JPWO2020144762A1 - Motor control device - Google Patents

Abstract

The present invention is a motor control device (1) for controlling a motor (21) for moving a transport unit of a crane (2), and a first operation and a transport unit for starting the movement of the transport unit. A command generator (11) that generates a speed command for the motor (21) based on a second operation for stopping, and a first operation for the crane (2) based on the speed command before the correction is performed. After the transport unit starts moving by ) Is provided with a stop position calculation unit (16).

Description

The present invention relates to a motor control device that controls a motor that moves a carriage of a crane.

A crane device such as a hoist type crane and a club trolley type crane that suspends a load on a rope suspended from a trolley and moves such as traversing or traveling is called an overhead traveling crane. The trolley provided in the overhead traveling crane is a device for transporting hoists, trolleys, and other hoisting machines.

Not limited to overhead traveling cranes, the operating system of cranes is generally speed controlled. The operator accelerates / decelerates the crane by operating the lever or button to which the acceleration / deceleration signal is assigned.

When the bogie is moved according to a speed command having acceleration / deceleration in the traversing and running operation of the overhead traveling crane, vibration is generated in the cargo as the bogie moves. If the vibration remains even after the dolly is stopped, the tact time increases and it becomes a safety problem. Therefore, various vibration damping control techniques have been proposed for the purpose of suppressing the vibration remaining even after the bogie is stopped.

For example, Patent Document 1 describes a container transport crane provided with a notch filter for removing a vibration component in a specific frequency range from an operation signal for a drum for feeding and winding a wire for lifting a container and suppressing vibration. Has been done.

JP-A-2007-223745

However, when vibration suppression is performed using a notch filter, there is a problem that operability is hindered depending on the operator. The speed command when the notch filter is applied has a delay in the time to reach the target speed (also referred to as the settling time) as compared with the case where the notch filter is not applied. That is, when the notch filter is applied, the moving speed of the carriage of the crane changes more slowly during acceleration / deceleration than when the notch filter is not applied. Therefore, the moving distance from the operation of stopping the crane carriage to the actual stop of the crane carriage is longer when the notch filter is applied than when the notch filter is not applied. Therefore, if an operator who is accustomed to the operation before applying the notch filter operates the crane after applying the notch filter as if he / she had worn it, the dolly will stop behind the stop position predicted by the operator.

The present invention has been made in view of the above, and an object of the present invention is to obtain a motor control device capable of improving the operability of a crane operator.

In order to solve the above-mentioned problems and achieve the object, the present invention is a motor control device for controlling a motor for moving a transport unit of a crane, and the first invention is for starting the movement of the transport unit. A command generator that generates a speed command to the motor based on the operation and a second operation to stop the transport unit, and a transport unit by the first operation on the crane based on the speed command before the correction is made. A stop position calculation unit that calculates the movement distance of the transport unit from the start of movement until the transport unit starts decelerating by the second operation on the crane and stops, and displays the calculated movement distance on the display device. , Equipped with.

The motor control device according to the present invention has an effect that the operability when the operator operates the crane can be improved.

The figure which shows the structural example of the motor control device which concerns on Embodiment 1 of this invention. The figure for demonstrating the command stop distance used in the motor control device which concerns on Embodiment 1. The first figure for demonstrating the process of generating a command stop distance by a command stop distance generation part. FIG. 2 for explaining the process of generating the command stop distance by the command stop distance generation unit. The figure which shows the structural example of the motor control device which concerns on Embodiment 2 of this invention. The figure which shows the structural example of the motor control device which concerns on Embodiment 3 of this invention. The figure which shows an example of the hardware composition of the motor control device which concerns on this invention.

Hereinafter, the motor control device according to the embodiment of the present invention will be described in detail with reference to the drawings. The present invention is not limited to this embodiment.

Embodiment 1.
FIG. 1 is a diagram showing a configuration example of a motor control device according to a first embodiment of the present invention. The motor control device 1 according to the first embodiment includes a command generator 11, a notch filter 12, a differentiator 13, a subtractor 14, a motor controller 15, and a stop position calculation unit 16. The stop position calculation unit 16 includes an integrator 161, a command stop distance generation unit 162, an adder 163, and a translation converter 166.

The motor control device 1 is a device that controls the motor 21 that constitutes the crane 2. In addition to the motor 21, the crane 2 includes a position detector 22 that detects the position of the motor 21. The crane 2 is an overhead traveling crane, and is provided with a trolley that moves by driving a motor 21. In addition, in FIG. 1, the description of the carriage provided in the crane 2 is omitted.

Here, the operator operates the crane with a positional image such as how many meters the crane carriage wants to move and where it wants to stop. If the operator is accustomed to operating a crane connected to a motor controller without a notch filter, operating the crane connected to a motor controller with a notch filter will cause the operator to see the actual movement of the trolley. It is difficult to stop at the target position because it is different from the memorized movement. Therefore, in the motor control device 1 according to the first embodiment, as a means for the operator to grasp the timing for starting the deceleration of the crane 2, the trolley is stopped when the trolley is started to decelerate by performing the stop operation at the current time. The total distance traveled until the vehicle stops is calculated and notified to the operator. The total moving distance here is the moving distance from the start of movement of the dolly to the stop of the movement, that is, the dolly is moved by the second operation of the operator after the dolly starts moving by the first operation of the operator. This is the distance that the dolly moves between the start of deceleration and the stop. As a result, even an operator who is accustomed to operating a crane connected to a motor control device to which a notch filter is not applied can stop the trolley at a target position. For example, when the operator wants to move the carriage by 10 m, the operator may stop the carriage when the total travel distance notified from the motor control device 1 reaches 10 m to start deceleration of the carriage.

Returning to the description of FIG. 1, the command generator 11 of the motor control device 1 is connected to the operation unit 3 that receives the operation of the crane 2 by the operator. The operation unit 3 is configured to include an operation lever or the like operated by an operator. When the operation unit 3 receives the operation, the operation unit 3 outputs an acceleration / deceleration signal corresponding to the operation content. The acceleration / deceleration signal is a signal for instructing the movement and stop of the carriage, which is the transport unit of the crane 2, and is, for example, '1' when instructing the movement of the carriage and '0' when instructing the stop of the carriage. It is a signal that becomes. Although the operation unit 3 is provided outside the motor control device 1 in FIG. 1, the motor control device 1 may be provided with the operation unit 3. The operation received from the operator by the operation unit 3 includes a first operation for starting the movement of the carriage of the crane 2 and a second operation for stopping the carriage of the crane 2.

The command generator 11 generates a speed command _x'ref based on the acceleration / deceleration signal and outputs it to the notch filter 12, the integrator 161 and the command stop distance generator 162.

The notch filter 12 corrects the speed command input from the command generator 11, and outputs the corrected speed command _x'crr to the subtractor 14. The notch filter 12 has the vibration frequency of the crane 2 set to the notch frequency, and corrects the speed command by removing the vibration frequency component of the crane 2 from the input speed command to generate the corrected speed command. That is, the notch filter 12 is a correction unit that corrects the speed command for the motor 21 and generates a correction speed command.

The subtractor 14 subtracts the actual motor speed _x'real input from the differentiator 13 from the correction speed command to generate a speed deviation _x'err, and outputs the speed deviation _x'err to the motor controller 15.

The motor controller 15 generates a motor voltage V that makes the speed deviation 0 based on the speed deviation input from the subtractor 14, and applies the motor voltage V to the motor 21 of the crane 2. The motor controller 15 applies the motor voltage V to the motor 21 to move the trolley (not shown) of the crane 2.

The position detector 22 of the crane 2 detects the position of the motor 21, that is, the position of the rotor of the motor 21, and outputs the detection result to the differentiator 13 as the actual motor position x _real .

The differentiator 13 differentiates the input motor actual position to obtain the motor actual speed _x'real , and outputs the motor to the subtractor 14.

The stop position calculation unit 16 of the motor control device 1 is the operator's first with respect to the stopped crane 2 based on the speed command input from the command generator 11, that is, the speed command before the correction is performed by the notch filter 12. The moving distance of the trolley from the start of movement of the trolley of the crane 2 by the operation of 1 until the trolley of the crane 2 starts decelerating by the second operation of the operator with respect to the moving crane 2 and then the trolley stops. Is calculated. The stop position calculation unit 16 outputs the calculated movement distance to the monitor 4. The monitor 4 is a display device such as a liquid crystal monitor or a display. Further, in the present embodiment, an example in which the motor control device 1 and the monitor 4 are separately configured is shown, but an integrated configuration, that is, a configuration in which the motor control device 1 includes the monitor 4 may be used. The stop position calculation unit 16 starts the calculation of the movement distance when the speed command input from the command generator 11 becomes a value other than 0 to 0, and ends the calculation when the speed command becomes 0. The moving distance calculated by the stop position calculation unit 16 is the bogie stop position P _ref stop, which will be described later.

In the stop position calculating unit 16, the integrator 161 calculates the position command x _ref by integrating the speed command input from the command generator 11 outputs a position command x _ref obtained to the adder 163.

The command stop distance generation unit 162 generates a command stop distance d _ref based on the speed command input from the command generator 11, and outputs the generated command stop distance d _ref to the adder 163.

Here, the command stop distance d _ref will be described. FIG. 2 is a diagram for explaining a command stop distance used in the motor control device 1 according to the first embodiment. In FIG. 2, the solid line is the speed command output by the command generator 11, and shows the speed command before the correction is performed by the notch filter 12. Further, the broken line indicates the correction speed command output by the notch filter 12. The area of the triangular portion indicated by the diagonal line downward to the right is the command stop distance d _ref . That is, as shown in FIG. 2, the command stop distance d _ref starts deceleration when the motor 21 is controlled according to the speed command before the correction is performed by the notch filter 12 to stop the carriage of the crane 2. This is the distance that the dolly moves between the time it stops and the time it stops. In other words, the command stop distance d _ref is a case where the motor control device 1 controls the motor 21 and stops the carriage of the crane 2 when the notch filter 12 is deleted (the configuration does not include the notch filter 12). Is the moving distance of the dolly from the start of deceleration to the stop of deceleration.

In FIG. 2, the area of the S1 portion shown by the diagonal line rising to the right on the side where the crane speed increases is the moving distance during acceleration when the crane carriage accelerates according to the speed command shown in FIG. 2, and FIG. It represents the difference from the moving distance during acceleration when the crane carriage accelerates according to the corrected speed command shown. The area of the S2 portion shown by the diagonal line rising to the right on the side where the crane speed decreases is the moving distance during deceleration when the crane carriage decelerates according to the speed command shown in FIG. 2, and is shown in FIG. Represents the difference from the moving distance during deceleration when the trolley of the crane decelerates according to the correction speed command.

Here, the area of the S1 portion depends on the difference between the increase amount of the speed command per hour and the increase amount of the correction speed command, and this difference in the increase amount is corrected by removing a specific frequency component from the speed command. It occurs when a speed command is generated. That is, the area of the S1 portion is determined by the frequency component removed by the notch filter 12. Further, the area of the S2 portion depends on the difference between the amount of decrease in the speed command per hour and the amount of decrease in the correction speed command, and the difference in the amount of decrease depends on the correction speed by removing a specific frequency component from the speed command. It occurs when a command is generated. That is, the area of the S2 portion is also determined by the frequency component removed by the notch filter 12. As described above, the area of the S1 portion and the area of the S2 portion are determined by the frequency component removed by the notch filter 12. Since the frequency component removed by the notch filter 12 from the speed command when the crane carriage accelerates and the frequency component removed by the notch filter 12 from the speed command when the crane carriage decelerates are the same, the S1 portion. The area of and the area of the S2 portion are the same. This is the time required from the start of movement of the carriage of the crane 2 until the movement speed reaches the upper limit value in the case of the configuration including the notch filter 12 and as compared with the case of the configuration without the notch filter 12. , The time required from the start of deceleration to the stop is longer, but if the time from the start of movement of the carriage to the start of deceleration is the same, the configuration including the notch filter 12 and the notch filter 12 It means that the moving distance of the dolly does not change regardless of the configuration without the above. That is, when the operator operating the motor control device 1 according to the first embodiment including the notch filter 12 stops the crane 2 at the current time, the position where the trolley of the crane 2 stops (the trolley starts moving). The moving distance from the crane to the stop) means that it can be calculated based on the speed command before the correction is performed by the notch filter 12.

Note that FIG. 2 shows that the area of the S1 portion and the area of the S2 portion are equal to each other when the acceleration section ends, the maximum speed is reached, and deceleration is started while the trolley is moving at a constant speed. However, since the DC component of the notch filter 12 is 1, the area of the portion corresponding to the S1 portion and the S2 portion of FIG. 2 also correspond to the case where the stop operation is performed during acceleration to shift to the deceleration state. The area of the part will be the same. The area of the portion corresponding to the S1 portion in FIG. 2 is the moving distance during acceleration when the carriage of the crane accelerates according to the speed command before the correction is performed by the notch filter, and the area after the correction is performed by the notch filter. This is the difference from the moving distance during acceleration when the carriage of the crane accelerates according to the speed command (corrected speed command). The area corresponding to the S2 portion in FIG. 2 is the moving distance during deceleration when the crane carriage decelerates according to the speed command before the correction is performed by the notch filter, and the area after the correction is performed by the notch filter. This is the difference from the moving distance during deceleration when the crane carriage decelerates according to the speed command (corrected speed command).

The command stop distance becomes a constant value after the moving speed of the trolley of the crane 2 reaches the upper limit value, but before the moving speed of the trolley of the crane 2 reaches the upper limit value, that is, when the trolley is accelerating, The value corresponds to the moving speed when the dolly starts decelerating. Therefore, the command stop distance generation unit 162 generates the command stop distance as follows.

FIG. 3 is a first diagram for explaining a command stop distance generation process by the command stop distance generation unit 162. The area of the shaded area shown in FIG. 3 indicates the command stop distance after the moving speed of the carriage of the crane 2 reaches the upper limit value. In t _d shown in FIG. 3, when the notch filter 12 is deleted (the notch filter 12 is not provided), the motor control device 1 controls the motor 21 and the moving speed of the carriage of the crane 2 is the upper limit value. Indicates the deceleration time, which is the time required from when the bogie starts decelerating to when it stops when the speed reaches. Further, W _max indicates the maximum speed of the dolly, that is, the upper limit of the moving speed of the dolly.

When the carriage of the crane 2 is moving at the maximum speed, the command stop distance generation unit 162 calculates the command stop distance d _ref according to the following equation (1). The command stop distance generation unit 162 calculates the moving speed of the carriage of the crane 2 based on the speed command, and determines whether or not the moving speed is the upper limit value. It is assumed that the command stop distance generation unit 162 holds in advance the data of the maximum speed W _max indicating the upper limit value of the moving speed.

FIG. 4 is a second diagram for explaining the command stop distance generation process by the command stop distance generation unit 162. The area of the shaded area shown in FIG. 4 indicates the command stop distance when deceleration is started when the moving speed of the carriage of the crane 2 is less than the upper limit value. In t _dx shown in FIG. 4, when the notch filter 12 is deleted (the notch filter 12 is not provided), the motor control device 1 controls the motor 21 and the moving speed of the carriage of the crane 2 is the upper limit value. Indicates the deceleration time, which is the time required from when the bogie starts decelerating to when it stops before reaching. Incidentally, it is assumed that the truck starts to decelerate at the current time t _c. W (t _C ) indicates the moving speed of the dolly at the current time. Similar to FIG. 3, t _d is a state in which the motor control device 1 controls the motor 21 and the moving speed of the trolley of the crane 2 reaches the upper limit value when the notch filter 12 is deleted. The deceleration time, which is the time required from the start of deceleration to the stop, is shown. W _max indicates the maximum speed of the bogie, that is, the upper limit of the moving speed of the bogie, as in FIG.

When the bogie of the crane 2 is moving at a speed other than the maximum speed W _max shown in FIGS. 3 and 4, the command stop distance generation unit 162 calculates the command stop distance d _ref according to the following equation (2). From FIGS. 3 and 4, t _dx : t _d = W (t): W _max is established, and the equation (2) is derived from this relationship. Further, the case where the carriage of the crane 2 is moving at a speed other than the maximum speed W _max is the case where the carriage of the crane 2 is accelerating.

In this way, the command stop distance generation unit 162 calculates the command stop distance d _ref according to the equation (1) or the equation (2) according to whether or not the carriage of the crane 2 is moving at the maximum speed, and the adder. Output to 163. The command stop distance generation unit 162 holds the command stop distance d _ref when the trolley of the crane 2 is moving at the maximum speed, and holds the command stop distance d _ref when the trolley of the crane 2 is moving at the maximum speed. The command stop distance d _ref may be output to the adder 163.

The adder 163 calculates the stop position x _refstop by adding the position command input from the integrator 161 to the command stop distance input from the command stop distance generation unit 162, and outputs the stop position x _refstop to the translation converter 166. The stop position x _refstop indicates the stop position of the rotor of the motor 21.

Returning to the description of FIG. 1, the translation converter 166 is based on the stop position input from the adder 163, and the stop position of the carriage of the crane 2 when the operator performs the stop operation at the current time, that is, the motor control. The movement of the trolley from when the device 1 receives the operation of starting the movement of the crane 2 and the trolley starts moving until the trolley starts decelerating by receiving the operation of stopping the crane 2 and the trolley stops. Calculate the dolly stop position P _ref stop indicating the distance. The translation converter 166 outputs the bogie stop position _Prefstop to the monitor 4 to display the bogie stop position. The monitor 4 displays, for example, the bogie stop position _Prefstop numerically. In this case, when the monitor 4 receives the operation of stopping the crane 2 at the current time, the movement distance from the start to the stop of the movement of the dolly of the crane 2 is "the movement from the start to the stop of the movement". It is displayed with contents such as "distance XX m". The operator of the crane 2 can stop the dolly at a desired position by checking the monitor 4 and performing a stop operation when the displayed moving distance reaches the desired distance to move the dolly.

As described above, the motor control device 1 according to the present embodiment controls the motor 21 of the crane 2 based on the speed command after the correction for removing the vibration frequency component of the crane 2 is performed by the notch filter 12. Further, the crane stop position is calculated and output to the monitor 4 based on the speed command before the correction is performed by the notch filter 12. As a result, even an operator who is accustomed to operating the crane 2 using the motor control device corresponding to the motor control device 1 having a configuration not provided with the notch filter 12 can use the trolley of the crane 2 using the motor control device 1. It becomes easy to stop the crane at the target position. Further, even a new operator who is not accustomed to the operation can easily stop the dolly of the crane 2 at a target position. Therefore, the motor control device 1 can improve the operability when the operator operates the crane 2.

Embodiment 2.
FIG. 5 is a diagram showing a configuration example of the motor control device according to the second embodiment of the present invention. Similar to the motor control device 1 according to the first embodiment, the motor control device 1a according to the second embodiment calculates a dolly stop position _Prefstop indicating a movement distance from the start to the stop of the dolly included in the crane 2. Further, when the operation of stopping the crane 2 is accepted, the dolly deceleration movement distance P _{real stop} indicating the distance that the dolly moves between the time when the dolly provided by the crane 2 starts decelerating and the time when the dolly _stops is calculated is calculated. The bogie deceleration movement distance P _{real stop} corresponds to the deceleration movement distance of the transport unit. In the present embodiment, a part different from the motor control device 1 according to the first embodiment will be described.

The motor control device 1a according to the second embodiment includes a stop position calculation unit 16a that calculates a bogie stop position P _ref stop and a bogie deceleration movement distance P _real stop. Since the components of the motor control device 1a other than the stop position calculation unit 16a are the same as the components having the same reference numerals as those of the motor control device 1, the description thereof will be omitted.

The stop position calculation unit 16a has a configuration in which the translation converter 166 of the stop position calculation unit 16 included in the motor control device 1 according to the first embodiment is replaced with the translation converter 166a, and the integrator 164 and the subtractor 165 are added. ..

A correction speed command output by the notch filter 12 is input to the integrator 164. The integrator 164 integrates the correction speed command to obtain the correction position command x _crr , and outputs the correction position command x _crr to the subtractor 165.

In addition to the correction position command from the integrator 164, the adder 163 inputs the stop position x _refstop to the subtractor 165. The subtractor 165 subtracts the correction position command from the stop position to obtain the deceleration movement distance x _realstop , and outputs it to the translation converter _166a .

The deceleration movement distance x _{real stop} is input from the subtractor 165 to the translation converter _166a , and the stop position x _ref stop is input from the adder 163. Similar to the translation converter 166, the translation converter _166a calculates the bogie stop position _Prefstop based on the stop position input from the adder 163. The translational transducer _{166a further} calculates the trolley deceleration travel distance P _{real stop} based on the deceleration travel distance input from the subtractor 165. The translation converter _{166a outputs} the bogie stop position P _ref stop and the bogie deceleration movement distance P _{real stop} to the monitor 4 to display the bogie stop position and the bogie deceleration movement distance. Similar to the first embodiment, the monitor 4 numerically displays, for example, the bogie stop position P _ref stop and the bogie deceleration movement distance P _real stop.

As described above, the motor control device 1a according to the present embodiment calculates the bogie stop position based on the speed command before the correction is performed by the notch filter 12, similarly to the motor control device 1 according to the first embodiment. Further, the dolly deceleration movement distance is calculated based on the speed command after the correction is performed by the notch filter 12, and is output to the monitor 4. In the motor control device 1a, in addition to the bogie stop position indicating the moving distance until the bogie of the crane 2 stops, the distance that the bogie moves between the time when the bogie included in the crane 2 starts decelerating and the time when the bogie stops is determined. Since the indicated dolly deceleration movement distance is output to the monitor 4 and notified to the operator, the operator can grasp how many meters ahead of the current position the dolly will stop when deceleration is started at the current time, and the stop timing can be determined. It becomes easier to imagine.

Embodiment 3.
FIG. 6 is a diagram showing a configuration example of the motor control device according to the third embodiment of the present invention. The motor control device 1b according to the third embodiment calculates the bogie stop position P _ref stop and the bogie deceleration movement distance P _real stop, similarly to the motor control device 1a according to the second embodiment. As described in the second embodiment, in the motor control device 1a according to the second embodiment, the bogie deceleration movement distance P _{real stop} is calculated based on the correction speed command output by the notch filter 12. On the other hand, in the motor control device 1b according to the present embodiment, the bogie deceleration movement distance P _{real stop} is calculated based on the actual motor position x _real detected by the position detector 22 included in the crane 2. In the present embodiment, a portion different from the motor control device 1a according to the second embodiment will be described.

The motor control device 1b according to the third embodiment includes a bogie stop position P _ref stop and a stop position calculation unit 16b for calculating the bogie deceleration movement distance P _real stop. Since the components of the motor control device 1b other than the stop position calculation unit 16b are the same as the components having the same reference numerals as those of the motor control device 1a, the description thereof will be omitted.

The stop position calculation unit 16b includes an integrator 161, an adder 163, a subtractor 165, and a translation converter 166a. Each of these components is the same as the integrator 161, adder 163, subtractor 165, and translation converter 166a of the stop position calculation unit 16a included in the motor control device 1a according to the second embodiment. However, the stop position x _refstop output by the adder 163 and the actual motor position x _real output by the position detector 22 of the crane 2 are input to the subtractor 165.

The subtractor 165 subtracts the actual position of the motor from the stop position to obtain the deceleration movement distance x _realstop , and outputs the subtractor to the translation converter _166a . Since the subtractor 165 of the stop position calculation unit 16b calculates the deceleration movement distance x _realstop based on the actual position of the rotor of the motor 21 included in the crane 2, the stop included in the motor control device 1a according to the second embodiment. Compared with the position calculation unit 16a, it is possible to calculate the trolley deceleration movement distance P _{real stop} with high accuracy.

Subsequently, the hardware configuration of the motor control device described in each of the above embodiments will be described. Each of the components constituting the motor control device described in each embodiment is realized by a dedicated processing circuit corresponding to the processing executed by each component. The dedicated processing circuit corresponds to a single circuit, a composite circuit, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination thereof.

Each of the components constituting the motor control device described in each embodiment may be realized by a processing circuit composed of the processor 101 and the memory 102 shown in FIG. 7. The processor 101 shown in FIG. 7 is a CPU (Central Processing Unit) or the like. The memory 102 shown in FIG. 7 is a non-volatile or volatile semiconductor memory, a magnetic disk, or the like, such as a RAM (Random Access Memory), a ROM (Read Only Memory), or a flash memory. Further, some of the components constituting the motor control device described in each embodiment are realized by the processor 101 and the memory 102 shown in FIG. 7, and the remaining components are realized by a dedicated processing circuit. May be good. For example, the stop position calculation units 16, 16a, 16b may be realized by the processor 101 and the memory 102, and the other components may be realized by a dedicated processing circuit.

The configuration shown in the above-described embodiment shows an example of the content of the present invention, can be combined with another known technique, and is one of the configurations without departing from the gist of the present invention. It is also possible to omit or change the part.

For example, in the first to third embodiments, the description has been made assuming that the crane 2 is an overhead traveling crane, but the present invention can be applied even when the crane 2 is a swivel crane. When the crane 2 is a swivel crane, the operations on the crane 2 are the swivel operation and the undulating operation of the transport unit that conveys the load. When the present invention is applied to a swivel crane, the translational transducers 166 and 166a described above are not required. In this case, the monitor connected to the motor control device corresponding to the first embodiment stops at the stop position of the crane when the stop operation is performed at the current time (the transport unit of the swing crane starts moving and then stops. Distance traveled to) is displayed. Further, on the monitor connected to the motor control device corresponding to the second and third embodiments, in addition to the stop position of the crane when the stop operation is performed at the current time, the crane stops after starting deceleration. The distance traveled to is displayed. The moving distance in this case is represented by the amount of rotation, that is, the angle.

1,1a, 1b motor controller, 2 crane, 3 operation unit, 4 monitor, 11 command generator, 12 notch filter, 13 differentiator, 14,165 subtractor, 15 motor controller, 16, 16a, 16b stop position Computational unit, 21 motor, 22 position detector, 161,164 integrator, 162 command stop distance generator, 163 adder, 166,166a translational converter.

Claims (6)

A motor control device that controls a motor for moving the transport section of a crane.
A command generator that generates a speed command for the motor based on the first operation for starting the movement of the transport unit and the second operation for stopping the transport unit.
Based on the speed command before the correction is performed, the transport unit starts moving by the first operation on the crane, and then the transport unit starts decelerating by the second operation on the crane. , A stop position calculation unit that calculates the movement distance of the transport unit until it stops and displays the calculated movement distance on the display device.
A motor control device characterized by comprising. The stop position calculation unit repeatedly calculates the moving distance when the operator who operates the crane and moves the transport unit performs the second operation until the second operation is performed. , The display on the display device is updated every time the moving distance is calculated.
The motor control device according to claim 1. A correction unit that generates a correction speed command by removing the vibration frequency component of the crane from the speed command.
The motor control device according to claim 1 or 2, wherein the motor control device is provided. The motor control device according to claim 3, wherein the correction unit is composed of a notch filter. The stop position calculation unit
When the second operation is performed based on the speed command before the correction is performed and the correction speed command, the transport unit is between the start of deceleration and the stop. The transport unit deceleration movement distance indicating the distance traveled by the vehicle is further calculated, and the movement distance and the transport unit deceleration movement distance are displayed on the display device.
The motor control device according to claim 3 or 4. The stop position calculation unit
When the second operation is performed, the transport unit starts decelerating based on the speed command before the correction is performed and the actual position of the motor indicating the position of the rotor constituting the motor. The transport unit deceleration movement distance indicating the distance that the transport unit moves from the time to the stop is further calculated, and the movement distance and the transport unit deceleration movement distance are displayed on the display device.
The motor control device according to any one of claims 1 to 4, wherein the motor control device is characterized.

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