WO2007094190A1 - 吊荷振れ止め装置 - Google Patents
吊荷振れ止め装置 Download PDFInfo
- Publication number
- WO2007094190A1 WO2007094190A1 PCT/JP2007/051938 JP2007051938W WO2007094190A1 WO 2007094190 A1 WO2007094190 A1 WO 2007094190A1 JP 2007051938 W JP2007051938 W JP 2007051938W WO 2007094190 A1 WO2007094190 A1 WO 2007094190A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- speed
- command
- torque
- load
- signal
- 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
-
- 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
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
Definitions
- the present invention relates to a suspended load restraining device that suppresses swinging of a load during a transverse operation such as an unloader or an overhead crane that transports raw materials from a ship loaded with iron ore or coal stopped at a quay, for example. It is about.
- FIG. 8 is a block diagram of the travel drive control device 220 described in Patent Document 1.
- the speed command signal of the speed commander 221 is input to the linear commander 222, and the ramp-shaped speed command N is obtained.
- the actual deflection angle detected by the rope deflection angle detector 229 is obtained.
- ⁇ is the damping factor
- g is the gravitational acceleration (9.8 mZs 2 )
- V is the trolley carriage speed (mZs).
- Le is the measured hoisting rope length (m)
- the damping compensation signal N obtained in this way is used as the speed command N force.
- Speed command signal N is obtained when RFDP RF0 decreases. The obtained speed command signal N and speed test
- F1 RF1 Deviation from speed feedback signal N detected by output 226 is set to proportional gain A and time constant.
- the speed command signal T is controlled by the first-order lag time constant ⁇ .
- the torque is input to the machine torque controller 224, and the torque T of the traveling motor is controlled to control the speed of the traveling motor.
- speed feedback signal N generates the rotation speed N of the motor via the primary delay element 226.
- Made. 225 is a block representing the mechanical time constant ⁇ of the electric motor for running
- ⁇ is the motor speed (p. U).
- 227 is a block representing a motion model of the rope swing angle, and 228 is a block representing a motor load torque T (p.u) model.
- the deflection angle calculator 238 has a speed feedback signal N and a torque command signal from the first-order lag element 226.
- 2 S gZ (co -V) is added to the rope deflection angle detection signal or the signal obtained by the rope deflection angle estimation calculation for container cranes, etc.
- Le is the measured hoisting rope length (m)
- V is the trolley stand corresponding to the motor rated speed
- the speed control is executed by using the value obtained as a result of the new speed command N.
- Patent Document 1 US Pat. No. 5,495,955 specification
- Patent Document 2 Japanese Patent No. 3173007
- Patent Document 3 Japanese Patent Application Laid-Open No. 2004-187380
- the present invention has been made in order to solve the above-mentioned problems, and in unloaders and some overhead cranes that hardly change the weight of a suspended load, a complicated calculation for removing a resistance component can be performed. It is possible to achieve the same control as the conventional force, and without calculating the runout angle ⁇ e, the runout frequency coe is not computed.
- the purpose is to provide a suspended load steadying device that does not require measurement and can obtain the same control effect as the deflection angle damping control method, and makes the control setup extremely easy.
- the invention of the suspended load steadying device according to claim 1 is for a trolley truck equipped with a lifting motor and a traveling motor for winding a rope having a bucket attached to the tip.
- a suspended load steadying device that includes a speed pattern generation circuit that creates a speed command, a speed control device that outputs a torque command based on the speed command, and a primary delay circuit that inputs the torque command.
- a torque command filter that outputs a torque command; a load torque observer that inputs and outputs the torque command that is output from the speed control device; and that outputs a torque that is applied to the trolley truck; and an output of the load torque observer
- a suspended load steadying device that outputs a value obtained by adding a load torque estimation signal that is an output of the torque command filter, the load torque estimation signal force Fixed or corresponding to a signal T HPF for removing the low frequency components Roh, and I-pass filter, the high
- a deflection angle calculator that outputs a calculated value ⁇ e, and a damping compensation signal N obtained by performing damping compensation on the deflection angle estimation calculation value ⁇ e is generated by the speed pattern generation circuit.
- the value obtained by subtracting the degree command force is used as the input of the speed control device.
- the invention according to claim 2 is the suspended load steadying device according to claim 1, wherein the deflection angle calculator coefficient of the deflection angle calculator is F g) [here
- the invention according to claim 3 is the suspension device according to claim 1, wherein the damping compensation signal N 1S
- N Calculated deflection angle ⁇ ⁇ ⁇ 2 ⁇ 8 / ( ⁇ V) [where ⁇ is the damping coefficient, g
- V is the trolley truck speed (mZs corresponding to the motor rated speed)
- co e is the rope runout frequency
- co e (g / le) 1/2 (rad / s)
- le is the measured hoisting rope length (m)] .
- the invention of the suspended load steadying device provides a suspended load steadying device for a trolley truck including a lifting motor and a traveling motor for winding a loop having a packet attached to a tip.
- a speed pattern generating circuit for generating a speed command, a speed control device for outputting a torque command based on the speed command, and inputting the torque command and outputting a torque command by a primary delay circuit
- a torque command filter for generating a speed command
- a load torque observer that inputs the torque command, which is an output of the speed control device (14), and estimates and outputs a load torque applied to the trolley carriage, and an output of the load torque observer
- a load torque estimation signal force or a resistance corresponding to the resistance is output.
- a Heino pass filter which outputs the signal T HPF for removing the low frequency Ingredient, the high-pass fill
- the damping compensation signal differs from the speed command N created by the speed pattern generation circuit.
- the value obtained by subtracting RF0 is used as the input of the speed control device.
- the swing angle ⁇ e is calculated from the load torque as a new control device that is controlled based on the swing angle damping control technique described in Patent Document 1.
- FIG. 1 is an equipment outline diagram of an unloader as an example of the present invention.
- FIG. 2 A model of hanging load deflection angle.
- FIG. 3 is a diagram illustrating a control principle according to the present invention.
- FIG. 8 is a diagram for explaining the control principle described in Patent Document 1.
- FIG. 1 is a schematic diagram of an unloader facility as an example targeted by the present invention.
- T is a trolley truck
- A is land
- B is sea
- H is hopper
- SP is ship
- BK bucket
- S is sea
- L is land
- D is raw material.
- an unloader is installed on land L facing the sea S, and a trolley truck T is provided at a predetermined height for the land L force so that the built-in motor can reciprocate horizontally between the sea and the land. It is summer.
- the trolley truck T is also equipped with a rope hoisting motor, and a packet ⁇ is attached to the tip of the rope.
- the carriage moves over the ship SP berthed on the land, unloads the packet dredge, charges the ship's cargo D with the packet dredge, winds up the rope to raise the packet dredge and moves from the sea S to the land L Then, move to the hopper ⁇ on land, drop the raw material D into the hopper ⁇ , and then the cart moves the packet ⁇ from the land L to the sea S and rolls down the rope to lower the raw material D of the ship SP. Crawling again. This is repeated below.
- the packet attached to the rope swings as the carriage moves.
- Fig. 2 shows a model of the swing angle of the suspended load in this case.
- FIG. 3 is a diagram illustrating a load torque model and a trolley truck load torque model in the control principle diagram of the present invention.
- 1 is a controller for controlling the suspension of suspended loads according to the present invention
- 2 is a suspended load motion model
- 3 is a trolley truck load torque model
- 4 is a torque command T ( p.u) and speed feedback signal N (p.u)
- Speed pattern generator, 12 is the speed command created from the speed pattern generator N
- Torque command filter 17 is the torque command T (p.u) after the torque command filter
- 18 is the motor command
- 21 is the load torque T (p.u)
- 31 is the load torque estimation signal T (p.u)
- 32 is the primary or
- Is a second-order high-pass filter 33 is a deflection angle calculator, 34 is a deflection angle estimation calculation value 0 e (rad), 35 is a damping compensation gain G, and 36 is a damping compensation signal N (p.u).
- the tension F of the hoisting rope is
- the traverse carriage resistance F caused by the vertical component of F and the trolley carriage weight M is
- Fig. 3 the system is approximated to a one-inertia model in which a motor and a trolley carriage are integrated, and the torsional vibration suppression device in the motor speed control system described in Patent Document 2 and the load by the torsional vibration suppression device described in Patent Document 3 Applying a primary or secondary HPF (high-pass filter) 32 to the signal T 31 that detects the overload on the trolley truck using a torque observer.
- HPF high-pass filter
- the equipment constant of the unloader system is 1 >> 4 for AC / B 2
- the second term of the resistance is eliminated by passing the primary or secondary HPF (high pass filter) 3 2.
- the gain obtained by the new method is multiplied by the compensation signal
- NRPDP 3 6 is generated.
- N G ⁇ ⁇ HPF
- N 13 is generated by reducing the signal N force generated by the speed pattern generation circuit 11.
- Stabilization control can be realized by executing speed control with N 13 as a command c
- ⁇ is a control constant that is used by switching a value determined in accordance with the operation pattern so as to achieve a stable steady state. That is, the value in parentheses after the change is a value that changes during driving .
- the suspended load M varies between land and sea.
- Figures 4 to 7 show the results of examining the steady-state control effect of the above equipment using this method by incorporating a crane model by simulation.
- A is on land, B is sea, Pt is cart position, Pm is hanging position, N is
- the rough specification is an example of the weight of the packet + raw material is about 40 tons, the traverse speed is about 180mZ, and the traverse distance is about 33m.
- Figure 4 shows the relationship between the cart position Pt (dotted line) and the suspended load position Pm (solid line) when there is no steady rest control.
- the vertical axis shows the position of the hopper center from the hopper center 0 when the center position of the hopper (hopper center) in FIG. 1 is 0 (coordinates (c, 0) of the trolley truck in FIG. 2).
- the plus side indicates the direction from the origin to the sea side
- the minus side indicates the direction from the origin force to the land side.
- the horizontal axis is the time shift.
- FIG. 5 shows the speed command (thick line) and the deflection angle ⁇ (thin line) in Fig. 2 at that time.
- the vertical axis shows the angle (degrees) and the horizontal axis shows the time transition (seconds).
- the deflection angle ⁇ is also oscillating greatly (maximum + 41 ° to 44 °).
- FIG. 6 is a diagram showing the relationship between the carriage position Pt (dotted line) and the suspended load position Pm (solid line) when the steadying control according to the present invention is performed.
- the vertical axis shows the distance (m) between the carriage and the suspended load from the hopper center 10.
- the plus side shows the direction from the origin to the sea
- the minus side shows the direction from the origin to the land side.
- the horizontal axis is the time transition.
- the suspended load solid line
- the trolley diagram dotted line
- the shaking is very small.
- Fig. 7 shows the speed command (thick line) and the deflection angle ⁇ (thin line) in Fig. 2 at that time.
- the vertical axis shows the angle (degrees) and the horizontal axis shows the time transition (seconds). It can be clearly seen that damping is effective at the deflection angle ⁇ , and the steadying control according to the present invention works effectively!
- the frequency o e of the shake without estimating the shake angle ⁇ e is
- the damping compensation gain G is determined according to the operation pattern, and the steadying control is performed.
- the suspended load steadying device of the present invention is suitable for an unloader, an overhead crane, or the like that is required to suppress the swinging of the load in a transverse operation.
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008500443A JP4840442B2 (ja) | 2006-02-15 | 2007-02-05 | 吊荷振れ止め装置 |
US12/279,454 US7936143B2 (en) | 2006-02-15 | 2007-02-05 | Device for preventing sway of suspended load |
CN2007800051020A CN101384503B (zh) | 2006-02-15 | 2007-02-05 | 吊装载荷摆动防止装置 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006038306 | 2006-02-15 | ||
JP2006-038306 | 2006-02-15 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2007094190A1 true WO2007094190A1 (ja) | 2007-08-23 |
Family
ID=38371376
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2007/051938 WO2007094190A1 (ja) | 2006-02-15 | 2007-02-05 | 吊荷振れ止め装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US7936143B2 (ja) |
JP (1) | JP4840442B2 (ja) |
KR (1) | KR20080078653A (ja) |
CN (1) | CN101384503B (ja) |
TW (1) | TW200812903A (ja) |
WO (1) | WO2007094190A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2021102503A (ja) * | 2019-12-25 | 2021-07-15 | 富士電機株式会社 | 懸架式クレーンの制御装置及びインバータ装置 |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2011133971A1 (en) * | 2010-04-23 | 2011-10-27 | Georgia Tech Research Corporation | Crane control systems and methods |
KR20120079635A (ko) * | 2011-01-05 | 2012-07-13 | 삼성전자주식회사 | 호이스트 장치 및 그 제어 방법 |
CN102269586B (zh) * | 2011-06-17 | 2013-05-22 | 上海海事大学 | 桥式起重机大车轨道不均匀沉降实时监测方法 |
FI20115922A0 (fi) | 2011-09-20 | 2011-09-20 | Konecranes Oyj | Nosturin ohjaus |
CN104140042B (zh) * | 2014-07-08 | 2017-01-18 | 西安宝德自动化股份有限公司 | 一种减小塔式起重机载荷摆角的控制方法 |
KR20170045209A (ko) * | 2014-07-31 | 2017-04-26 | 피에이알 시스템즈, 인코포레이티드 | 크레인 움직임 제어 |
JP7180966B2 (ja) | 2016-01-29 | 2022-11-30 | マニタウォック クレイン カンパニーズ, エルエルシー | 視覚的アウトリガー監視システム |
US10717631B2 (en) | 2016-11-22 | 2020-07-21 | Manitowoc Crane Companies, Llc | Optical detection and analysis of crane hoist and rope |
CN107235418B (zh) * | 2017-06-30 | 2018-07-13 | 北京航空航天大学 | 一种大型舰船上起重车辆用自动挂钩系统 |
DE102018005068A1 (de) * | 2018-06-26 | 2020-01-02 | Liebherr-Components Biberach Gmbh | Kran und Verfahren zum Steuern eines solchen Krans |
WO2020166690A1 (ja) * | 2019-02-14 | 2020-08-20 | 株式会社タダノ | 地切り制御装置、及び移動式クレーン |
CN113582016A (zh) * | 2020-04-30 | 2021-11-02 | 西门子股份公司 | 控制起重机的方法、装置和系统以及存储介质 |
CN112173967B (zh) * | 2020-10-28 | 2023-01-03 | 武汉港迪技术股份有限公司 | 一种重物初始摇摆的抑制方法及装置 |
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JP2004187380A (ja) * | 2002-12-02 | 2004-07-02 | Yaskawa Electric Corp | 電動機速度制御系におけるねじり振動抑制方法および装置 |
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2007
- 2007-02-05 CN CN2007800051020A patent/CN101384503B/zh active Active
- 2007-02-05 US US12/279,454 patent/US7936143B2/en not_active Expired - Fee Related
- 2007-02-05 KR KR1020087013584A patent/KR20080078653A/ko not_active Application Discontinuation
- 2007-02-05 JP JP2008500443A patent/JP4840442B2/ja not_active Expired - Fee Related
- 2007-02-05 WO PCT/JP2007/051938 patent/WO2007094190A1/ja active Application Filing
- 2007-02-14 TW TW096105571A patent/TW200812903A/zh not_active IP Right Cessation
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WO1993008115A1 (en) * | 1991-10-18 | 1993-04-29 | Kabushiki Kaisha Yaskawa Denki | Method and apparatus for controlling prevention of deflection of rope of crane |
JP2001048467A (ja) * | 1999-08-18 | 2001-02-20 | Ishikawajima Harima Heavy Ind Co Ltd | クレーンの振れ止め制御装置 |
JP2004187380A (ja) * | 2002-12-02 | 2004-07-02 | Yaskawa Electric Corp | 電動機速度制御系におけるねじり振動抑制方法および装置 |
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JP2021102503A (ja) * | 2019-12-25 | 2021-07-15 | 富士電機株式会社 | 懸架式クレーンの制御装置及びインバータ装置 |
JP7384025B2 (ja) | 2019-12-25 | 2023-11-21 | 富士電機株式会社 | 懸架式クレーンの制御装置及びインバータ装置 |
Also Published As
Publication number | Publication date |
---|---|
CN101384503B (zh) | 2011-07-20 |
CN101384503A (zh) | 2009-03-11 |
TW200812903A (en) | 2008-03-16 |
KR20080078653A (ko) | 2008-08-27 |
US7936143B2 (en) | 2011-05-03 |
JP4840442B2 (ja) | 2011-12-21 |
US20090218305A1 (en) | 2009-09-03 |
JPWO2007094190A1 (ja) | 2009-07-02 |
TWI312336B (ja) | 2009-07-21 |
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