WO2012098699A1 - 電力供給装置、クレーン、及び電力供給方法 - Google Patents
電力供給装置、クレーン、及び電力供給方法 Download PDFInfo
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- WO2012098699A1 WO2012098699A1 PCT/JP2011/060091 JP2011060091W WO2012098699A1 WO 2012098699 A1 WO2012098699 A1 WO 2012098699A1 JP 2011060091 W JP2011060091 W JP 2011060091W WO 2012098699 A1 WO2012098699 A1 WO 2012098699A1
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- power
- power supply
- crane
- load
- supplied
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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
- B66C13/12—Arrangements of means for transmitting pneumatic, hydraulic, or electric power to movable parts of devices
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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
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
- B66C19/007—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries for containers
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/44—Methods for charging or discharging
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
Definitions
- the present invention relates to a power supply device, a crane, and a power supply method for a crane that transports containers in a container yard of a harbor where a large number of box-shaped containers (suspended loads) are installed, for example.
- a container yard such as a harbor
- containers installed before being loaded onto the ship and unloaded from the ship.
- These containers are a plurality of stacked containers stacked upward, and each stacked container is arranged for each lane according to a predetermined arrangement.
- a self-propelled portal crane such as RTG (Rubber Tired Gantry crane) is arranged so as to straddle the lane.
- RTG Rubber Tired Gantry crane
- AGV Automatic Guided Vehicle
- Such cranes such as RTG conventionally generate electricity with an engine generator mounted on the crane and supply power to the traveling motor and cargo handling motor of the crane.
- a hybrid power supply system in which a battery is mounted in addition to an engine generator is being put into practical use in response to a request for reducing environmental load.
- a cable reel type ground power feeding method in which an engine generator is eliminated and power is supplied to a crane from a power supply provided on the ground via a power feeding cable and a cable reel.
- Patent Document 1 describes a crane that is driven by power supply from a commercial power source and a power storage device.
- the motor when the power storage amount of the power storage device exceeds the first threshold, the motor is driven by the power storage device alone in both the high voltage region and the low pressure region, and the power storage amount of the power storage device is the first. If it is below the threshold, the motor is driven by the combined use of power from the power storage device and power from the commercial power source. If the amount of power stored in the power storage device is below the second threshold, which is lower than the first threshold, The motor is driven only by power from the power source.
- the electric power required for lifting the suspended load is, for example, 150 kW (maximum 270 kW when the overload capacity is 180%), and the electric power required for traversing the trolley is, for example, 22 kW (maximum 44 kW when the overload capacity is 200%)
- the power required when the base load is maximum requires power for a load of about 35 kW, for example, a total power of about 350 kW is required.
- the crane when lowering a suspended load, the crane behaves as a generator and regenerates power to a commercial power source.
- the load fluctuation may increase depending on the crane.
- the present invention has been made in view of such circumstances, and an electric power supply device, a crane, and an electric power supply method that can reduce the electric power supplied from the commercial power source to the crane and enable low-voltage power transmission.
- the purpose is to provide.
- the power supply apparatus, crane, and power supply method of the present invention employ the following means.
- the power supply apparatus is chargeable / dischargeable, a storage battery for supplying power to the power load of the crane, and power receiving means for receiving a predetermined power supply from a commercial power source.
- Calculating means for calculating a power difference between the power consumed by the power load and the power supplied from the commercial power supply, and control for charging / discharging the power according to the power difference calculated by the calculating means from the storage battery Means.
- the power supply device is chargeable / dischargeable, and is predetermined from a storage battery for supplying power to the power load of the crane and a commercial power source.
- Power receiving means for receiving the supplied power. That is, a crane drives an electric power load with the electric power discharged from the storage battery with which the crane was equipped, and the electric power supplied from a commercial power source.
- the electric power load is a motor, an auxiliary machine, or the like for rotating a wheel that moves a crane.
- the power difference between the power consumed by the power load and the power supplied from the commercial power source is calculated by the calculating means, and the power corresponding to the power difference calculated by the calculating means is charged / discharged from the storage battery by the control means.
- the power supply device supplies the power discharged from the storage battery from the commercial power supply even if the predetermined power supplied from the commercial power supply is lowered (for example, 45 kW). It will supplement the power. Therefore, the power supply apparatus according to the first aspect of the present invention can reduce the power supplied from the commercial power source to the crane and enable low-voltage power transmission.
- the power supply device is a power supply device that supplies AC power to a power load of a crane equipped with a generator or a crane that has abandoned an existing generator, and is chargeable / dischargeable.
- a storage battery for supplying power to the power load, power receiving means for receiving a predetermined power supply from a commercial power source, power consumed by the power load, and power supplied from the commercial power source.
- Calculation means for calculating a power difference, control means for charging / discharging power corresponding to the power difference calculated by the calculation means from the storage battery, and direct current from the storage battery and the power receiving means to a power supply path to the power load Supply means for converting electric power into AC electric power and supplying it.
- the power supply apparatus supplies AC power to the power load of a crane equipped with a generator or a crane that has abolished an existing generator.
- a storage battery for supplying power to the power load a power receiving means for receiving a predetermined power supply from a commercial power source, a storage battery to the power supply path to the power load of the crane, and Supply means for converting and supplying DC power from the power receiving means to AC power. Then, the power difference between the power consumed by the power load and the power supplied from the commercial power source is calculated by the calculating means, and the power corresponding to the power difference calculated by the calculating means is charged / discharged from the storage battery by the control means.
- the power supply device is connected to the power supply path to the power load of the existing crane that is supplying power to the power load by the generator, thereby
- the power load can be driven by power supplied from the storage battery and the commercial power source.
- the power supply device can reduce the power supplied from the commercial power source to the crane and enable low-voltage power transmission.
- the crane can be moved to another lane, and the control means is supplied from the commercial power source when the crane moves between lanes.
- the storage battery is charged and discharged as if there is no power to be supplied.
- the storage battery is charged / discharged on the assumption that there is no power supplied from the commercial power supply, so that no power is supplied from the commercial power supply to move the crane to another lane.
- the crane can be moved to another lane.
- a storage battery having a power capacity that can cover power consumed by movement between lanes of the crane is selected in advance.
- the power supply device may be configured such that the power supplied from the commercial power source is variable below the predetermined power.
- the power supplied from the commercial power source is variable below a predetermined power, the power supplied from the commercial power source is more reduced when the power consumed by the power load is small. Can be lowered.
- control unit changes the power supplied from the commercial power source based on the history of the state of charge of the storage battery.
- the electric power supplied from the commercial power source is changed based on the history of the state of charge of the storage battery, the electric power supplied from the commercial power source can be lowered when the storage battery has a high charge amount.
- control unit changes the power supplied from the commercial power source based on the history of the power supplied to the power load.
- the power supplied from the commercial power supply is changed based on the history of the power supplied to the power load, the power supplied from the commercial power supply is lowered when the power consumed by the power load is small. be able to.
- the power supply device performs a winding operation for suppressing power consumed by the power load by changing an acceleration in a winding operation in which the crane winds the suspended load.
- the power capacity of the storage battery is based on the power suppressed by the winding operation.
- a crane according to a third aspect of the present invention includes the power supply device according to any one of the above, and a power load driven by power supplied from the power supply device.
- the crane according to the third aspect of the present invention can reduce the power supplied from the commercial power source to the crane and enable low-voltage power transmission.
- the power supply method is chargeable / dischargeable, a storage battery for supplying power to the power load, and a power receiving means for receiving a predetermined power supply from a commercial power source
- a power supply method for supplying power to the power load of a crane comprising: a first step of calculating a power difference between power consumed by the power load and power supplied from the commercial power source; and And a second step of charging and discharging power from the storage battery according to the power difference calculated in one step.
- the power supply method according to the fourth aspect of the present invention is discharged from the storage battery even if the predetermined power supplied from the commercial power source is lowered (for example, 45 kW). Power supplements the power supplied from the commercial power source. Therefore, the power supply method according to the fourth aspect of the present invention can reduce the power supplied from the commercial power source to the crane and enable low-voltage power transmission.
- the power supply method is chargeable / dischargeable, a storage battery for supplying power to the power load of the crane, and power receiving means for receiving a predetermined power supply from a commercial power source.
- a supply means for converting DC power from the storage battery and the power receiving means to supply AC power to the power supply path to the power load, and a crane provided with a generator or an existing generator abolished A power supply method of a power supply device for supplying AC power to the power load, wherein a first step of calculating a power difference between power consumed by the power load and power supplied from the commercial power supply; And a second step of charging / discharging power from the storage battery in accordance with the power difference calculated in the first step.
- the power supply device is connected to the power supply path of an existing crane that has been supplying power to the power load by the generator,
- the existing crane can drive an electric power load with electric power supplied from a storage battery and a commercial power source.
- the power supply method can reduce the power supplied from the commercial power source to the crane to low power transmission.
- the power supplied from the commercial power source to the crane can be made low and low voltage transmission can be achieved.
- FIG. 1 shows a crane 1 according to the first embodiment.
- FIG. 1 shows a crane 1 installed in the traveling direction X of the lane R.
- the crane 1 is a ground-fed electric crane that operates with electric power supplied from a power supply box 31 installed on the ground, and does not include an engine generator.
- the crane 1 includes a crane power supply cable reel device (hereinafter simply referred to as “cable reel device”) 2.
- the crane 1 is a so-called RTG (Rubber Tired Gantry Crane), and is a portal crane that self-propels by a plurality of wheels (rubber tires) 3.
- the crane 1 is arranged so that a plurality of containers (hereinafter, referred to as “suspended loads”) are stacked on top of each other so as to straddle the lane R in which the stacked loads are installed in a predetermined arrangement. Travel in the travel direction X).
- the crane 1 includes four traveling devices 5 on each leg 11, and each traveling device 5 is provided with four wheels 3.
- the driving of the traveling device 5 is controlled by the traveling control device 7.
- the travel device 5 is provided with an auto steer sensor 6.
- the auto steer sensor 6 detects the magnetism from the magnetic guide line 15 laid in the longitudinal direction of the lane R. Thereby, the crane 1 can be automatically driven straight in the traveling direction X.
- the traveling devices 5 that are adjacent to each other in the traveling direction X that is the left-right direction are connected by a lower beam 9, and a traveling control device 7 is installed on the lower beam 9.
- right and left means the traveling direction of the crane 1
- front and rear means the moving direction of the trolley 20 (transverse direction Y). This is determined based on the attitude of the operator in the cab 22 installed in the trolley 20.
- a bay sensor 8 is provided in a state of facing downward. This bay sensor 8 detects the magnetism from the magnet 16 laid for every bay which is a unit in the left-right direction of the installed suspended load. Thereby, the crane 1 can be stopped in the target bay.
- pillars 10 standing upward are provided. The upper end of each column 10 is connected to the upper end of the column 10 erected from the other lower beam 9 by a girder 12.
- the two girder 12 are provided in parallel in the left-right direction, and the trolley 20 moves in the front-rear direction (transverse direction Y) on the girder 12.
- a cab 22 is provided in the trolley 20, and an operator waits in the cab 22 to operate the crane 1.
- a spreader (hanging tool) 24 is suspended from the trolley 20, and the suspended load is suspended by the spreader 24.
- a twist lock pin (not shown) having an enlarged head at the tip is provided at the four corners of the spreader 24 so as to protrude downward, and the enlarged head of each twist lock pin has a suspended load. They are engaged by being rotated while being inserted into holes provided in the four corners of the upper surface. Thus, by being suspended by the spreader 24, the suspended load is moved to each position in accordance with the movement of the trolley 20.
- the crane 1 includes a power supply device 40 (see FIGS. 2 and 3) including a battery 42 (storage battery) and a charge / discharge device 48 which will be described later.
- the battery 42 stores power supplied from the power supply box 31 fixed on the ground via the power supply cable 33 and the cable reel 35.
- the power supply box 31 is supplied with low-voltage power such as AC460V.
- the power supply cable 33 Since the power supply cable 33 has a low voltage specification such as AC460V, the power supply cable 33 has a smaller diameter than a conventional AC6600V class high voltage specification power supply cable. As a result, the cable reel 35 has a smaller diameter and is smaller than the conventional cable reel.
- the miniaturized cable reel 35 is installed so as to project toward the traveling direction X side of the crane 1.
- the cable reel device 2 including the cable reel 35 is detachable from the crane 1. Further, as shown in FIG. 1, a plurality of cranes 1 can be provided. The position of the cable reel device 2 can be changed according to the position of the power supply box 31.
- FIG. 2 is a schematic diagram of an electrical configuration of the crane 1 according to the first embodiment.
- the crane 1 is a power supply device that supplies (feeds) power to a power load.
- the crane 1 receives a predetermined power supply from a commercial power source and supplies power to the power load, and can be charged and discharged.
- the above-described power supply device 40 including a battery 42 for supplying power to the power load.
- the power supply device 40 is supplied with AC power from a power supply box 31 that is a ground power supply facility, converts the AC power into DC power by a PWM converter 41, and supplies power to the load drive inverters 43A to 43F connected to the power load. .
- the power supply box 31 receives power from a commercial power source by the high-voltage power receiving panel 44, converts the received AC power into a predetermined amount of AC power by the transformer 45 (for example, converts 6600 V to 460 V), and supplies the power to the power supply device 40. Supply power.
- the PWM converter 41 is connected to a power supply cable 33 connected to the power supply box 31 via a power supply connector 46 and a cable reel 47, and converts AC power supplied from the power supply box 31 into DC power.
- the power supply device 40 includes a charge / discharge device (DC / DC converter) 48, can charge / discharge a predetermined amount of DC power from the battery 42, and is connected to a power load. Supply power to
- the crane 1 includes, as an electric power load, a traverse motor 49A for traversing the trolley 20, motors 49B to 49E for rotating the wheels 3 and a turning motor 49F, a hoisting motor 49G for hoisting a suspended load, and an auxiliary machine 50. It has. When lowering the hoisted load, the hoisting motor 49G functions as a generator and generates electric power.
- any of A to G is added to the end of the reference numeral, and when each motor 49 is not distinguished, A to G are omitted. Further, when distinguishing each load driving inverter, any of A to F is added to the end of the reference numeral, and when not distinguishing each load driving inverter 43, A to F is omitted.
- each motor 49 and auxiliary machine 50 is supplied with power by converting DC power from the power supply device 40 into AC power by the corresponding load drive inverter 43.
- the power that is not consumed by the power load is consumed by the resistor 51.
- FIG. 3 is a block diagram showing a detailed configuration of the power supply device 40.
- the power supply device 40 includes a charge / discharge control device 53 together with the PWM converter 41, the battery 42, and the charge / discharge device 48.
- the charge / discharge device 48 controls the charge / discharge of the battery 42 based on the charge / discharge power command value PT output from the charge / discharge control device 53 and controls the charge / discharge power feedback value P B of the battery 42. Output to the device 53.
- the charge / discharge control device 53 calculates the power difference between the power consumed by the power load and the power supplied from the commercial power source. For example, the charge and discharge control device 53, a value indicating the input power from PWM converter 41 (input power feedback value P I) is inputted, the value (load supply showing the power consumed in the power load from the load driving inverter 43 The power feedback value P L ) is input. Load power P L is calculated from the sum of the product of the voltage V and current I from the load drive inverter 43 (kW), it shows a load variation is disturbance element.
- the input power target value P Target is a predetermined value, that is, a fixed value.
- FIG. 4 is a graph showing a time change of power consumed by the power load.
- the horizontal axis represents time change and the vertical axis represents power, and shows the time change of power consumption consumed by the power load.
- the power load is consuming power
- the hoisting motor 49G is powered. Is generated.
- the straight line A indicates the average value of power consumption.
- the input power target value P Target is set to the above average value (for example, 45 kW).
- the charge / discharge power command value PT is calculated by the charge / discharge control device 53 as a value indicating the power difference between the power consumed by the power load and the power supplied from the commercial power supply. Is done.
- P Target + P T P L
- P T P L -P Target (2)
- the charge / discharge power command value PT calculated based on the equation (2) is output to the charge / discharge device 48.
- Charging / discharging device 48 charges / discharges electric power according to charging / discharging power command value PT from battery 42. Specifically, the charge and discharge device 48, when the charge-discharge power command value P T is positive, while discharging the battery 42, when the charge-discharge power command value P T is negative, the charge and discharge control for charging the battery 42 I do.
- charge and discharge power command value P T output from the charge-discharge control device 53 to the discharge device 48 is based on the load power P L which is output from the load driving inverter 43, the charging of the battery 42 The discharge is feedback controlled. For this reason, when a control delay occurs, the influence of the delay is compensated based on the following equations (3) and (4).
- ⁇ P T K ⁇ (P Itarget ⁇ P I ) (3) (3) of the K is the control gain is determined in advance, P I is a value of power actually outputted from the PWM converter 41.
- P T P T + ⁇ P T (4)
- the crane 1 of the first embodiment is movable from the current lane R to another lane R, and the power supply device 40 is supplied from a commercial power source when the crane 1 moves between the lanes R.
- the battery 42 is charged / discharged on the assumption that no electric power is supplied. That is, the crane 1 can be moved to the other lane R even when power is not supplied from the commercial power source in order to move the crane 1 to the other lane R.
- the charge / discharge control device 53 detects a state in which power is not supplied from the power supply box 31 based on the attachment / detachment signal of the power supply connector 46, the input power target value P Itarget is set to 0 (zero), and (2) Based on the equation, a charge / discharge power command value PT is calculated, and power charge / discharge control is performed on a power load in a non-powered state from the commercial power source.
- the battery 42 having a power capacity that can cover the power consumed by the movement of the crane 1 between the lanes R is selected in advance.
- the power supply device 40 according to the first embodiment is chargeable / dischargeable, and has a battery 42 for supplying power to the power load of the crane 1 and a predetermined power from a commercial power source. And a PWM converter 41 receiving the supply.
- the charge / discharge control device 53 calculates the power difference between the power consumed by the power load and the power supplied from the commercial power source, and the charge / discharge device 48 charges / discharges the power corresponding to the calculated power difference from the battery 42. Let Therefore, the power supply device 40 according to the first embodiment can reduce the electric power discharged from the storage battery even if the predetermined electric power (input power target value P Target ) supplied from the commercial power source is lowered (for example, 45 kW). Supplements the power supplied from the commercial power source. For this reason, the power supply device 40 according to the first embodiment can reduce the power supplied from the commercial power source to the crane 1 to low power transmission.
- the size of the power supply cable 33 to the crane 1 can be reduced, and the cable reel 47 can be reduced in size.
- the configurations of the crane 1 and the power supply device 40 according to the second embodiment are the same as the configurations of the crane 1 and the power supply device 40 according to the first embodiment shown in FIGS.
- the power supply device 40 makes the power supplied from the commercial power source, that is, the input power target value P Target variable variable below a predetermined power.
- the power supply device 40 changes the power (input power target value P Itarget ) supplied from the commercial power source based on the history of the state of charge of the battery 42.
- the charge / discharge control device 53 temporarily stops charging the battery 42 even when the charge / discharge power command value PT is negative when the battery 42 is fully charged.
- the charge / discharge control device 43 causes the battery 42 to stop charging due to full charge in spite of being in a state to be charged (charge for the total time when power is supplied from the commercial power source).
- the ratio of the stop time) is calculated in real time, and the input power target value P Target is calculated.
- the input power target value P Target is calculated by, for example, equation (5).
- P Target k ⁇ (1 ⁇ p) ⁇ P Target ⁇ Base (5)
- k is a predetermined coefficient
- P Target ⁇ Base is a reference input power target value (for example, 45 kW).
- the power supply device 40 sets an inclination ⁇ of the charge rate (SOC: State of Charge) of the battery 42 as another example of changing the power supplied from the commercial power supply based on the charge state history of the battery 42. calculated in real time, calculates an input power target value P Itarget from (6).
- the slope ⁇ is obtained from the slope of the moving average obtained by calculating the moving average of the time change of the charging rate from a graph in which the horizontal axis represents time and the vertical axis represents the charging rate.
- the input power target value P Target is calculated by, for example, equation (6).
- P Target k ⁇ (1 ⁇ ) ⁇ P Target ⁇ Base (6)
- the power supply device 40 may change the power supplied from the commercial power source based on the history of the power supplied to the power load.
- the average value of power consumed by the power load (the average value from the present to a predetermined time before) P Target average is calculated, and the input power target value P Target is averaged as shown in Equation (7).
- the value is P Target • average .
- P Target P Target average (7)
- Variable control of the power supplied from the commercial power source for example, charge-discharge control device 53 using the above (5) to (7) or equation of Formula, by calculating the input power target value P Itarget, the The charge / discharge power command value PT calculated according to the result is output to the charge / discharge device 48, and the battery 42 is charged / discharged with the power based on the charge / discharge power command value PT .
- the power supply unit 40 in advance stores different input power target value P Itarget in accordance with the tilt of incidence p and the charging rate alpha, occurrence rate p and depending on the slope of the charging rate alpha input power target value P Itarget May be changed.
- the input power target value P Itarget may be 0 (zero) or a negative value.
- the case where the input power target value P Itarget is negative is a case where the crane 1 lowers the suspended load, and the motor 49 functions as a generator to generate power and regenerate the generated power to a commercial power source.
- the power supply device 40 according to the second embodiment changes the power supplied from the commercial power source based on the history of the charge state of the battery 42, the charge amount of the battery 42 is high. In addition, the power supplied from the commercial power supply can be further reduced. Further, since the power supply device 40 changes the power supplied from the commercial power supply based on the history of the power supplied to the power load, the power supply apparatus 40 is supplied from the commercial power supply when the power consumed by the power load is small. Electric power can be made lower. In addition, the power supply device 40 according to the second embodiment can reduce the power consumed by the resistor 51 in order to reduce the supply of power from the commercial power supply, and there is a need to include the resistor 51. Can be reduced.
- the configurations of the crane 1 and the power supply device 40 according to the third embodiment are the same as the configurations of the crane 1 and the power supply device 40 according to the first embodiment shown in FIGS.
- the power capacity of the battery 42 provided in the power supply device 40 must cover the peak power of the power load. That is, in order to use the battery 42 having a smaller power capacity, it is effective to reduce the peak power of the power load.
- the power peak consumed by the power load during the winding operation in which the crane 1 winds the suspended load is reduced.
- a limit value (supply power limit value P Llimit ) of power supplied to the power load is set, and the winding operation is limited based on the supply power limit value P Llimit .
- Equation (9) P MH is power required for the winding operation (winding operation required power (kW)), and P AUX is a reference value (base power (kW)) of power consumed by the auxiliary device 50.
- M is the mass of suspended load (kg)
- V is the winding speed (m / s)
- a is the winding acceleration (m / s 2 )
- J is the value obtained by converting the moment of inertia of the winding drum into a mass equivalent. (Kg).
- the crane 1 according to the third embodiment performs a winding operation that suppresses the power consumed by the power load by changing the acceleration a in the winding operation of winding the suspended load, and the power capacity of the battery 42 is increased by the winding operation. Based on suppressed power.
- FIG. 5A shows the time change of the speed (winding speed) of the conventional winding operation
- FIG. 5B shows the time change of the power consumed by the conventional winding operation corresponding to FIG. Is shown.
- FIG.5 (c) shows the time change of the speed
- FIG.5 (d) concerns on this 3rd Embodiment corresponding to FIG.5 (c).
- the time change of the electric power consumed by winding operation is shown.
- the power consumption is equal to or less than a preset supply power limit value P Llimit .
- the acceleration of the winding operation before the winding speed is made constant is changed.
- the total time required for the winding operation becomes longer than when the acceleration is not changed. Therefore, the total time required for the winding operation may be prevented from becoming longer by increasing the constant winding speed as compared with the case where the acceleration is not changed.
- the electric power capacity of the battery 42 can be determined based on the electric power suppressed by the winding operation
- a battery 42 having a lower power capacity can be used.
- FIG. 6 shows an electrical configuration of the crane 1 and an electrical configuration of the power supply device 40 according to the fourth embodiment.
- the same components as those in FIG. 3 are denoted by the same reference numerals as those in FIG.
- the crane 1 ′ according to the fourth embodiment is a conventional RTG provided with a generator 61 (engine generator 66) that generates electric power by driving the engine 60.
- a generator 61 engine generator 66
- the form which installed 40 ' is shown.
- the AC power output from the generator 61 is supplied to the motor 49 and the auxiliary device 50 via the load drive inverter 62.
- existing power generation is performed. Since the output of the power supply device 40 ′ instead of the machine 61 is AC power, it is a suitable form when a conventional RTG is modified.
- the power supply device 40 ′ includes DC power for supplying power from the battery 42 and the PWM converter 41 to the power supply path 63 to the power load of the battery 42, the PWM converter 41, and the crane 1 ′. Is converted to AC power and supplied, and the power load of the crane 1 ′ can be driven by the power supplied from the power supply device 40 ′.
- the power supply device 40 according to the fourth embodiment ', the load power P L is output from the DC / AC inverter 65 to charge and discharge control device 53.
- the power supply device 40 ′ is connected to the power supply path to the power load of the existing crane 1 ′ that has been supplying power to the power load by the generator 61.
- the power load of the existing crane 1 ′ can be driven by the power supplied from the battery 42 and the commercial power source. And even if electric power supply apparatus 40 'which concerns on this 4th Embodiment makes low predetermined electric power supplied from commercial power supply (for example, 45 kW), the electric power discharged from the battery 42 is supplied from commercial power supply. Therefore, the power supplied from the commercial power source to the crane can be reduced.
- the form in which the existing generator 61 is discarded from the crane 1 ′ has been described.
- the power supply device 40 ′ may be connected to the crane 1 ′ while remaining in preparation.
- the crane 1 ' may supply power to the power load by using the generator 61 and the power supply device 40' together.
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Abstract
Description
特許文献1に記載されているクレーンは、蓄電装置の蓄電量が第1閾値を上回っている場合、高圧領域及び低圧領域共に、蓄電装置単体でモータを駆動させ、蓄電装置の蓄電量が第1閾値を下回っている場合は、蓄電装置からの電力と商用電源からの電力の併用によってモータを駆動させ、蓄電装置の蓄電量が第1閾値よりも低い第2閾値を下回っている場合は、商用電源からの電力のみによってモータを駆動させる。
すなわち、クレーンは、クレーンに備えられた蓄電池から放電される電力と商用電源から供給される電力とで電力負荷を駆動させる。電力負荷とは、クレーンを移動させる車輪を回転させるためのモータや補機等である。
そして、算出手段によって、電力負荷が消費する電力と商用電源から供給される電力との電力差が算出され、制御手段によって、算出手段で算出された電力差に応じた電力が蓄電池から充放電される。
そして、本発明の第5の態様に係る電力供給方法は、商用電源から供給される予め定められた電力を低くしても(例えば45kW)、蓄電池から放電される電力が商用電源から供給される電力を補うこととなる。従って、本発明の第5の態様に係る電力供給方法は、商用電源からクレーンへ供給する電力を低電力とし低圧送電を可能にすることができる。
以下、本発明の第1実施形態について説明する。
図1には、レーンRの走行方向Xに設置されたクレーン1が示されている。クレーン1は、地上に設置された給電ボックス31から供給された電力によって動作する地上給電方式の電動クレーンとされており、エンジン発電機を備えていない。クレーン1は、クレーン用給電ケーブルリール装置(以下、単に「ケーブルリール装置」という。)2を備えている。
下梁9の両端には、上方に立設する柱10がそれぞれ設けられている。各柱10の上端は、もう一方の下梁9から立設された柱10の上端とガーダ12によって連結されている。
給電ボックス31は、高圧受電盤44によって商用電源から受電し、受電した交流電力を変圧器45によって所定の大きさの交流電力に変換(例えば、6600Vを460Vに変換)し、電力供給装置40へ給電する。
巻き上げた吊荷を下げる場合、巻き上げ用モータ49Gは、発電機として機能し、発電する。
例えば、充放電制御装置53には、PWMコンバータ41から入力電力を示す値(入力電力フィードバック値PI)が入力され、各負荷駆動インバータ43から電力負荷で消費される電力を示す値(負荷消費電力フィードバック値PL)が入力される。負荷消費電力PLは、負荷駆動インバータ43からの電圧V及び電流Iの積の総和(kW)から算出され、外乱要素である負荷変動を示している。
図4は、横軸が時間変化、縦軸が電力とされており、電力負荷で消費される消費電力の時間変化を示している。電力が正の場合は、電力負荷が電力を消費している場合である一方、電力が負の場合は、クレーン1が吊荷の巻き下げを行っている場合であり、巻き上げ用モータ49Gが電力を発生させている場合である。
PItarget+PT=PL ・・・(1)
PT=PL-PItarget ・・・(2)
充放電装置48は、充放電電力指令値PTに応じた電力をバッテリ42から充放電させる。
具体的には、充放電装置48は、充放電電力指令値PTが正の場合、バッテリ42を放電させる一方、充放電電力指令値PTが負の場合、バッテリ42を充電させる充放電制御を行う。
(3)式のKは制御ゲインであり予め定められており、PIはPWMコンバータ41から実際に出力される電力の値である。
PT=PT+ΔPT ・・・(4)
すなわち、クレーン1を他のレーンRへ移動させるために商用電源から電力を供給されない状態となっても、クレーン1を他のレーンRへ移動させることができる。
バッテリ42は、クレーン1のレーンR間の移動によって消費される電力を賄える電力容量を有するものが予め選択される。
従って、本第1実施形態に係る電力供給装置40は、商用電源から供給される予め定められた電力(入力電力目標値PItarget)を低くしても(例えば45kW)、蓄電池から放電される電力が商用電源から供給される電力を補うこととなる。このため、本第1実施形態に係る電力供給装置40は、商用電源からクレーン1へ供給する電力を低電力とし低圧送電を可能にすることができる。
以下、本発明の第2実施形態について説明する。
PItarget=k×(1-p)×PItarget・Base ・・・(5)
kは予め定められた係数であり、PItarget・Baseは基準となる入力電力目標値(例えば45kW)である。
これにより、発生率pが大きい場合は、入力電力目標値PItargetが小さく変化する。
傾きαは、例えば、横軸を時間、縦軸を充電率としたグラフから充電率の時間変化の移動平均を算出し、該移動平均の傾きから求められる。
PItarget=k×(1-α)×PItarget・Base ・・・(6)
これにより、傾きが正、すなわちバッテリ42が充電されている割合が大きい場合は、入力電力目標値PItargetが小さく変化する。
この例では、電力負荷で消費される電力の平均値(現在から所定時間前までの平均値)PItarget・averageを算出し、(7)式に示すように、入力電力目標値PItargetを平均値PItarget・averageとする。
PItarget=PItarget・average ・・・(7)
また、電力供給装置40は、電力負荷へ供給する電力の履歴に基づいて、商用電源から供給される電力を変化させるので、電力負荷で消費される電力が少ない場合に、商用電源から供給される電力をより低くすることができる。
また、本第2実施形態に係る電力供給装置40は、商用電源からの電力の供給を低くするため、抵抗器51によって消費される電力を削減することができ、抵抗器51を備える必要性を低下させることができる。
以下、本発明の第3実施形態について説明する。
PL<PLlimit ・・・(8)
PL=PMH+PAUX ・・・(9)
PMH=(9.8×M×V+a×(M+J)×V) ・・・(10)
(9)式において、PMHは巻き動作に必要な電力(巻き動作必要電力(kW))であり、PAUXは補機50で消費される電力の基準値(ベース電力(kW))である。
(10)式において、Mは吊荷質量(kg)、Vは巻き速度(m/s)、aは巻き加速度(m/s2)、Jは巻き上げドラムの慣性モーメントを質量相当に変換した値(kg)である。
図5(a)は、従来の巻き動作の速度(巻き速度)の時間変化を示し、図5(b)は、図5(a)に対応する従来の巻き動作で消費される電力の時間変化を示している。
そこで、本第3実施形態では、図5(b)のように、クレーン1の巻き動作の加速度に応じて消費電力が過大となる場合に、巻き動作の加速度を変化させる。
本第3実施形態に係る巻き動作では、図5(d)に示すように、消費電力が予め設定された供給電力制限値PLlimit以下となるように、図5(c)に示すように、巻き速度を一定にする前における巻き動作の加速度を変化させる。
以下、本発明の第4実施形態について説明する。
図6は、本第4実施形態に係るクレーン1の電気的構成及び電力供給装置40の電気的構成を示す。図6における図3と同一の構成部分については図3と同一の符号を付して、その説明を省略する。
そして、本第4実施形態に係る電力供給装置40’は、商用電源から供給される予め定められた電力を低くしても(例えば45kW)、バッテリ42から放電される電力が商用電源から供給される電力を補うこととなるので、商用電源からクレーンへ供給する電力を低電力にすることができる。
1’ クレーン
40 電力供給装置
40’ 電力供給装置
41 PWMコンバータ
42 バッテリ
48 充放電装置
49 モータ
50 補機
53 充放電制御装置
65 DC/ACインバータ
Claims (10)
- 充放電可能であり、クレーンの電力負荷に電力を供給するための蓄電池と、
商用電源から予め定められた電力の供給を受ける受電手段と、
前記電力負荷が消費する電力と前記商用電源から供給される電力との電力差を算出する算出手段と、
前記算出手段によって算出された電力差に応じた電力を前記蓄電池から充放電させる制御手段と、
を備えた電力供給装置。 - 発電機を備えたクレーン又は既設の発電機を廃したクレーンの電力負荷に交流電力を供給する電力供給装置であって、
充放電可能であり、前記電力負荷に電力を供給するための蓄電池と、
商用電源から予め定められた電力の供給を受ける受電手段と、
前記電力負荷が消費する電力と前記商用電源から供給される電力との電力差を算出する算出手段と、
前記算出手段によって算出された電力差に応じた電力を前記蓄電池から充放電させる制御手段と、
前記電力負荷への給電路へ前記蓄電池及び前記受電手段からの直流電力を交流電力に変換し供給する供給手段と、
を備えた電力供給装置。 - 前記クレーンは、他のレーンへ移動可能とされ、
前記制御手段は、前記クレーンがレーン間を移動する場合、前記商用電源から供給される電力はないものとして前記蓄電池を充放電させる請求項1又は請求項2記載の電力供給装置。 - 前記商用電源から供給される電力は、前記予め定められた電力以下で可変とされる請求項1から請求項3の何れか1項記載の電力供給装置。
- 前記制御手段は、前記蓄電池の充電状態の履歴に基づいて、前記商用電源から供給される電力を変化させる請求項4記載の電力供給装置。
- 前記制御手段は、前記電力負荷へ供給する電力の履歴に基づいて、前記商用電源から供給される電力を変化させる請求項4記載の電力供給装置。
- 前記クレーンは、吊荷を巻き上げる巻き動作における加速度を変化させることで、電力負荷で消費される電力を抑制する巻き動作を行い、
前記蓄電池の電力容量は、前記巻き動作によって抑制された電力に基づく請求項1から請求項6の何れか1項記載の電力供給装置。 - 請求項1から請求項7の何れか1項に記載の電力供給装置と、
前記電力供給装置から供給される電力によって駆動する電力負荷と、
を備えたクレーン。 - 充放電可能であり、電力負荷に電力を供給するための蓄電池と、商用電源から予め定められた電力の供給を受ける受電手段と、を備えたクレーンの前記電力負荷に電力を供給する電力供給方法であって、
前記電力負荷が消費する電力と前記商用電源から供給される電力との電力差を算出する第1工程と、
前記第1工程によって算出された電力差に応じた電力を前記蓄電池から充放電させる第2工程と、
を含む電力供給方法。 - 充放電可能であり、クレーンの電力負荷に電力を供給するための蓄電池と、商用電源から予め定められた電力の供給を受ける受電手段と、前記電力負荷への給電路へ前記蓄電池及び前記受電手段からの直流電力を交流電力に変換し供給する供給手段と、を備え、発電機を備えたクレーン又は既設の発電機を廃したクレーンの前記電力負荷に交流電力を供給するための電力供給装置の電力供給方法であって、
前記電力負荷が消費する電力と前記商用電源から供給される電力との電力差を算出する第1工程と、
前記第1工程によって算出された電力差に応じた電力を前記蓄電池から充放電させる第2工程と、
を含む電力供給方法。
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KR1020137034232A KR101589360B1 (ko) | 2011-01-19 | 2011-04-25 | 전력 공급 장치, 크레인, 및 전력 공급 방법 |
SG2012009361A SG182246A1 (en) | 2011-01-19 | 2011-04-25 | Power-supply apparatus, crane, and power supply method |
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US10095298B2 (en) | 2015-03-27 | 2018-10-09 | Nec Corporation | Control device |
JP6048527B2 (ja) * | 2015-03-27 | 2016-12-21 | 日本電気株式会社 | 制御装置 |
JP5943114B1 (ja) * | 2015-03-27 | 2016-06-29 | 日本電気株式会社 | 制御装置 |
CN104966855B (zh) * | 2015-06-26 | 2017-09-15 | 北京百度网讯科技有限公司 | 用于电池的放电装置及放电方法 |
CN106608594A (zh) * | 2015-10-27 | 2017-05-03 | 广东保达动力技术有限公司 | 一种用于起重机的增程式节能型混合电力系统 |
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SG182246A1 (en) | 2012-08-30 |
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