed based on the above-described calculation results. Is modeled.

That is, the position corresponding to each bucket position
Since the travel distance of the main tower and sub-towers and the length of unwinding of the traversing lines and suspension lines are calculated, the behaviors of the main tower, sub-towers, main ropes, and traversing trolleys can be easily known. While controlling the travel distance of the main tower and sub tower, the extension amount of the traversing line and the hanging line so that the position of the bucket is continuous between each transfer start position and the transfer end position, at each stop position after operation, Controlling the running speed of the main tower and sub-tower, and the unwinding speed of traversing and hanging ropes to suppress bucket runout.Easily find modeled operating patterns and save them as a database as necessary. Can be kept.

According to the control method of the present invention, when the cable crane is operated, the travel distance of the main tower and the sub-tower, the extension length of the transverse rope, the extension length of the suspension rope, the main tower and the sub- The traveling speed of the tower, and the unwinding speed of the traversing line and the hanging line are determined in advance as calculation elements.From the modeled operation pattern, the transfer start position, the transfer end position, the weight of the concrete loaded bucket, etc. By selecting the optimal operation pattern according to the set conditions, according to this operation pattern, by controlling the main tower traveling winch, the auxiliary tower traveling winch, the transverse winch, and the vertical winch,
While automatically controlling the operation of the parallel traveling cable crane, when the trolley accelerates and decelerates,
The feedback control performs control to offset the swing of the bucket.

When setting conditions such as a transfer start position, a transfer end position, a bucket weight and the like are set, an operation pattern is calculated, and each winch is controlled in accordance with the calculated operation pattern to automatically perform parallel operation. Operational control of a traveling cape crane can also be performed.

That is, according to the control method of the present invention,
By controlling in accordance with the modeled operation pattern, the parallel traveling cable crane can be automatically operated with high precision toward the final stop position, and the swing of the bucket during the acceleration and deceleration of the traverse trolley is feedback controlled. Thus, the operation can be performed while suppressing the movement more effectively.

If the main line, the transverse line, and the suspension line are assumed to be suspension curves, and the operation pattern is modeled, an operation pattern that can perform more accurate positioning and steady rest can be easily obtained. Obtainable.

[0024]

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 overall configuration of a parallel traveling cable crane employing the control method of this embodiment. The parallel traveling cable crane 50 is provided for constructing the dam 1 by casting concrete in a mountain valley, and the traveling paths 2 are laid in parallel with the construction site of the dam 1 therebetween. A main tower 4 and a sub-tower 5 that travel along the main tower 3; a main rope 7 connected at one end to the main tower 4 and the other end to the sub-tower 5; A trolley 9 that can travel along the trolley 9, 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.

In addition, according to the parallel traveling type cable crane 50, the main tower 4 and the sub tower 5 are composed of the main tower traveling winch 13 and the sub tower traveling winch 14 for moving them.
, The trolley 9 reciprocates along the traveling paths 2 and 3 via the traveling cable 17, and the traversing trolley 9 moves the main rope 7 in accordance with the unwinding amount of the traversing winch 15 that pulls the traversing cable 10. Reciprocating along the trolley 9
The bucket 12 suspended below the vertical winch 16
Is operated to take up and lower the suspension cable 11,
It can be raised and lowered.

Further, these main tower traveling winches 13,
The sub tower traveling winch 14, the transverse winch 15, and the vertical winch 16 are installed in the machine rooms 56, 57, 55, and these winches 13, 14, 15, 16 are
The drive is controlled by a drive control device provided in an operation room 18 adjacent to the main tower 4.

That is, each winch 1 is placed in the operation room 18.
There are provided drive control devices 3, 14, 15, and 16, a driving console, a computing unit including a computer for computing and analyzing a driving pattern and storing data, a wireless device, and the like.

On the other hand, a track 22 is laid on the flat surface on the mountain side where the main tower 4 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 traveling paths 2 and 3 constituting the parallel traveling cable crane 50 of this embodiment are supported on a support base 30 as a concrete structure constructed as a pair of concrete structures on both sides of the planned construction site of the dam 1. The main girder is composed of fixed girder supporting and fixed at both ends of the main girder. The main girder 4 or the sub-girder 5 assembled from various steel materials are provided on the fixed girder forming the traveling paths 2 and 3 so as to be slidable. Running cable 17 arranged along the fixed girder
The main tower 4 and the sub tower 5 are driven by the main tower traveling winch 13 or the sub tower traveling winch 14 installed in the machine chambers 56 and 57 so that the main tower 4 and the sub tower 5 are synchronized with each other. , 3 in parallel.

The main rope 7 is made of a wire rope,
One end is connected to the main tower 4 and the other end is connected to the sub-tower 5, respectively, and is stretched above the site where the dam 1 is to be constructed, and along the running paths 2 and 3 of the main tower 4 and the sub-tower 5. With the synchronous movement, the dam 1 moves in parallel so as to cover the entire area where the dam 1 is to be constructed.

Further, 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 the sub tower 5 and a guide pulley 32 attached to the main tower 6. Thereafter, the trolley 9 is wound around the traverse winch 15 in an endless manner. The trolley 9 can be slid to any position along the main rope 7 by being driven by the traverse winch 15.

Further, one end of the suspension cable 11 is fixed to the sub-tower 5 and wound around a suspension pulley 34 at the upper end of the bucket 12 via suspension cable pulleys 33 provided on both sides of the traverse trolley 9. After that, it is wound around a vertical winch 16 via a guide pulley 35 attached to the main tower 6, and by rotating the vertical winch 16, the suspension cable 11 is taken up and lowered, and the bucket 12 is moved. It is designed to be raised and lowered.

The horizontal winch 15, the vertical winch 16, the main tower running winch 13, and the sub tower running winch 14 for pulling the ropes 10, 11, 17 are respectively
The vehicle includes a drum, a motor, a brake, a speed reducer, a control device, and the like. 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.

It should be noted that the bunker section 20 at the transfer start position
A bottom contact confirmation switch for detecting the bottom of the bucket 6;
An area sensor for controlling the bucket 6 at the time of landing, a control panel used for discharging concrete from the transfer car 23 to the bucket 12 and the like are arranged, and the bucket 12 is automatically and accurately landed on the bunker section 20. The work of putting concrete from the transfer car 23 into the bucket 12 can be easily performed.

In the lower part of the bucket 12, a gate which is opened / closed by a hydraulic cylinder (not shown), a limit switch for opening / closing detection, 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. The values detected by the sensors and detectors are used to drive the operation room 18 through the control panel and the radio. Transferred to the control unit.

According to the control method of this embodiment, the travel distance of the main tower 4 and the sub-tower 5, the extension length of the transverse cable 10, the extension length of the suspension rope 11, the main tower 4 and the sub-tower 5
The operation speed of the main tower 4, the sub-tower 5, the main rope 7, the trolley 9, and the bucket 12 is analyzed using the traveling speed of the vehicle and the unwinding speed of the traversing line 10 and the hanging line 11 as a calculation element to model an operation pattern. When operating the cable crane 50, the modeled operation pattern is selected according to the set conditions, and the cable crane 50 is automatically controlled according to the operation pattern.

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 18, for example, the static position at the contact point such as the disposition position of the traversing trolley 9 on the main rope 7. From the balance equation, the travel distance of the main tower 4 and the auxiliary tower 5 corresponding to each position of the bucket 12, the extension length of the transverse cable 10, and the extension length of the suspension cable 11 are calculated, and the equation of motion of the pendulum is calculated. The main tower 4 and the sub-tower 4 are used to prevent the bucket 12 from swaying at each stop position of the bucket 12 such as a bunker portion 20 which is a transfer start position and a concrete placing position which is a transfer end position. Since the combination of the traveling speed of the tower 5 and the unwinding speed of the transverse cable 10 and the hanging cable 11 is analyzed, the operation pattern is modeled from these analysis results. Save this data to the arithmetic unit.

When 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 main tower 4 and the main tower 4 are taken into consideration in each block in consideration of steadying. The traveling amount of the sub-tower 5, the extension amount of the transverse cable 10, the extension amount of the suspension cable 11, the traveling speed of the main tower 4 and the sub-tower 5, and the extension speed of the transverse cable 10 and the suspension cable 11 are analyzed.

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

Further, in this embodiment, when the driving pattern is modeled, the main rope 7, the transverse rope 10, and the suspension rope 1
By performing the analysis assuming that 1 is a suspension curve,
An operation pattern that can perform accurate positioning and steady rest can be easily obtained.

In modeling such an operation pattern, it is necessary to take into consideration the difference in the maximum feeding speed of each rope, the location conditions of the transfer start position and the transfer end position, and various conditions such as obstacles. . For example, the maximum traveling speed of the main tower 4 and the auxiliary tower 5 along the traveling paths 2 and 3 due to the towing of the traveling cable 17 is larger than the maximum traveling speed of the traversing trolley 9 along the main cable 7 due to the towing of the traveling cable 10. Therefore, it is necessary to model an operation pattern in consideration of such a difference in speed.

On the other hand, the calculation section of the operation room 18 has a function of calculating a control amount and a timing for canceling the swing according to the swing angle and the angular velocity of the bucket 12 when the transverse trolley 9 is accelerated and decelerated. With this function, the bucket 12 is controlled by feedback control.
Offset the swing.

Here, the driving pattern of the trolley 9 along the main ropes 7 is such that the vehicle accelerates from the start coordinates, then reaches a constant speed, and then decelerates to 0 in the target coordinates as shown in FIG. The pattern is generally set. On the other hand, the lifting speed Vz of the bucket 12
Is set to an operation pattern according to the operation turn of the traversing trolley 9 as shown in FIG.

The operation patterns shown in FIGS. 2 (a) and 2 (b)
During acceleration, at the end of acceleration, at the start of deceleration, and at the time of stoppage, a swing occurs due to a delay in the response of the speed of the bucket 12 to the traverse trolley 9, but the arithmetic unit determines the swing angle and angular velocity at these specific times during acceleration / deceleration. Then, a feedback control amount and a timing for canceling out the shake corresponding to are calculated. Therefore, by performing the feedback control for canceling such a vibration, FIG.
The operation patterns (a) and (b) actually draw not a straight line but a step-like trajectory during acceleration / deceleration.

FIGS. 3 and 4 show a control procedure when the traverse trolley 9 is accelerated, the speed and the bucket 1 according to the control contents.
2 shows the relationship with the state of shake.

As shown in FIG. 3, when the acceleration of the trolley 9 is completed after the start of operation, the position of the trolley 9
The speed, the swing angle and the angular velocity of the bucket 12 are input, and these values are applied to a predetermined equation of motion for steadying to calculate a control voltage for steadying, calculate a control start time, and wait for control until starting. The state is set (steps 101 to 107). The position and speed of the traverse trolley 9 are given by an encoder and a speedometer of the traverse winch 15, and the swing angle and angular velocity of the bucket 12 are measured by a gyro-type swing angle detector provided on the bucket 12 and operated through a wireless device. It is transferred to the drive control device of the chamber 17.

In this state, as shown in FIG. 4A, assuming that the time when the speed of the traversing trolley 9 reaches the constant speed v1 from the start of operation is t1, the bucket 12 swings due to a response delay, and the swing width v2 A pendulum-shaped sinusoidal curve that swings to the left and right is shown, and its cycle is constant if the length of the hanging cable 11 is constant, and has the maximum amplitude.

Accordingly, a point in time t2 at which v2 = 0 is obtained after time t1, and from this point, v2 = m
By applying the acceleration corresponding to ax for a predetermined time, the shake is canceled.

Therefore, when the start time t2 has come, the primary feedback control is started, a control voltage for acceleration is applied to the traverse trolley 9 to the drive control device, and the resulting swing condition is measured. Is calculated. If the result is within the allowable value, the feedback control ends (steps 108 and 109).

FIG. 4B shows a state in which the primary feedback control has been performed until time t3. During this time (time t2
If v2 = max <permissible value in the period from t3 to t3), the feedback control ends.

On the other hand, if it exceeds the allowable value, the secondary feedback start time t4 is calculated by the same procedure as described above.
The control voltage output in step 09 is applied for a predetermined time, and the shake is measured (steps 110 to 114).

FIG. 4C shows a state in which the secondary feedback control has been performed. Also during this time (time t3 to t4
If v2 = max <permissible value in (interval), the feedback control ends, but if it exceeds the permissible value,
The process returns to step 110 again until the value converges to the allowable value, and the same feedback control is repeated.

The control at the time of deceleration is the same, but the control direction is different, and the run-out is canceled by the stepwise deceleration pattern.

It is desirable that the position at which the swinging is completely stopped is the concrete pouring position as the transfer end position. However, by applying feedback control, the trolley 9 is not enough to reach the actual target position. Since there is a case where the vehicle does not move or goes too far, after the control is completed, the transfer operation is completed by correcting the position by moving at a very low speed, the gate is opened, the concrete is discharged, and the entire operation on the outward path is completed.

Similarly, on the return path, the bucket 12 is fine-adjusted after the feedback control so that the bucket
And then the bucket 12 and the bunker 2
After the vertical and horizontal automatic fine adjustment operations in accordance with the detection values of the ultrasonic area sensor provided at 0, the robot landed on the bunker section 20 and again enters the concrete receiving standby state.

When the main tower 4 and the sub-tower 5 move along the traveling paths 2 and 3 and the bucket 12 swings to a degree that cannot be ignored in the direction perpendicular to the direction in which the main ropes 7 extend. , The position and speed of the main tower 4 and the sub-tower 5 and the bucket 12
The swing angle and angular velocity of the bucket can be detected, and the swing of the vertical bucket can be canceled by the feedback control in the same manner as the above-described method for the swing along the main ropes 7.

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 calculation unit, the calculation unit stores the target block. An optimal operation pattern is selected from the operation patterns of the main tower 4 and the sub-tower 5 to the target point, and the transverse rope 10 and the suspension rope 11
Is calculated as a function of time and stored in the memory of the computer.

In the drive control device, the main tower traveling winch 13, the auxiliary tower traveling winch 14, and the traverse winch 1 based on the operation pattern information from the arithmetic unit stored in the memory.
5, and an instruction is given to the control device of the vertical winch 16 to control the feeding speed of each winch to perform automatic operation from the start position to the target position in consideration of the steady rest.

Also, 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. The swing of the bucket 12 is canceled by feedback control based on the detection result.

Therefore, according to the control method of this embodiment, it is possible to automatically control the operation of the parallel traveling type cable crane 50 according to the modeled operation pattern, and at the time of acceleration and deceleration of the transverse trolley 9. By canceling the swing of the bucket 12 by the feedback control, the stop accuracy can be easily improved.

[0063]

As explained in detail in the above embodiments, according to the control method of the cable crane according to the present invention, the traveling distance of the main tower and the sub tower, the traverse, The main tower, sub-tower, main rope,
Analyzing the behavior of the traversing trolley and bucket to model the operation pattern, when operating a cable crane,
The modeled operation pattern is selected according to the set conditions, the cable crane is automatically controlled according to the operation pattern, and the position and speed of the trolley along the main rope during acceleration and deceleration of the trolley. And the swing angle and angular velocity of the bucket are detected and the swing of the bucket is canceled by the feedback control, so that the parallel traveling type cable crane can be automatically operated and controlled at the time of acceleration and deceleration of the traverse trolley. The deflection of the bucket can be effectively suppressed.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing an overall configuration of a parallel traveling cable crane employing a control method of the present invention.

FIGS. 2A and 2B are schematic diagrams showing program contents.

FIG. 3 is a flowchart showing a feedback control procedure at the time of accelerating a bucket.

FIGS. 4A to 4C are explanatory diagrams showing the relationship between bucket runout and speed during the same control.

[Explanation of symbols]

 DESCRIPTION OF REFERENCE NUMERALS 1 dam 2, 3 travel path 4 main tower 5 sub tower 7 main rope 9 traversing trolley 10 traversing rope 11 suspension rope 12 bucket 13 main tower traveling winch 14 sub tower traveling winch 15 transverse winch 16 vertical winch 17 traveling rope 18 operation room 18 Drive control device 20 Bunker part (transfer start position) 50 Parallel traveling cable crane

Claims (3)

[Claims] 1. A main tower and a sub-tower traveling along a traveling path laid in parallel across a structure to be constructed such as a dam, and one end is connected to the main tower, and the other end is connected to the sub-tower. A main trolley stretched therebetween, a trolley traversable along the main rope, a traverse rope for towing the trolley, and a suspension trolley below the trolley via a suspension rope. A bucket, a main tower traveling winch and a sub tower traveling winch for traveling and moving the main tower and the sub tower in parallel, and a traverse winch for pulling the traversing rope and reciprocating the traversing trolley along the main rope. A parallel traveling type cable crane comprising: a vertical winch for winding and unwinding the hoisting line to raise and lower a bucket; and a drive control device for each winch.
A method of controlling a parallel traveling cable crane used when moving the bucket from a transfer start position to a transfer end position, wherein the traveling movement of the main tower and the sub-tower according to the transfer start position and the transfer end position. The main tower, the sub-tower as the calculation elements of the amount, the extension length of the transverse cable, the extension length of the suspension cable, the traveling speed of the main tower and the sub-tower, and the delivery speed of the transverse cable and the suspension cable. Analyzing the behavior of the main rope, the traversing trolley, and the bucket to model an operation pattern, and when operating the cable crane, selecting the modeled operation pattern according to set conditions, The cable crane is automatically controlled according to this operation pattern, and the position and speed of the trolley along the main rope and the bucket are set when the trolley is accelerating and decelerating. The method of the cable crane, characterized in that the deflection angle and offset detected and shake the bucket by feedback controlling the angular velocity. 2. Assuming that the main rope, the traversing rope, and the suspension rope are suspension curves, the main tower, the sub tower, the main rope,
The method for controlling a parallel traveling cable crane according to claim 1, wherein the operation pattern is modeled by analyzing the behavior of the trolley and the bucket. 3. The feedback control for canceling the swing of a bucket performed during acceleration and deceleration of the traverse trolley is performed by accelerating or decelerating the traverse trolley in the same direction in a stepwise manner. The control method for a parallel traveling cable crane according to claim 1.