WO2005012155A1 - クレーン及びそのコントローラ - Google Patents
クレーン及びそのコントローラ Download PDFInfo
- Publication number
- WO2005012155A1 WO2005012155A1 PCT/JP2004/011259 JP2004011259W WO2005012155A1 WO 2005012155 A1 WO2005012155 A1 WO 2005012155A1 JP 2004011259 W JP2004011259 W JP 2004011259W WO 2005012155 A1 WO2005012155 A1 WO 2005012155A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- crane
- load
- rope
- motor
- controller
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
- B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
Definitions
- the present invention relates to control of a crane, and more particularly, to controlling a crane driving device so as to minimize swing of a load remaining during and after transfer of a load conveyed by a crane.
- Cranes are widely used for transporting loads, and when transporting loads with a crane, the pilots had to be skilled operators who frequently connected and disconnected the operating switches in order to reduce the deflection of the loads. .
- a run-out occurs, it is necessary to wait for the next operation until the run-out stops, which may cause a problem in terms of safety such as collapse of the load. Therefore, steadying cranes is a major challenge for the industry.
- Japanese Patent Application Laid-Open No. 2000-38286 discloses a monitor means for taking an image of a position of a load to be unloaded, an image processing means for processing an output of the monitor means to calculate information including distance information of the load,
- the operation of the crane boom is controlled by angle detection means for detecting the crane boom angle by inputting the output from the image processing means, and distance information from the image processing means and crane boom angle information from the angle detection means.
- a device for preventing a swing of a swiveling crane characterized by having a crane driving means for making a transfer path of a load by swiveling and pulling and turning a polygonal straight line.
- the present invention has been made in view of the above problems, and has as its object the purpose of transferring a load suspended from a rope of a crane from a first position to a second position without a skill even with a simple configuration.
- An object of the present invention is to provide a crane system and its controller or a control system for suppressing the deflection of a load generated in a crane.
- the present invention provides a turret for suppressing a load swing generated when a load suspended by a rope of a crane is conveyed from a first position to a second position.
- the signal converted by feedforward control is input to the crane control device so as not to cause load sway from the signal related to the rope length of the crane.
- the crane control device is used to drive elements such as a crane's boom, girder, and trolley in accordance with the type of crane, that is, in accordance with the type of crane.
- a load suspended by a rope of a crane is transported from a first position to a second position.
- a method for controlling a crane driving device so as to suppress generated load deflection comprising: a resonance frequency sequentially calculated from a rope length that is a distance from a rotation center of a rope deflection to a center of gravity of the load; and a crane driving device.
- the maximum value of at least one of the transfer speed, transfer acceleration and transfer jerk in the load transfer command is calculated below the parameters related to the control device of the crane drive unit that are separately calculated in advance so as not to exceed the performance of the load.
- a component near the resonance frequency is removed from the transfer command in which the The method of the crane drive device for controlling the crane drive to not shake greatly at the time of conveying the load was removed carry command is inputted to the crane drives from a first position to a second position is provided.
- the controller having the filter unit is operated by the feedforward control program, so that the load suspended by the rope of the crane is transported from the first position to the second position.
- the resonance frequency is received from the resonance frequency calculation unit, and under the parameter obtained from the parameter storage unit, the component near the resonance frequency is removed from the transfer command whose maximum value is limited by the maximum value limit unit, and the component near the resonance frequency is removed.
- a medium describing a feedforward control program used in the method of the first aspect and the control system of the second aspect is provided.
- the method according to the first aspect and the control system according to the second aspect include a jib (turning) crane, a work lane, a truck crane, a hoist crane, a rough terrain crane, a crawler crane, and a derrick. It can be applied to cranes with structures, overhead cranes with bridge craters and, in some cases, trolleys (bogies), bridge cranes, etc.
- a filter refers to a circuit (part) having a set of input / output terminals and a transfer function between them having frequency characteristics.
- the feedforward control method in the present invention is a control method in which an operation amount applied to a control target is adjusted to a predetermined value so that an output becomes a target value.
- This control method can perform high-performance control when the input / output relationship of the control target and the influence of disturbance are clear.
- the jerk in the present invention is the rate of change of acceleration with respect to time (dimension L
- L is the dimension of length and T is the dimension of time.
- the crane driving device is particularly suitable. It is possible to clarify that it does not exceed the acceleration performance.
- a swing motor for swinging the crane boom a swing motor control device for controlling the rotation direction and speed of the swing motor, and a hoist motor for winding and unwinding the rope.
- a crane provided with a hoist motor control device for controlling the rotation direction and speed of the hoist motor, a detecting device for detecting the current rope length, a swing motor control device and a hoist motor control device And a controller that is electrically connected to the controller, wherein the controller converts the signal converted from the signal of the rope length by feedforward control that does not cause load sway at the time of transport from the first position to the second position.
- a crane for outputting to the swing motor control device is provided.
- the crane according to a fourth aspect further includes an up / down motor for raising / lowering the crane boom, and an up / down motor control device electrically connected to a controller to control a rotation direction and a rotation speed of the up / down motor.
- the controller further outputs to the undulating motor control device a signal converted by feedforward control that does not cause load sway at the time of transport from the first position to the second position from the rope length signal. be able to.
- the controller can be retrofitted to existing cranes.
- a swing motor and a swing motor for swinging and raising and lowering the boom of the crane, a swing motor control device for controlling a rotation direction and a speed of the swing motor, and a rotation of the swing motor.
- a controller for a crane that is retrofitted to an existing crane equipped with an up-and-down motor control device that controls the direction and speed. The controller can input only the crane's rope length signal, and can use this rope length signal without disturbance.
- a crane system for outputting a signal converted by feedforward control to the swing motor control device and the undulating motor control device so as not to cause load deflection when the load is transferred from the first position to the second position.
- a controller is provided.
- the cranes according to the fourth and fifth aspects of the present invention include a jib (turning) crane, a tower crane, a truck crane, a wheel crane, a rough terrain crane, a crawler crane, a crawling crane (hammer head crane), and a derrick. It is a crane with a jib structure.
- FIG. 1 is a schematic diagram showing an embodiment of a crane system of the present invention.
- FIG. 2 is a block diagram showing a first embodiment of a control device for controlling the run-out of the crane of FIG. 1.
- FIG. 3 is a graph showing a comparison of the transport speed of a load performed by the crane system of FIG. 1 with the case where the present invention is not used (time is plotted on the horizontal axis and transport speed is plotted on the vertical axis). ).
- FIG. 4 is a graph showing the load deflection performed by the crane system of FIG. 1 in comparison with the case where the present invention is not used (time is plotted on the horizontal axis, and load deflection is plotted on the vertical axis). ).
- FIG. 5 is a block diagram showing a second embodiment of a control device for controlling the runout of the crane of FIG. 1.
- FIG. 6 is a schematic perspective view showing another crane (overhead crane) for carrying out the present invention.
- FIGS. 1 and 2 First, a first embodiment of a crane embodying the present invention will be described with reference to FIGS. 1 and 2.
- FIG. 1 is a schematic diagram showing one embodiment of the crane of the present invention.
- FIG. 2 is a block diagram showing a system for controlling the driving device of the crane of FIG.
- the crane 20 includes a rope 21 which is engaged with a load 22 to suspend the load, a hoisting drum (not shown) for hoisting and lowering the rope, a boom 24,
- the motor includes a motor 32 for raising and lowering the boom, a motor 33 for rotating the boom 24, and a motor 34 for winding the rope 21 up and down by rotating a winding drum (not shown).
- These motors can be electric or hydraulic motors.
- the up / down motor 32, the turning motor 33, and the hoisting motor 34 are electrically connected to respective control devices. That is, the hoisting motor 32 has a hoisting motor control device 35 for controlling the hoisting and the speed of the boom 24, and the turning motor 33 has a turning motor control device 36 for controlling the turning direction and the speed of the boom 24.
- the up / down motor controller 35 and the swing motor controller 36 are electrically connected to the controller 3. Yes.
- the controller 3 can be a computer and is connected to a hoist motor control 37 and a receiver 39.
- the rope 21 is a force that is engaged with the load by using a hanging member 23 (for example, a hook attached to the tip of the rope 21, other necessary sling wire, turnbuckle, or the like).
- the term "load” refers to an actual load and / or hanging equipment for the purpose of transport.
- the rope length L shown in Fig. 1 depends on the center of rotation of the swing of the rope 21 at the tip of the boom (this is called a sheave in a swiveling crane, for example).
- U
- the crane 20 also includes a rope length detection unit 1 and a transfer command transmission device 2, as shown in FIG.
- the controller 3 includes a resonance frequency calculation unit 4, a maximum value limit unit 5, and a filter unit 6, as shown in FIG.
- the rope length detector 1, controller 3, and parameter calculator 8 constitute a control system as a whole.
- the rope length detection unit 1 refers to a configuration that measures the distance to the center of gravity of the load as well as the rotational center force of the load swing of the load suspended on the rope 21.
- the detailed means does not matter.
- a known encoder, laser distance meter, or the like can be used.
- the load transfer command means that the crane operator raises and lowers and turns the crane's boom to transfer the load (or moves the girder or trolley on an overhead crane or the like described later with reference to Fig. 6). ) Or a command signal generated by holding down a button or the like to operate the hoist motor.
- this command refers to a load transfer command to the hoisting motor control device 37, the undulating motor control device 35, and the turning motor control device 36.
- This command differs depending on the type of crane, and also depends on whether the transfer is performed automatically or the operator operates the crane.
- the receiver 39 is connected to the operation box 38 by wire or wirelessly, and the operation box 38 This is a transport command input device (transport command granting device) for inputting 22 transport commands.
- the transfer command transmitting device 2 transmits a transfer command to the controller 3.
- both the transfer command input device and the transfer command transmission device can be computers.
- the controller 3 is electrically connected to the control devices 35 and 36 of the electric motors 32 and 33 as the crane driving device 9 of the crane 20. As shown in FIG. Unit (or measuring unit) 1, a resonance frequency calculating unit 4 for detecting the resonance frequency at the rope length of the rope 21 based on the detection result, a parameter storage unit 7, and a transfer command under the data of the parameter storage unit 7.
- a maximum value limiter 5 for limiting the maximum value of at least one of the transport speed, the transport speed, and the jerk in the transport command of the load 22 from the transmitting device 2, and a parameter storage unit 7
- the component near the resonance frequency which is the calculation result of the resonance frequency calculation unit 4
- the transfer command from which the component near the resonance frequency has been removed is input to the crane driving device 9.
- the driving conditions of the crane driving device 9 are calculated and input to the crane driving device.
- a filter unit 6 for filtering.
- the parameter calculation unit 8 of the control system previously calculates parameters related to the control device of the crane driving device 9 so as not to exceed the performance of the crane driving device 9, and the parameter storage unit 7 of the controller 3 stores the parameter calculation unit
- the calculation result of (8) is stored and the parameters related to the control devices (35, 36, 37) of the crane driving device (9) are output to the maximum value limiting unit (5) and the filter unit (6).
- the operations between the above-described units of the controller 3 are executed by a feedforward control program.
- the feedforward control program is recorded on a storage medium (media), and the control system is configured to use this storage medium.
- the winding drum is rotated for a required time to lift the load 22, and then the load 22 is moved from the first position to the second position.
- the action of transport will be described below.
- the hoist drum is rotated for the required time to suspend the load (transported object) 22
- the rope length detector 1 detects the rope length at this point and inputs the result to the resonance frequency calculator 4 of the controller 3.
- the resonance frequency calculation section 4 calculates the resonance frequency of the rope 21 and inputs the calculation result to the filter section 6.
- the transfer command transmitting device 2 transmits a transfer command of the load 22 to the maximum value limiting section 5.
- the maximum value limiter 5 reads the parameters related to the control devices 35, 36, and 37 from the parameter storage device 7 so as not to exceed the performance of the crane driving device 9, and transfers the load 22 from the transfer command transmitting device 2. After limiting the maximum value of at least one of the transfer speed, transfer acceleration and jerk in the command, the calculation result is input to the filter unit.
- the filter unit 6 reads the parameters related to the control devices 35, 36, and 37 from the parameter storage device 7 that do not exceed the performance of the crane driving device 9 while reading the resonance frequency of the resonance frequency sequentially calculated from the rope length.
- the transfer command limiting the maximum value of one or more of the transfer speed, transfer speed and jerk applied to the crane drive 9 is filtered to remove the component of the resonance frequency, and thus the transfer command is removed. Is input to the crane drive 9.
- the crane driving device 9 can be driven and controlled S so that the load 22 is not largely shaken when the load 22 is transported from the first position to the second position.
- the calculation by the filter unit 6 is performed according to the following theory. That is, if the time-series data input to the filter unit 6 is x (t) and the time-series data output from the filter unit 6 is y (t), the filter can be represented by Expression (1).
- the resonance frequency f ⁇ ⁇ ⁇ r is calculated sequentially. Parameters.
- the resonance frequency f of the rope length L is (g / L) (where g is the gravitational acceleration). And The resonance frequency f is calculated by the resonance frequency calculation unit 4.
- x (t-j) is time-series data input before the control cycle
- y (t-i) is time-series data output before the control cycle.
- the parameters ai (f) and bj (f) need to be calculated in advance by the parameter calculation unit 8, and the values are gradually changed using the parameter calculation unit 8 while gradually changing the values. It is determined through repeated calculations using simulations that use a model that expresses the characteristics of the crane.
- the constraint condition at this time is that the maximum speed of the transfer command given to the crane drive device 9 does not exceed the maximum speed of the train drive device 9 (motors 32, 33, 34), and that the crane drive device 9 Each of the maximum values in the given transfer command does not exceed the maximum value limit of the crane driving device 9, and the above two conditions are satisfied and the transfer time is the shortest.
- Expression (1) can be obtained by performing a Z-transform on the transfer function of the filter expressed by the following expression (2).
- the transfer command from the transfer command transmitting device 2 changes as shown in FIG.
- a straight line with a constant transfer speed is a transfer command by the transfer command transmitting device
- a trapezoidal straight line is a transfer command when the maximum value limiting unit performs a restriction
- a curve is obtained by performing a filtering process using a filter. This is the transfer command when the transfer is performed.
- the filter unit 6 sets the transport speed to be applied to the crane driving device under the parameters regarding the control device of the crane driving device 9 which are separately calculated in advance so as not to exceed the performance of the crane driving device 9, After filtering the transfer command in which the maximum value in one or more of the transfer acceleration and the jerk is limited to remove the component of the resonance frequency, the filter is input to the crane driving device. As a result, as shown in FIG. 4, the deflection of the load 22 is suppressed.
- FIG. 1 Another embodiment of the controller 3 of the crane system 20 shown in FIG. 1 is shown in FIG.
- a signal corresponding to the rope length L is supplied to the controller 3 from the rope length detection calculation unit 1 (FIG. 2).
- the controller 3 outputs to the swing motor control device 36 and the up / down motor control device 35 a signal converted from only the rope length signal by feedforward control that does not cause load sway in a state where there is no disturbance.
- the hoisting motor control device 37 here controls the rotation direction and speed of the hoisting motor 34 and outputs a signal corresponding to the rope length to the controller 3, for example, an inverter.
- the pilot operates the control box 38.
- the driving of the crane is the winding of the rope, the turning of the crane boom, and the undulation.
- the rope winding signal is directly transmitted to the winding motor control device 37 and the winding motor via the receiver 39 without passing through the controller 3. Activate 34 to change the rope length L.
- the signals of the crane turning and the undulation do not cause load swing due to the rope length via the receiver 39 and the controller 3.
- the signal converted by the feedforward control is supplied to the swing motor control device 36 and the up-and-down motor control device 35 to control the swing direction and speed of the swing motor 33 and the up-and-down direction and speed of the up-and-down motor 32 , respectively.
- the rotation direction and speed of the swing motor 3 and the swing direction and speed of the swing motor 32 are controlled.
- the swing motor is not controlled.
- only the data 33 need only be converted from the rope length to control the turning.
- the crane is not necessarily required to use the crane equipped with the hoisting motor 32, the swing motor 3 and the hoisting motor 34.
- the swing motor control device 36 and the undulating motor control device 37 are identical to the swing motor control device 36 and the undulating motor control device 37.
- the controller 3 uses a computer operated by a program that applies a feedforward control method to a crane provided with a hoisting motor 37 for adjusting the hoisting and unwinding of the rope.
- the controller 3 uses, as input signals, a signal input from a transfer command input / transmission device that inputs / transmits a transfer command for transferring the load 22 and a signal input based on a detection result of the rope length detection unit. I have.
- the command for transporting the load 22 includes a command for winding, turning, and undulating depending on the type of the crane.
- the controller 3 includes a resonance frequency calculation unit 4 that calculates the resonance frequency of the port 21 in which the load 22 is hung based on the detection result of the rope length detection unit. It has maximum value limiters 5a and 5b that limit the transfer command of the load 22 from the transfer command input / output device using signals related to turning and undulation input from the device. In addition, it has filter sections 6a and 6b, and based on the calculation results of the resonance frequency calculating section 4 and the maximum value limiting sections 5a and 5b, when the load 22 is conveyed to a desired position. The crane driving conditions are calculated to reduce the generated load 22 deflection.
- the controller 3 includes an output transmission unit that outputs crane driving conditions to each of the turning and undulating motors.
- the operator inputs a transfer command to the controller via the operation box 38 and the receiver 39, which are transfer command input transmission devices for inputting and transmitting a transfer command for transferring the load 22.
- the maximum value limiting units 5a and 5b determine at least one of the transport conditions such as the speed, acceleration, and jerk of the transport command based on the signal input from the transport command input transmission device. Limit the maximum value of things.
- the resonance frequency of the rope is calculated by the resonance frequency calculation unit 12 based on the detection result of the detection device that detects the rope length.
- the filter units 6a and 6b suppress the deflection of the load remaining at the time of being conveyed to the desired position. Calculate the signal.
- the signal for suppressing the deflection of the load refers to a feedforward signal that has passed the signal of the transport condition to the filter units 6a and 6b that remove the resonance frequency calculated using only the rope length signal as input. Signal.
- the filter sections 6a and 6b are realized by combining filters such as a low-pass, a high-pass, a band-pass, and a notch according to the crane, and perform signal conversion using a dynamic model of the crane. I'll do it.
- the control devices 35, 36, and 37 include output transmission devices that output crane driving conditions to the motors 32, 33, and 34, respectively.
- feedback control may be added in addition to feedforward control.
- the overhead crane 40 of the embodiment shown in FIG. 6 travels on a pair of spaced rails 41 provided near the ceiling via wheels 42, and the crane 40 is attached to the wheels 42 and the rails 41 Girder 43 that can run in the direction of extension of the girder 43 (shown by a double-headed arrow), a trolley 44 that is attached to the lower surface of the girder 43 and that can move laterally with respect to the girder 43 as shown by another double-headed arrow, It has a rope 21 which is suspended so as to be able to be unwound and suspends a load 22.
- the traveling of the girder 43 is performed by a traveling motor attached to the girder 43, and the trolley 44 is traversed by a traversing motor (not shown) attached to the trolley 44.
- the hoisting and lowering of the rope 21 is performed by a hoisting motor (not shown) attached to the trolley 44.
- the overhead crane of Fig. 6 had a transverse trolley. This trolley can be omitted. In this case, the rope winding motor is attached to the girder.
- a rope having a fixed length may be used without providing a trolley and a rope winding motor.
- the signal related to the rope length is constant.
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- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
- Jib Cranes (AREA)
Abstract
Description
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Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/567,165 US8005598B2 (en) | 2003-08-05 | 2004-08-05 | Crane and controller thereof |
EP04771286A EP1652810B1 (en) | 2003-08-05 | 2004-08-05 | Crane and controller for the same |
JP2005512576A JP4023749B2 (ja) | 2003-08-05 | 2004-08-05 | クレーン及びそのコントローラ |
Applications Claiming Priority (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003-286367 | 2003-08-05 | ||
JP2003-286369 | 2003-08-05 | ||
JP2003286367 | 2003-08-05 | ||
JP2003286366 | 2003-08-05 | ||
JP2003-286366 | 2003-08-05 | ||
JP2003286369 | 2003-08-05 |
Publications (1)
Publication Number | Publication Date |
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WO2005012155A1 true WO2005012155A1 (ja) | 2005-02-10 |
Family
ID=34119575
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2004/011259 WO2005012155A1 (ja) | 2003-08-05 | 2004-08-05 | クレーン及びそのコントローラ |
Country Status (5)
Country | Link |
---|---|
US (1) | US8005598B2 (ja) |
EP (1) | EP1652810B1 (ja) |
JP (1) | JP4023749B2 (ja) |
CN (1) | CN100425520C (ja) |
WO (1) | WO2005012155A1 (ja) |
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DE112011104448T5 (de) | 2010-12-20 | 2013-09-19 | Mitsubishi Electric Corp. | Motorsteuerungsvorrichtung |
JP2015151211A (ja) * | 2014-02-12 | 2015-08-24 | 三菱電機株式会社 | クレーン装置 |
JP2016160081A (ja) * | 2015-03-04 | 2016-09-05 | Jfeエンジニアリング株式会社 | 走行式荷役機械の操作制御装置及び走行式荷役機械 |
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Also Published As
Publication number | Publication date |
---|---|
US20080275610A1 (en) | 2008-11-06 |
CN100425520C (zh) | 2008-10-15 |
EP1652810A4 (en) | 2008-10-08 |
CN1832898A (zh) | 2006-09-13 |
US8005598B2 (en) | 2011-08-23 |
EP1652810A1 (en) | 2006-05-03 |
EP1652810B1 (en) | 2012-12-19 |
JPWO2005012155A1 (ja) | 2007-09-27 |
JP4023749B2 (ja) | 2007-12-19 |
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