KR20100010955A - Crane control method - Google Patents

Abstract

PURPOSE: A control method of a crane is provided to prevent damage and abrasion to and of a product by minimizing a convey time of the product and shaking of a lift. CONSTITUTION: It is detected and set that lift shaking period, the accelerating time of an inverter, and maximum speed of a crane or inverter. A first constant acceleration is performed for one swinging cycle of the lift to a maximum acceleration(s20). A second constant acceleration is performed for a one swinging cycle of the lift to a maximum acceleration in a second step speed of the crane(s40). The crane is reduced for one swinging cycle(s50). The crane is stopped in a creeping speed from the current speed for one swinging cycle.

Description

Crane control method {Crane control method}

The present invention in the control of the crane, crane control that can prevent the disadvantage of excessive damage to the product and crane or excessive work time of the crane by the pendulum movement of the crane lifter generated during the movement of the crane through travel and traverse It is about a method.

 In general, a crane serves to move an object to a desired position. A crane or a machine that horizontally transports an object using power to perform lifting, lifting and traversing for lifting and horizontally lifting a product. These operations are combined with each other to handle a load in three-dimensional space. Such cranes are widely used in the process of loading or shipping products at industrial sites.

The shaking caused by the movement of the crane, the vibration of the crane itself, the draft, or other reasons is caused by the pendulum movement of the lifter. This shaking causes damage to the product when loading or leaving the product. It takes a lot of work time because it is moved again and relies on the manual operation of the driver to remove the shake that has such disadvantages, but it requires skilled skills because the driver has to reoperate to remove the shake left after stopping. And, due to the shaking of the heavy weight suspended on the rope there is a problem in the safety of the worker and the wear of the crane is intensified.

To eliminate the above drawbacks,

In the present invention, by minimizing the shaking of the lift during movement of the crane by controlling the crane at constant speed after the pendulum movement cycle generated at the acceleration of the crane is completed, it minimizes the time required for transporting and also prevents the wear of the crane or damage to the product. It was invented for the purpose of providing a crane control method.

In order to achieve the above object,

라는 식을 대입하여, 크레인의 가속구간 시에 발생되는 리프트의 진자운동의 정수로 이루어지는 주기의 완료시기에 맞추어 가속구간을 완료한 후 등속으로 구동하고, 상기 등속구간이 완료된 후 감속구간 시에 발생되는 리프트의 진자운동의 정수로 이루어지는 주기의 완료시기에 맞추어 감속구간을 완료하여 크레인을 정지하는 크레인의 제어방법을 제공한다.1 cycle of pendulum motion in the control method which is divided into acceleration section, constant velocity section and deceleration section and is driven to move and stop the crane.

Substituting the equation, the acceleration section is completed in accordance with the completion period of the cycle consisting of the constant number of the pendulum motion generated during the acceleration section of the crane, and then driven at constant speed. The control method of the crane which stops a crane by completing a deceleration section according to the completion time of the period which consists of the integer of the pendulum motion of the lift which becomes a stop is provided.

The crane control method of moving more than 20.1m includes the setting step (s10) of detecting and setting the swing period of the lift, the acceleration time of the inverter, the inverter maximum speed and the crane max speed, and the crane's maximum speed during one cycle of the pendulum motion of the lift. 1st equivalent acceleration stage (s20) which accelerates to 1st at the highest acceleration so as to reach the maximum acceleration, and 2nd equivalent acceleration stage which accelerates at 2nd speed to reach maximum speed from 2nd stage speed of crane during 1 period of pendulum motion (s30), and the constant speed step (s40) to be constant at the maximum speed through the three steps, the first constant deceleration step (s50) and the first period of the pendulum movement in which the crane is first decelerated during one period of the pendulum motion It provides a control method of the crane consisting of a second constant deceleration step (s60) is stopped by the same deceleration as much as remaining from the current speed of the crane to the Creeping Speed.

An angle sensor for measuring the pendulum angle of the lift is attached, and the second acceleration is performed when the angle is maintained near 0 degrees at the time of completion of the first cycle of the pendulum motion of the first equal acceleration step, When the pendulum movement does not reach the completion time of one cycle, it provides a control method for a crane including converting the pendulum angle of the lift from the first zero point to the lift movement direction immediately after being measured by the angle sensor. do.

The control method of the crane moving to less than 20.1m is the constant speed Max Speed based on the default value of the setting step (s100) and the setting step (s100) of detecting and setting the swing period of the lift, the inverter acceleration time, the inverter MAX SPEED, and the crane max speed. Constant speed setting step to determine the (s200), the equivalent acceleration step (s300) equivalent speed up to constant speed Max Speed for one period of pendulum motion, the constant velocity step (s400), constant speed deceleration for 1 cycle It provides a control method of a crane consisting of a constant deceleration step (s500).

으로 이루어지되, 가속시간 및 감속시간은 리프트의 진자운동 1주기와 동일하게 이루어지며 가속시간은 초기 흔들림을 생각하여 1초를 더 포함시켜 설정되는 것을 포함하는 크레인의 제어방법을 제공한다.Based on the default value of the setting step (s100) of the constant speed setting step (s200), the constant speed Max Speed value is

It is made, but the acceleration time and deceleration time is made the same as 1 cycle of pendulum movement of the lift, and the acceleration time provides a control method of the crane comprising a further 1 second in consideration of the initial shaking.

According to the present invention, while the pendulum movement cycle of the lifter generated during the acceleration of the crane is completed, the crane is controlled at constant speed so that the movement time of the crane loading or releasing the product can be shortened while the lift is shaken during the loading or leaving operation. By minimizing the effect that can effectively block the damage of the product and the wear of the crane will be a great invention.

The present invention relates to a crane control method in which the crane lifter minimizes the disadvantages of pendulum movement during crane movement through traveling and traversing.

More specifically, in the conveying process of the product through the crane for conveying the product after the process of continuous casting to the yard, it is conveyed by the conventional pendulum movement reflecting the pendulum movement cycle of the lifter when the crane is moved to convey the yard. It relates to a control method of a crane, characterized in that configured to make up for the drawback of increasing time.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Figure 1 (a), (b), (c), (d), (e) is an exemplary view showing the form of one cycle of pendulum motion of the lift when the crane accelerates, Figure 2 is a lift according to the acceleration of the crane Figure 3 is an exemplary view showing the shape of the amplitude of one period of the pendulum motion, Figure 3 is an exemplary view showing a pattern when the movement distance has a value of 20.1 m or more according to the present invention, Figure 4 is a movement distance according to the present invention As an exemplary diagram showing a pattern at the time of movement having a value of less than 20.1 m, the configuration and operation of the present invention will be described in detail with reference to the drawings.

In general, when the crane is briefly described in the form driven by the control, the crane in the present invention because the pendulum movement of the crane is not generated by the lifting, lifting, so that the driving of the crane is limited to running and traverse and the traveling is the whole crane As a moving movement, a ceiling crane, a jib crane, and a gantry crane are movements along the running rail as a whole, and the traverse is a movement of the trolley along the rail of the crane girder.

In the present invention, the crane is based on the starting period of the lifter in the stationary state, that is, the stationary state in the stationary state.

At first pendulum cycle by shaking of lift,

이며,1 cycle:

,

2π = constant, g = gravitational acceleration, l = length.

Since the constant 2π and the gravitational acceleration are the same, it can be seen that the crane 1 cycle changes with the pendulum length. Therefore, the pendulum length (l) of the crane hoist max end point does not change after setting once, so it can be seen that one cycle of the pendulum motion of the crane is always constant.

The pendulum movement of such a lift is generated when the crane is moved by acceleration, and FIGS. 1 (a), (b), (c), (d) and (e) show a form in which the lifter actually pendulums when the crane is accelerated. (A) shows the form when the crane is stopped, and (b) shows the form in which the lift is shaken in the opposite direction to the traveling direction by the law of inertia when the crane is accelerated. (c) shows a form in which the shaking is reduced in the advancing direction, (d) shows a form in which one cycle of the pendulum movement of the lift is completed, and (e) shows the state of driving at constant speed after the acceleration section of the crane is completed. It represents the lift type.

As shown in FIG. 1, when the crane is equivalently accelerated, a pendulum motion is generated, and when the cycle is completed or moved at a constant speed, the shaking of the crane does not occur, as shown in FIG. 2. there is,

Equivalent acceleration force (F) = weight x equivalent acceleration = ma

Weight Acceleration Force (F) = Weight x Weight Acceleration = mg

Constant Velocity = Weight Acceleration Force (F) = 0

In this case, mass m = equal

-Force (F) = equivalent velocity = weight acceleration

① Pendulum end time point: Weight acceleration is 0 at the completion of 1 cycle.

※ At this point, the force (F) of the periodic motion is zero.

② Equivalent speed End time point: Equivalent speed is 0 at the completion of one cycle.

※ At this point, the acceleration force (F) is zero because the velocity is maintained at constant speed without acceleration or deceleration.

Since there is no acceleration force (F) and gravitational acceleration force (F) at the end of the pendulum motion and the end of the equivalent acceleration according to the magnitude of the force, the crane lift does not move in either direction, so the shaking is zero. It becomes the state of.

Therefore, in the present invention, since one cycle time of the lift is constant and there is no shaking of the lift at the end point of the pendulum motion and the equivalent speed End, the constant speed driven by the highest speed of the crane in accordance with the completion time of the pendulum motion of the lift, that is, the cycle time of the integer It characterized in that the control to drive.

When the pattern form of such a control method is shown as an example of implementation,

First of all, Condition 1. Same as crane weight: Crane weight is the same when the coil is grasped and the coil is not grasped.

Condition 2. Crane Lift Length Same: Crane Lift Lift does not change until after hoist maintenance or other reasons.

Condition 3. Crane 1 Cycle Time: 5 Sec.

Condition 4. Inverter acceleration time: 6 seconds.

Condition 5. Crane Max Speed Speed present.

Condition 6. Crane Creeping Rate Exist.

Condition 7. The crane weight is the same.

1) When the moving distance is more than 20.1m

1. Set defaults

Flickering Cycle: 5 seconds

Inverter acceleration time: 6 seconds

Inverter MAX SPEED: 4000 HEX = 16384

Crane Max Speed: 2 m / sec

2. Initial Acceleration Time Determination

Initially, the inverter gives the highest acceleration (currently 5 seconds acceleration).

After that, the angle sensor is referred to, and the second acceleration is performed when the angle is maintained near 0 degrees when the angle is decreased. (However, if the 0 degree is maintained, see if it is between 4 and 6 seconds.)

If the angle is increased to 4 or more, switch to the 2nd acceleration immediately, and if it is 6 or more, since it has already reached the maximum speed, proceed without the 2nd acceleration.

3. 2nd acceleration, 1st deceleration and 2nd deceleration

At this time, since the shaking is caught, acceleration / deceleration is performed according to the period.

4. Pattern Sample by Initial Shake

5. Deceleration time decision

이다.Deceleration start distance

to be.

Here, the first deceleration and the second deceleration exist, so the actual deceleration start distance is

The first deceleration distance plus the second deceleration distance.

The total deceleration distance is the sum of the deceleration start distance plus the creeping distance.

ex) Max Speed = 2 m / sec

Deceleration Time = 5 sec

Creeping distance = 100 mm

이다Speed at 2nd deceleration =

to be

Deceleration start distance = 1st deceleration start distance + 2nd deceleration start distance

1st deceleration starting distance

2nd deceleration start distance =

Total deceleration distance = 5833 + 833 + 100 mm = 6766 mm

※ If the initial start time is not 5 seconds, in this case, you can see that the constant velocity distance gets longer and the deceleration must start when the remaining distance is 6.766 m.

If the above embodiment is described step by step,

As shown in FIG. 3, the setting step (s10) of detecting and setting the swing period of the lift, the inverter acceleration time, the inverter MAX SPEED and the crane Max Speed, and the crane reach the maximum speed during one cycle of the pendulum motion of the lift. First equal acceleration step (s20), which is the first equivalent acceleration at the highest acceleration, and second equal acceleration step (s30), which is the second equivalent acceleration to reach the maximum speed from the second speed of the crane during one period of the pendulum motion. And, the constant speed step (s40) and the constant speed step (s40) is a constant speed at the maximum speed through the three steps, the first constant deceleration step (s50) that the crane is first decelerated during one cycle of the pendulum motion, It consists of a second equal deceleration step (s60) which is stopped by equal deceleration by the remaining speed from the current speed of the crane to the Creeping Speed during one period of the pendulum motion. (No shaking in Creeping Speed constant speed section)

The magnitude of the force in comparison to the equivalent acceleration and gravity acceleration during the control of the crane through the above method is the first equivalent acceleration step (s20) and the second equivalent acceleration step (s30) in accordance with the above-mentioned equation "Equivalent acceleration> Gravitational acceleration ”,“ equivalent acceleration (0) = gravitational acceleration (0) ”in constant velocity step (s40) and“ equivalent acceleration <gravitational acceleration in primary equal deceleration step (s50) and secondary equal deceleration step (s60). ", And when the crane stops, it becomes" Equivalent Acceleration (0) = Gravity Acceleration (0) ".

2) When the moving distance is less than 20.1m

1. Set defaults.

Flickering Cycle: 5 seconds

Inverter acceleration time: 6 seconds

Inverter Max Speed: 4000 HEX = 16384

Crane Max Speed: 2 m / sec

2. Determine the initial acceleration time.

Initial acceleration is determined by distance.

Determining the Max Acceleration Time: Think of the initial shaking and calculate it as 6 seconds.

: Acceleration time + Deceleration time + Creeping time = 11.1

3. Determine the Max Speed. (The reason why max speed is set separately is because the moving distance is short.)

으로 한다.Max speed

It is done.

= Crane speed

Inverter speed

 ex) Speed determination: Speed is determined by distance / time.

Moving distance: 15 m

Travel time: 11.1 sec

Crane Max Speed:

Inverter Max Speed: 11070

※ If Speed is over 1.666M / sec, set it as 1.665M / sec.

4. Constant speed section setting

The constant velocity section is determined in 4 to 6 seconds, which is the same as before.

5. Pattern Sample by Initial Shake

6. Deceleration time decision

이다.Deceleration start distance

to be.

The total deceleration distance is the sum of the deceleration start distance plus the creeping distance.

ex) Max Speed = 1.351 m / sec

Deceleration Time = 5 sec

Creeping distance = 100 mm

= 3.378 mDeceleration start distance =

= 3.378 m

Total deceleration distance = 3378mm + 100mm = 3478 mm

If the above embodiment is described step by step,

As shown in FIG. 4, the constant speed Max Speed is determined based on a default value of a setting step (s100) and a setting step (s100) of detecting and setting a swing period of the lift, an inverter acceleration time, an inverter MAX SPEED, and a crane Max Speed. Constant speed setting step (s200), equivalent acceleration step (s300) to equal speed up to constant speed for one period of pendulum motion, constant speed up to constant speed (s400) for constant speed, (s400) It is made of a deceleration step (s500).

The magnitude of the force in comparison to the equivalent acceleration and the gravity acceleration during the control of the crane through the above method is "equivalent acceleration> gravity acceleration" in the constant acceleration step (s300), and "equivalent acceleration (0) = in the constant velocity step (s400) Gravity acceleration (0), and in the constant deceleration stage (s500), "equivalent acceleration <gravitational acceleration", and when the crane stops, "equivalent acceleration (0) = gravity acceleration (0)".

As described above, an example of applying a control method of a crane driven at a constant speed to meet the completion point of the pendulum cycle of a lift unconditionally generated during the movement of the crane is shown in the following experimental data.

Series 1 shows the control speed and the control speed according to the pattern.

Series 2 is the data showing the real speed and the actual speed of the crane.

Series 3 shows the amplitude position based on the zero point where the lift is located. (The min / max data was fine and extracted to 3 decimal places to show the amount of change.)

According to the above experimental data, if the speed is controlled at the equivalent speed according to the pendulum period in the acceleration movement from the crane movement to the Max Speed, the shaking generated at the first equivalent speed becomes the constant speed motion at the Max Speed after the equivalent speed control. It can be seen that it does not occur.

In addition, when controlling the deceleration speed according to the pendulum period in the deceleration motion from the movement of the crane to the maximum speed from the stop of the crane, it can be seen that the shake does not occur if the shake caused by the first deceleration is the constant speed movement after the deceleration.

1 (a), (b), (c), (d) and (e) are exemplary views showing the form of one cycle of pendulum motion of the lift when the crane is accelerated;

Figure 2 is an exemplary view showing the form of the amplitude of the pendulum movement 1 cycle of the lift in accordance with the acceleration of the crane

Figure 3 is an exemplary view showing a pattern during the movement of the movement distance of 20.1 m or more according to the present invention

Figure 4 is an exemplary view showing a pattern at the time of movement having a movement distance of less than 20.1 m in accordance with the present invention

Claims (5)

In the control method is divided into an acceleration section, constant velocity section, deceleration section is driven to move and stop the crane, 1 period of pendulum motion =

By substituting After the acceleration section is completed in accordance with the completion time of the cycle consisting of the constant number of the pendulum motion of the lift generated during the acceleration section of the crane, the drive is performed at constant speed, and the pendulum motion of the lift generated during the deceleration section after the constant velocity section is completed. Control method of a crane comprising stopping the crane by completing the deceleration section in accordance with the completion time of the cycle consisting of water According to claim 1, The crane control method of moving to more than 20.1m is a setting step (s10) of detecting and setting the swing period of the lift, the inverter acceleration time, the inverter MAX SPEED and the crane Max Speed, A first equal acceleration step (s20) of first equal acceleration with the highest acceleration so that the crane can reach the maximum speed during one period of the pendulum motion of the lift, A second equal acceleration step (s30) of secondary equal acceleration so as to reach the maximum speed at the second stage speed of the crane during one period of the pendulum motion, Constant velocity step (s40) and the constant speed at the maximum speed through the three steps, A first constant deceleration step (s50) in which the crane first decelerates during a period of the pendulum movement, Control method of a crane comprising a second equal deceleration step (s60) which is stopped by equally decelerating as much as remaining from the current speed of the crane to the Creeping Speed during one period of the pendulum motion The method of claim 2, Attach the angle sensor to measure the pendulum angle of the lift, At the completion of the first cycle of the pendulum motion of the first equal acceleration step, the second acceleration is performed when the angle is maintained near 0 degrees at the time of decrease, Pendulum movement of the lift control method of the crane comprising switching to the second equivalent acceleration stage immediately when the pendulum angle of the lift is increased from the first zero point to the direction of the lift movement when measured by the angle sensor The method of claim 1, The control method of the crane moving to less than 20.1m is the constant velocity Max based on the default value of the setting step (s100) and the setting step (s100) of detecting and setting the swing period of the lift, the inverter acceleration time, the inverter MAX SPEED and the crane max speed. Constant speed setting step (s200) to determine the speed, equal acceleration step (s300) equivalent speed up to constant speed Max Speed for 1 period of pendulum motion, constant speed step (s400) for constant speed Max Speed, sequential deceleration for 1 cycle The control method of the crane comprising the same deceleration step (s500) The method of claim 4, wherein  Based on the default value of the setting step (s100) of the constant speed setting step (s200), the constant speed Max Speed value is made to be, Acceleration time and deceleration time is made the same as 1 cycle of pendulum motion of the lift, and the acceleration time is the control method of the crane comprising a further 1 second in consideration of the initial shake

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