WO2010079801A1 - ジブクレーンの制御方法および装置 - Google Patents
ジブクレーンの制御方法および装置 Download PDFInfo
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- WO2010079801A1 WO2010079801A1 PCT/JP2010/050094 JP2010050094W WO2010079801A1 WO 2010079801 A1 WO2010079801 A1 WO 2010079801A1 JP 2010050094 W JP2010050094 W JP 2010050094W WO 2010079801 A1 WO2010079801 A1 WO 2010079801A1
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- suspended load
- jib
- command
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- feedback control
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- 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
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- 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
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
- B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical
Definitions
- the present invention relates to a control method and apparatus for a jib crane, and is capable of eliminating delays in actual operation with respect to operator operation commands while controlling suspension load and mast.
- jib cranes especially tower cranes, used in the construction of buildings, dams, etc.
- tower cranes have a wide range of fluctuations in the length of the suspended load rope, and the control with that constant is inevitable to deteriorate the damping performance. It is also necessary to reduce strong winds and tremors during earthquakes.
- the existing jib crane motor can be operated only in response to an operator's arbitrary command, and suspension in a state in which load swing is prevented.
- a control method and apparatus for a jib crane that can simultaneously achieve load position control and vibration control against disturbance such as swaying of the crane main body and wind, earthquake, and the like (see, for example, Patent Document 6).
- Patent Document 6 As a method capable of controlling a suspended load and a mast at the same time, for example, Patent Document 6 has been proposed. However, the suspended load and the mast are more preferentially controlled than the suspended load positioning control. Control method is adopted. For this reason, there is a problem that a quick suspended load positioning operation corresponding to the operator's operation command cannot be obtained, and as a result, the actual operation is delayed with respect to the operator's operation command, and the operator's operation feeling is uncomfortable. is there.
- the present invention has been made to solve the above-described problems of the prior art, and provides a control method for a jib crane that can eliminate delays in actual operation with respect to an operator's operation command while suppressing vibration of a suspended load and mast.
- the device is to be provided.
- the control method for a jib crane according to claim 1 of the present invention for solving the above-mentioned problem is to obtain a linear fractional transformation (LFT) expression of a low-dimensional model considering the rope length variation of the suspended load of the jib crane, and the linear fraction transformation (
- LFT linear fractional transformation
- the feedback control command and the operation command from the control lever are linearly combined, and the ratio between the feedback control command and the operation command is changed to suppress the suspension of the suspended load even when the rope length of the suspended load fluctuates.
- the load is moved to a target position.
- the jib crane control method includes an operation in which an operation command from the operation lever is input as a ratio between the feedback control command and the operation command. It is characterized in that it is changed between the area and the outside of the operation area where no operation command is input.
- control device for a jib crane is a control device for a jib crane that includes a turning drive means and a undulation drive means to perform turning and undulation of the jib, Jib and other detection means capable of detecting at least the jib turning angle, jib undulation angle, hanging load angle and crane body displacement, operation lever for turning the jib, raising and lowering, lifting and lowering the suspended load, and this operation lever Lever detection means that can detect each operation of turning, undulation, lifting and unloading of suspended loads, and gain using linear fractional transformation (LFT) representation of a low-dimensional model that takes into account changes in rope length of suspended loads
- LFT linear fractional transformation
- a linear fraction conversion (LFT) representation of a low-dimensional model considering the rope length variation of the suspended load of the jib crane is obtained, and the linear fraction conversion (LFT) representation is obtained.
- a control method for a jib crane that performs feedback control using a gain-scheduled control system using a linear combination of the feedback control command and the operation command from the operation lever, and changing the ratio between the feedback control command and the operation command.
- the ratio between the feedback control command and the operation command is the operation area in which the operation command from the operation lever is input, and the operation command is not input. Since it is changed outside the operation area, it is possible to further operate according to the operation feeling of the operator.
- a control device for a jib crane provided with a turning drive means and a undulation drive means for turning and raising and lowering the jib.
- Detecting means such as jib that can detect at least the jib undulation angle, hanging load angle and displacement of the crane body, operation lever for turning the jib, raising and lowering, lifting and lowering the suspended load, and turning and undulation by this operation lever
- Gain scheduled control using lever detection means that can detect each operation of lifting and lowering the suspended load, and linear fractional transformation (LFT) representation of a low-dimensional model that takes into account the rope length variation of the suspended load that has been input in advance.
- LFT linear fractional transformation
- Both the ratio and a controller comprising a linear combination control unit for changing, made, the target position was suspended load suppress swaying of the hanging even rope length of the load varies suspended load with these feedback control command and operation command
- the existing motor that performs turning and undulation of the jib is controlled to control the vibration of the suspended load and to control the suppression of the mast vibration.
- the command that linearly combines the feedback control command and the operation command from the operation lever by the operator with the linear combination control unit is changed to the command of the controller by changing the ratio.
- the following control can be performed, and the suspended load can be positioned with excellent operational feeling while the vibration of the jib crane is controlled.
- the load can be transported promptly regardless of the skill level of the operator, and work efficiency can be improved.
- vibration can be suppressed against disturbances such as strong winds and earthquakes, and it is not necessary to install a new vibration control device, which makes it easy to apply to existing jib cranes.
- FIG. 1 is a block diagram of a control system according to an embodiment of a control method and apparatus for a jib crane of the present invention.
- the control system of this jib crane is composed of a feedback control system using a gain scheduled control system that takes into account fluctuations in the suspended load rope length.
- This feedback control system also has a damping effect against disturbances, and further provides feedback control.
- the command and the operation command by the operator's operation lever are linearly combined, and the ratio of these two commands (the ratio of the feedback control command and the ratio of the operator's operation command) is determined by the linear combination calculation unit according to the operation state of the operation lever.
- the control that follows the operation command of the operator is performed so that the positioning with excellent operation feeling without delay in the actual operation can be performed.
- the characteristics of the controlled object vary according to the variation of the suspended load rope length. This characteristic variation is expressed by a model using linear fractional transformation. This modeling is done by taking into account fluctuations in the suspended load rope length in both the jib's undulation and turning motions or in both directions simultaneously, and by modeling the tower crane with LFT representation, the discretization of the control system is It only needs to be performed off-line, eliminating the need to discretize the control system online as in the case of modeling into a parameter-variable system.
- Outline of feedback control (gain scheduled control) system design is performed as follows.
- Modeling (1 ⁇ 1) Derivation Q of 3D model A three-dimensional model of the tower crane is shown in FIG. In the figure, 1 is a mast, 2 is a jib, 3 is a suspended load, and 4 is a rope. The definitions of the main symbols are shown below.
- x i Absolute displacement in the x direction of each part of the mast
- y i Absolute displacement in the y direction of each part of the mast
- ⁇ Lifting angle in the undulation direction of the suspended load
- L jib length
- l suspended load rope length
- L t mast length
- W b jib mass
- W o suspended load mass
- M d swivel frame including undulation / swivel motor
- c t equivalent damping coefficient of reduced model
- x r displacement in the undulation direction at the top of the mast
- y r undulation direction at the top of the mast
- ⁇ n jib undulation angle with the counterclockwise direction positive from the xr axis
- u s turning direction input torque
- the mast is a model of a four-mass system only in the xy in-plane translation direction.
- the jib is a rigid body.
- Q u is geometrically generated coefficient terms jib support ropes, Q x, Q y is y r crane unit, the moment M x about x r-axis, than the deformation problem of straight beam the M y
- FIG. 2A is a undulation direction reduction model
- FIG. 2B is a turning direction reduction model, which is modeled based on the following assumptions.
- the tower part is an equivalent one mass system, and only each direction is considered.
- the equation of motion is obtained from Lagrange's equation (2).
- the jib undulation angle is the target angle.
- x r and y r are relative coordinates with respect to the turning angle ⁇ of the displacement x 1 and y 1 at the top of the mast,
- the matrices A and B when the suspended rope length l varies can be expressed only by the parameter Z, and the following LP model is obtained.
- a 0 and B 0 are matrices obtained by removing components that fluctuate from the matrices A and B, and A z and B z are matrices of only the coefficient of Z.
- a controller satisfying the above can be obtained by solving an LMI (linear matrix inequality). Where ⁇ > 0 is a given scalar.
- the gain scheduled controller is represented by an LFT composed of the same perturbation block as the controlled object.
- Equation (20) ⁇ does not become smaller in the perturbation evaluation path than in the performance path evaluation, resulting in a conservative controller. Therefore, when w 11 , w 12 , and w 13 that are weight functions for the mast, jib undulation angle, and suspended load are constant, the perturbation range is reduced and the change in ⁇ is examined.
- Experimental Apparatus A schematic diagram of the tower crane experimental apparatus is shown in FIG.
- the jib 2 is turned by a turning motor 5 by a servo motor, the raising / lowering is performed by a raising / lowering motor 6 by a servo motor, and the rope length of the suspended load 3 is adjusted by a lifting / lowering motor 7 by a DC motor.
- the displacement of the crane body is determined by detecting the distortion of the mast 1 by displacement sensors 8 and 9 using two sets of strain gauges attached to the bottom of the mast in the x and y directions, respectively, and multiplying the distortion by a constant. Displacement.
- an accelerometer may be arranged on the upper part of the mast, and the displacement of the upper part of the mast may be obtained from the acceleration of the accelerometer.
- the crane turning angle ⁇ is detected by a turning angle sensor 10 using a rotary encoder with a built-in servo motor.
- the jib angle ⁇ is detected by attaching a undulation angle sensor 11 using a potentiometer to the rotation axis at the lower end of the jib.
- the swing angles ⁇ and ⁇ of the suspended load are detected by suspended load angle sensors 12 and 13 which are attached to the potentiometer with a fork sandwiching the suspended load rope and attached to the tip of the jib for the up and down direction and the turning direction.
- the steering device uses a biaxial operation lever 14 with a built-in potentiometer, detects its tilt angles ⁇ UD and ⁇ RD and uses them as command values for undulation and turning angular velocity, respectively.
- the length of the suspended rope is operated by the keyboard of the controller 15 (control computer).
- Reference numeral 16 denotes a linear combination control calculation unit.
- K UD and K RD in the figure are gain scheduled controllers for the undulation direction and the turning direction, respectively.
- r UD and r RD represent undulation direction and turning direction command values (operation commands)
- u b and u sb represent undulation direction and turning direction feedback signals.
- the gain-scheduled controller of the LFT method is an LFT that perturbs the parameters Z and Y determined by the suspended rope length, and is therefore implemented as a minor loop related to the controller.
- the swing of the suspended load is quickly attenuated, and the operator can easily carry the suspended load to a desired position without performing the suspended load steadying.
- the gain-scheduled controller compensated for the rope length variation, and the convergence of the mast and the suspended load was almost the same regardless of the rope length.
- this linear combination control is applied to the control command to the undulation motor and the control command to the swing motor which are the input terms to the controlled object of Equations (5) and (6).
- ⁇ is the operation command ratio of the operator
- ⁇ is the feedback control command ratio
- the ratio between the feedback control command and the operator operation command is set so that the operator's operation priority is given to the operator's operation area and the outside of the operation area. Change according to the operation status.
- the ratio of the feedback control command and the ratio of the operation command by the linear combination calculation unit 16 are the state equations (5) and (6) of the controlled object into which the expression (29) of the input term to the controlled object is substituted.
- the final feedback control command ratio ⁇ and operation command ratio ⁇ are preferably determined by comparison between the verification based on the experiment and the desktop simulation result, and the desktop simulation result is sufficiently consistent with the experimental result. If so, verification based on experiments can be omitted.
- (A) is a block diagram which considered the interconnection which a controller has the same perturbation block as a controlled object
- (b) is a block diagram which pulled up the perturbed block of the controller to the controlled object side.
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Abstract
Description
当該フィードバック制御指令と操作レバーからの操作指令とを線形結合させ、これらフィードバック制御指令と操作指令との割合を変化せて、吊り荷のロープ長が変動しても吊り荷の揺れを抑制し吊り荷を目標位置に移動させることを特徴とするものである。
ジブの旋回角、ジブの起伏角、吊り荷角、クレーン本体の変位を少なくとも検出し得るジブ等検出手段と、ジブの旋回、起伏、吊り荷の巻き上げ巻き下げを行う操作レバーと、この操作レバーによる旋回、起伏、吊り荷の巻き上げ巻き下げの各操作を検出し得るレバー検出手段と、予め入力した吊り荷のロープ長変動を考慮した低次元モデルの線形分数変換(LFT)表現を用いてゲインスケジュールド制御を行うフィードバック制御系と、当該フィードバック制御系からのフィードバック指令と前記操作レバーのレバー検出手段からの操作指令とを線形結合させるとともに、これらフィードバック制御指令と操作指令との割合を変化させる線形結合制御部と備える制御器と、からなり、吊り荷のロープ長が変動しても吊り荷の揺れを抑制し吊り荷を目標位置に移動させるようにしたことを特徴とするものである。
図1は、この発明のジブクレーンの制御方法および装置の一実施の形態にかかる制御系のブロック線図である。
(1・1)3次元モデルの導出Q
タワークレーンの3次元モデルを図2に示す。図中、1はマスト、2はジブ、3は吊り荷、4はロープである。主な記号の定義を以下に示す。
(1・2)制御系設計モデルの導出
起伏方向と旋回方向の分散制御を行うため、以下のように起伏・旋回各方向に対する制御器設計用の低次元化モデルを導出する。図2(a)は起伏方向低次元化モデル、図2(b)は旋回方向用低次元化モデルで、次のような仮定に基づいてモデリングされる。
LFT法によるゲインスケジュールド制御系設計を行うため、吊り荷ロープ長を摂動とする低次元化モデルのLFT表現を求める。モデル摂動をディスクリプタ形式として取り出したのちLFT表現に変換する方法があるが、起伏方向モデル式(7)にそのような変換を施すと、摂動するパラメータ数が2となってしまうことおよびゲインスケジュールド制御系設計のためには、パラメータ数は少ない方が解が得られやすいことから、ここでは、まずLPVモデルの導出を示し、それを用いてLFT表現への変換を行う。尚、以下ではNとMの上側LFTを
(数21)
Zmin≦Z≦Zmax (18)
Zmin=1.6729・101,Zmax=5.3533・101
となる。尚、Zは吊り荷ロープ長lを用いて
(数22)
Z=26.766/l (19)
より求める。
(数23)
Zn=(Zmax-Zmin)/2,
δz=Zmax-Zn (20)
(数24)
An=A0+ZnAz,
A1=δzAz (21)
(数25)
Bn=B0+ZnBz,
B1=δzBz (22)
とすると、LPVモデルは以下のように表記できる。
ゲインスケジュールド制御器の設計
ここでは、簡易に実装が行えるLFT法を用いたゲインスケジュールド制御系の設計を行う。以下に、LFT法のゲインスケジュールド制御器の導出手法の概略を特許文献6に基づいて示す。
(3・1)実験装置
タワークレーン実験装置の概略図を図5に示す。ジブ2はサーボモータによる旋回モータ5によって旋回され、サーボモータによる起伏モータ6によって起伏が行われ、又吊り荷3はDCモータによる昇降モータ7によってロープ長が調節される。クレーン本体の変位は、マスト最下部にx方向とy方向に夫々貼り付けた2組の歪みゲージによる変位センサ8,9によりマスト1の歪みを検出し、歪みを定数倍してマスト最上部の変位とする。尚、変位センサ8,9としては、上記歪みゲージを用いることに代えて、マスト上部に加速度計を配置し、該加速度計の加速度からマスト上部の変位を求めるようにしてもよい。クレーン旋回角度ζはサーボモータ内蔵のロータリーエンコーダによる旋回角センサ10により検出する。ジブ角度νは、ジブ下端の回転軸にポテンショメータによる起伏角センサ11を取り付けて検出する。吊り荷の振り角度θ,ψは、吊り荷ロープを挟むフォークをポテンショメータに取り付けて、それを起伏方向用と旋回方向用にジブ先端に取り付けた吊り荷角センサ12,13にて検出する。操縦装置はポテンショメータ内蔵の2軸の操作レバー14を用い、その倒れ角ρUD,ρRDを検出し、夫々起伏、旋回角速度に対する指令値とする。尚、吊り荷ロープ長は制御器15(制御用コンピュータ)のキーボードにより操作を行う。16は線形結合制御演算部である。
まず、吊り荷ロープ長変動に対するゲインスケジュールド制御系の有効性の検証を行ったところ、LFT法は制御器のゲインのピークが上がることにより、性能が劣化することなくマストの制御を行っていることがわかった(特許文献6参照)。
まず、線形結合演算部16によるフィードバック制御指令の割合を100%として、操作指令の割合を0としてフィードバック制御系による操縦者の任意操作に対する制御実験を行ったところ、図6(b)に示すように、吊り荷ロープ長を変動させながら障害物を回避するような吊り荷の搬送を操縦者が行うため、吊り荷ロープ長を任意の長さに巻き取りつつ、レバー操作により旋回角速度、ジブ起伏角速度に指令を与えクレーンを操作した場合やレバー操作に急峻な変化を与えた場合でも、マスト、吊り荷の振動は速やかに抑えられていることがわかる。これにより、吊り荷の振れは速やかに減衰され操縦者は吊り荷振れ止めを行わずとも所望の位置に容易に吊り荷を搬送することができる。ロープ長変動に対しては、ゲインスケジュールド制御器が補償し、どのロープ長でもマスト、吊り荷の収束性はほぼ同様であった。
2 ジブ
3 吊り荷
4 ロープ
5 旋回モータ
6 起伏モータ
8 クレーン本体の変位センサ(歪みゲージ)
9 クレーン本体の変位センサ(歪みゲージ)
10 旋回角センサ
11 起伏角センサ
12,13 吊り荷角センサ
14 操作レバー
15 制御器
16 線形結合演算部
Claims (3)
- ジブクレーンの吊り荷のロープ長変動を考慮した低次元モデルの線形分数変換(LFT)表現を求め、該線形分数変換(LFT)表現を用いたゲインスケジュールド制御方式によるフィードバック制御を行うジブクレーンの制御方法において、
当該フィードバック制御指令と操作レバーからの操作指令とを線形結合させ、これらフィードバック制御指令と操作指令との割合を変化せて、吊り荷のロープ長が変動しても吊り荷の変動を抑制し吊り荷を目標位置に移動させることを特徴とするジブクレーンの制御方法。 - 前記フィードバック制御指令と前記操作指令の割合を前記操作レバーからの操作指令が入力される操作領域と、操作指令が入力されない操作領域外とで変化させるようにしたことを特徴とする請求項1に記載のジブクレーンの制御方法。
- 旋回駆動手段と起伏駆動手段とを備えてジブの旋回と起伏とを行うジブクレーンの制御装置であって、
ジブの旋回角、ジブの起伏角、吊り荷角、クレーン本体の変位を少なくとも検出し得るジブ等検出手段と、
ジブの旋回、起伏、吊り荷の巻き上げ巻き下げを行う操作レバーと、
この操作レバーによる旋回、起伏、吊り荷の巻き上げ巻き下げの各操作を検出し得るレバー検出手段と、
予め入力した吊り荷のロープ長変動を考慮した低次元モデルの線形分数変換(LFT)表現を用いてゲインスケジュールド制御を行うフィードバック制御系と、当該フィードバック制御系からのフィードバック指令と前記操作レバーのレバー検出手段からの操作指令とを線形結合させるとともに、これらフィードバック制御指令と操作指令との割合を変化させる線形結合制御部と備える制御器と、からなり、
吊り荷のロープ長が変動しても吊り荷の揺れを抑制し吊り荷を目標位置に移動させるようにしたことを特徴とするジブクレーンの制御装置。
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BRPI1006126A BRPI1006126A2 (pt) | 2009-01-07 | 2010-01-07 | método para controlar um guindaste de lança, e, dispositivo de controle de guindaste de lança. |
SG2011047099A SG172403A1 (en) | 2009-01-07 | 2010-01-07 | Jib crane control method and device |
JP2010545775A JP5751662B2 (ja) | 2009-01-07 | 2010-01-07 | ジブクレーンの制御方法および装置 |
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JP2018142200A (ja) * | 2017-02-28 | 2018-09-13 | 株式会社Ihi | 状態推定方法、及び状態推定装置 |
WO2022050023A1 (ja) * | 2020-09-07 | 2022-03-10 | 株式会社神戸製鋼所 | クレーンの旋回振れ止め装置およびこれを備えたクレーン |
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JPH07234727A (ja) * | 1994-02-21 | 1995-09-05 | Komatsu Ltd | 作業機の振動抑制装置およびその方法 |
JP2005067747A (ja) * | 2003-08-21 | 2005-03-17 | Hidekazu Nishimura | ジブクレーンの制御方法及び装置 |
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JPH07234727A (ja) * | 1994-02-21 | 1995-09-05 | Komatsu Ltd | 作業機の振動抑制装置およびその方法 |
JP2005067747A (ja) * | 2003-08-21 | 2005-03-17 | Hidekazu Nishimura | ジブクレーンの制御方法及び装置 |
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JP2018142200A (ja) * | 2017-02-28 | 2018-09-13 | 株式会社Ihi | 状態推定方法、及び状態推定装置 |
WO2022050023A1 (ja) * | 2020-09-07 | 2022-03-10 | 株式会社神戸製鋼所 | クレーンの旋回振れ止め装置およびこれを備えたクレーン |
JP7414672B2 (ja) | 2020-09-07 | 2024-01-16 | 株式会社神戸製鋼所 | クレーンの旋回振れ止め装置およびこれを備えたクレーン |
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SG172403A1 (en) | 2011-08-29 |
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