WO2020144762A1 - モータ制御装置 - Google Patents

モータ制御装置 Download PDF

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Publication number
WO2020144762A1
WO2020144762A1 PCT/JP2019/000325 JP2019000325W WO2020144762A1 WO 2020144762 A1 WO2020144762 A1 WO 2020144762A1 JP 2019000325 W JP2019000325 W JP 2019000325W WO 2020144762 A1 WO2020144762 A1 WO 2020144762A1
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WO
WIPO (PCT)
Prior art keywords
crane
control device
motor control
distance
stop
Prior art date
Application number
PCT/JP2019/000325
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English (en)
French (fr)
Japanese (ja)
Inventor
亮佑 寺部
山本　勉
凌大 小山
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to PCT/JP2019/000325 priority Critical patent/WO2020144762A1/ja
Priority to JP2019534982A priority patent/JP6580295B1/ja
Priority to CN201980087693.3A priority patent/CN113302144B/zh
Publication of WO2020144762A1 publication Critical patent/WO2020144762A1/ja

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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
    • B66C13/18—Control systems or devices
    • B66C13/22—Control systems or devices for electric drives
    • 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
    • B66C13/46—Position indicators for suspended loads or for crane elements

Definitions

  • the present invention relates to a motor control device that controls a motor that moves a truck of a crane.
  • Crane devices such as hoist-type cranes and club trolley-type cranes that carry loads, such as traverse and travel, by suspending a load on a rope suspended from a cart are called overhead traveling cranes.
  • the trolley provided in the overhead traveling crane is a device for transporting a hoist such as a hoist or trolley.
  • Patent Document 1 describes a container transport crane equipped with a notch filter for removing a vibration component in a specific frequency range from an operation signal for a drum for feeding and winding a wire for lifting a container and suppressing the vibration. Has been done.
  • the speed command when the notch filter is applied has a delay in the time required to reach the target speed (also referred to as settling time) compared to when the notch filter is not applied. That is, when the notch filter is applied, the moving speed of the truck of the crane changes more slowly during acceleration and deceleration than when the notch filter is not applied. Therefore, the moving distance from when the operator stops the crane truck until when the crane truck actually stops is longer when the notch filter is applied than when the notch filter is not applied. Therefore, if the operator, who is accustomed to the operation before applying the notch filter, operates the crane after applying the notch filter as if he/she had worn it up to that point, the carriage would stop behind the stop position predicted by the operator.
  • the present invention has been made in view of the above, and an object thereof is to obtain a motor control device capable of improving the operability of a crane operator.
  • the present invention is a motor control device for controlling a motor for moving a transfer section of a crane, and a first controller for starting movement of the transfer section. Based on the operation and a second operation for stopping the transport unit, a command generator that generates a speed command for the motor, and the speed command before correction is performed, the transport unit is operated by the first operation on the crane.
  • a stop position calculation unit that calculates the moving distance of the transport unit from the start of the movement until the transport unit starts decelerating by the second operation on the crane and stops, and displays the calculated moving distance on the display device. , Is provided.
  • the motor control device has the effect of improving the operability when the operator operates the crane.
  • FIG. 3 is a diagram for explaining a command stop distance used in the motor control device according to the first embodiment. 1st figure for demonstrating the production
  • FIG. 1 is a diagram showing a configuration example of a motor control device according to a first embodiment of the present invention.
  • the motor control device 1 according to the first embodiment includes a command generator 11, a notch filter 12, a differentiator 13, a subtractor 14, a motor controller 15, and a stop position calculator 16.
  • the stop position calculation unit 16 includes an integrator 161, a command stop distance generation unit 162, an adder 163, and a translation converter 166.
  • the motor control device 1 is a device that controls the motor 21 that constitutes the crane 2.
  • the crane 2 includes, in addition to the motor 21, a position detector 22 that detects the position of the motor 21.
  • the crane 2 is an overhead traveling crane and is provided with a carriage that moves by driving a motor 21. It should be noted that, in FIG. 1, the dolly provided in the crane 2 is omitted.
  • the motor control device 1 is a means for making the operator know when to start deceleration of the crane 2, and when the carriage is decelerated at the present time to start deceleration of the carriage, The operator calculates the total moving distance to stop and notifies the operator.
  • the total movement distance here is the movement distance from the start of the movement of the carriage to the stop thereof, that is, the movement of the carriage by the operator's first operation to the movement of the carriage by the operator's second operation. This is the distance that the dolly moves during the period from the start of deceleration until the stop.
  • an operator who is accustomed to operating the crane connected to the motor control device to which the notch filter is not applied can stop the carriage at the target position. For example, when the operator wants to move the carriage by 10 m, the operator may start the deceleration of the carriage by performing a stop operation when the total movement distance notified from the motor control device 1 becomes 10 m.
  • the command generator 11 of the motor control device 1 is connected to the operation unit 3 that receives an operation of the crane 2 by an operator.
  • the operation unit 3 includes an operation lever operated by an operator.
  • the operation unit 3 When receiving the operation, the operation unit 3 outputs an acceleration/deceleration signal corresponding to the operation content.
  • the acceleration/deceleration signal is a signal for instructing the movement and stop of the carriage that is the transport section of the crane 2, and is, for example, "1" when instructing the movement of the carriage and "0" when instructing the stop of the carriage. It is a signal that Although the operation unit 3 is provided outside the motor control device 1 in FIG. 1, the motor control device 1 may include the operation unit 3.
  • the operations that the operation unit 3 receives from the operator include a first operation for starting the movement of the carriage of the crane 2 and a second operation for stopping the carriage of the crane 2.
  • the command generator 11 generates a speed command x′ ref based on the acceleration/deceleration signal and outputs it to the notch filter 12, the integrator 161, and the command stop distance generation unit 162.
  • the notch filter 12 corrects the speed command input from the command generator 11, and outputs the corrected speed command x′ crr , which is the corrected speed command, to the subtractor 14.
  • the notch filter 12 has the vibration frequency of the crane 2 set to the notch frequency, and corrects the speed command by removing the vibration frequency component of the crane 2 from the input speed command to generate a corrected speed command. That is, the notch filter 12 is a correction unit that corrects the speed command for the motor 21 and generates the corrected speed command.
  • the subtractor 14 subtracts the motor actual speed x′ real input from the differentiator 13 from the corrected speed command to generate a speed deviation x′ err, and outputs it to the motor controller 15.
  • the motor controller 15 generates a motor voltage V that makes the speed deviation 0 based on the speed deviation input from the subtractor 14, and applies the motor voltage V to the motor 21 of the crane 2.
  • the motor controller 15 applies the motor voltage V to the motor 21 to move the carriage (not shown) of the crane 2.
  • the position detector 22 of the crane 2 detects the position of the motor 21, that is, the position of the rotor of the motor 21, and outputs the detection result to the differentiator 13 as the motor actual position x real .
  • the differentiator 13 differentiates the input motor actual position to obtain the motor actual speed x′ real , and outputs it to the subtractor 14.
  • the stop position calculation unit 16 of the motor control device 1 uses the speed command input from the command generator 11, that is, the speed command before correction by the notch filter 12, based on the operator's first command for the stopped crane 2.
  • the movement distance of the truck 2 from the start of the movement of the crane 2 by the operation 1 to the start of deceleration of the movement of the crane 2 by the second operation of the operator with respect to the moving crane 2 and the stop of the movement thereafter.
  • the stop position calculation unit 16 outputs the calculated moving distance to the monitor 4.
  • the monitor 4 is a display device such as a liquid crystal monitor or a display.
  • the stop position calculation unit 16 starts calculation of the moving distance when the speed command input from the command generator 11 becomes a value other than 0 to 0, and ends the calculation when the speed command becomes 0.
  • the movement distance calculated by the stop position calculation unit 16 is a dolly stop position P refstop described later.
  • the integrator 161 calculates the position command x ref by integrating the speed command input from the command generator 11 outputs a position command x ref obtained to the adder 163.
  • the command stop distance generation unit 162 generates the command stop distance d ref based on the speed command input from the command generator 11, and outputs the generated command stop distance d ref to the adder 163.
  • FIG. 2 is a diagram for explaining the command stop distance used in the motor control device 1 according to the first embodiment.
  • the solid line is the speed command output by the command generator 11, and shows the speed command before the correction by the notch filter 12.
  • the broken line indicates the corrected speed command output by the notch filter 12.
  • the area of the triangular portion shown by the diagonal line to the lower right is the command stop distance d ref . That is, as shown in FIG. 2, the command stop distance d ref starts deceleration when the motor 21 is controlled according to the speed command before being corrected by the notch filter 12 to stop the carriage of the crane 2. It is the distance that the trolley travels from the moment it starts to stop.
  • the command stop distance d ref is the case where the motor controller 1 controls the motor 21 to stop the carriage of the crane 2 when the notch filter 12 is removed (the notch filter 12 is not provided). Is the moving distance of the carriage from the start of deceleration to the stop.
  • the area of the S1 portion shown by the diagonal line rising to the right on the side where the crane speed increases is the moving distance during acceleration when the truck of the crane accelerates according to the speed command shown in FIG. It represents the difference from the travel distance during acceleration when the crane truck accelerates according to the indicated correction speed command.
  • the area of the S2 portion indicated by the diagonal line rising to the right on the side where the crane speed decreases is shown in FIG. 2 and the moving distance during deceleration when the crane truck is decelerated according to the speed command shown in FIG. It represents the difference from the travel distance during deceleration when the crane truck decelerates according to the corrected speed command.
  • the area of the S1 portion depends on the difference between the increase amount of the speed command per unit time and the increase amount of the correction speed command, and the difference in the increase amount is corrected by removing a specific frequency component from the speed command. It is caused by the generation of the speed command. That is, the area of the S1 portion is determined by the frequency component removed by the notch filter 12. Further, the area of the S2 portion depends on the difference between the reduction amount of the speed command and the reduction amount of the correction speed command per time, and the difference in the reduction amount is obtained by removing the specific frequency component from the speed command. It occurs when a command is generated. That is, the area of the S2 portion is similarly determined by the frequency component removed by the notch filter 12.
  • the area of the S1 portion and the area of the S2 portion are determined by the frequency components removed by the notch filter 12.
  • the frequency component removed by the notch filter 12 from the speed command when the crane truck accelerates is the same as the frequency component removed by the notch filter 12 from the speed command when the crane truck decelerates.
  • the area of the S2 portion are the same.
  • FIG. 2 shows that the area of the S1 portion and the area of the S2 portion are equal when the deceleration is started in the state where the acceleration section ends and the maximum speed is reached and the trolley is moving at a constant speed.
  • the DC component of the notch filter 12 is 1, when the stop operation is performed during acceleration to shift to the deceleration state, the area of the portion corresponding to the portion S1 and the portion S2 of FIG. The area of the part is the same.
  • the area of the portion corresponding to the portion S1 in FIG. 2 is the moving distance during acceleration when the crane truck accelerates according to the speed command before correction by the notch filter, and the area after correction by the notch filter.
  • the area of the portion corresponding to the portion S2 in FIG. 2 is the moving distance during deceleration when the truck of the crane decelerates according to the speed command before correction by the notch filter, and the area after correction by the notch filter. This is the difference from the moving distance during deceleration when the carriage of the crane decelerates according to the speed command (corrected speed command).
  • the command stop distance generation unit 162 generates the command stop distance as follows.
  • FIG. 3 is a first diagram for explaining the command stop distance generation processing by the command stop distance generation unit 162.
  • the shaded area shown in FIG. 3 indicates the command stop distance after the moving speed of the truck of the crane 2 reaches the upper limit value.
  • t d is the upper limit of the moving speed of the truck of the crane 2 when the motor control device 1 controls the motor 21 in the case where the notch filter 12 is removed (the notch filter 12 is not provided).
  • Shows the deceleration time which is the time required from the start of the deceleration of the trolley to the stop of the trolley.
  • W max indicates the maximum speed of the truck, that is, the upper limit of the moving speed of the truck.
  • the command stop distance generation unit 162 calculates the command stop distance d ref according to the following equation (1) when the carriage of the crane 2 is moving at the maximum speed.
  • the command stop distance generation unit 162 calculates the moving speed of the carriage of the crane 2 based on the speed command, and determines whether the moving speed is the upper limit value. It is assumed that the command stop distance generation unit 162 holds in advance data of the maximum speed W max indicating the upper limit value of the moving speed.
  • FIG. 4 is a second diagram for explaining the command stop distance generation processing by the command stop distance generation unit 162.
  • the shaded area shown in FIG. 4 indicates the command stop distance when deceleration is started when the traveling speed of the truck of the crane 2 is less than the upper limit value.
  • the motor control device 1 controls the motor 21 when the notch filter 12 is removed (the notch filter 12 is not provided) so that the traveling speed of the carriage of the crane 2 is the upper limit value.
  • Shows the deceleration time which is the time required from the start of the deceleration of the dolly before it reaches to the stop to the stop. It is assumed that the cart starts decelerating at the current time t c .
  • W(t C ) indicates the moving speed of the truck at the current time.
  • the t d is the same as in FIG.
  • W max indicates the maximum speed of the truck, that is, the upper limit value of the moving speed of the truck, as in FIG.
  • the command stop distance generation unit 162 calculates the command stop distance d ref according to the formula (1) or the formula (2) according to whether or not the carriage of the crane 2 is moving at the maximum speed, and the adder is added. Output to 163.
  • the command stop distance generation unit 162 holds the command stop distance d ref when the carriage of the crane 2 is moving at the maximum speed, and holds it when the carriage of the crane 2 is moving at the maximum speed.
  • the present command stop distance d ref may be output to the adder 163.
  • the adder 163 calculates the stop position x refstop by adding the position command input from the integrator 161 to the command stop distance input from the command stop distance generation unit 162, and outputs the stop position x refstop to the translation converter 166.
  • the stop position x refstop indicates the stop position of the rotor of the motor 21.
  • the translation converter 166 determines, based on the stop position input from the adder 163, the stop position of the carriage of the crane 2 when the operator performs the stop operation at the current time, that is, the motor control. Movement of the trolley during the period from when the device 1 receives an operation to start the movement of the crane 2 and the trolley starts moving, and then when it receives an operation to stop the crane 2 and the trolley starts decelerating and the trolley stops.
  • a dolly stop position P refstop indicating a distance is calculated.
  • the translation converter 166 outputs the dolly stop position P refstop to the monitor 4 to display the dolly stop position.
  • the monitor 4 displays, for example, the bogie stop position P refstop as a numerical value.
  • the monitor 4 receives an operation to stop the crane 2 at the current time, the movement distance from the start of the movement of the carriage of the crane 2 to the movement of the movement of the movement of the crane 2 from the start to the movement is stopped. It is displayed with contents such as "distance XXm".
  • the operator of the crane 2 can stop the truck at a desired position by checking the monitor 4 and performing a stop operation at the time when the displayed moving distance reaches the distance at which the truck is desired to move.
  • the motor control device 1 controls the motor 21 of the crane 2 based on the speed command after the correction for removing the vibration frequency component of the crane 2 by the notch filter 12 is performed, In addition, the vehicle stop position is calculated based on the speed command before being corrected by the notch filter 12 and output to the monitor 4. Accordingly, even if the operator is accustomed to operating the crane 2 using the motor control device corresponding to the motor control device 1 having no notch filter 12, the trolley of the crane 2 using the motor control device 1 It becomes easy to stop at the target position. Further, even a new operator who is not accustomed to the operation can easily stop the carriage of the crane 2 at the target position. Therefore, the motor control device 1 can improve the operability when the operator operates the crane 2.
  • FIG. 5 is a diagram showing a configuration example of the motor control device according to the second embodiment of the present invention.
  • the motor control device 1a according to the second embodiment similarly to the motor control device 1 according to the first embodiment, calculates a carriage stop position P refstop indicating a movement distance from a movement start to a stop of a carriage provided in the crane 2. Further, when the operation of stopping the crane 2 is accepted, a dolly deceleration moving distance P realstop indicating a distance that the dolly included in the crane 2 moves from the start of deceleration to the stop of the dolly is calculated.
  • the trolley deceleration movement distance P realstop corresponds to the transportation unit deceleration movement distance.
  • parts different from the motor control device 1 according to the first embodiment will be described.
  • the motor control device 1a includes a stop position calculation unit 16a that calculates a bogie stop position P refstop and a bogie deceleration movement distance P realstop .
  • the components other than the stop position calculation unit 16a of the motor control device 1a are the same as the components denoted by the same reference numerals as those of the motor control device 1, and thus the description thereof will be omitted.
  • the stop position calculation unit 16a has a configuration in which the translation converter 166 of the stop position calculation unit 16 included in the motor control device 1 according to the first embodiment is replaced with a translation converter 166a, and an integrator 164 and a subtractor 165 are added. ..
  • the correction speed command output from the notch filter 12 is input to the integrator 164.
  • the integrator 164 integrates the corrected speed command to obtain the corrected position command x crr , and outputs it to the subtractor 165.
  • the stop position x refstop is input from the adder 163 to the subtractor 165.
  • the subtractor 165 subtracts the corrected position command from the stop position to obtain the deceleration moving distance x realstop , and outputs it to the translation converter 166a .
  • the deceleration moving distance x realstop is input from the subtractor 165 and the stop position x refstop is input from the adder 163 to the translation converter 166a .
  • the translation converter 166a like the translation converter 166, calculates the trolley stop position P refstop based on the stop position input from the adder 163.
  • the translation converter 166a further calculates the trolley deceleration moving distance P realstop based on the deceleration moving distance input from the subtractor 165.
  • the translation converter 166a outputs the bogie stop position P refstop and the bogie deceleration movement distance P realstop to the monitor 4 to display the bogie stop position and the bogie deceleration movement distance. Similar to the first embodiment, the monitor 4 numerically displays the bogie stop position P refstop and the bogie deceleration movement distance P realstop , for example.
  • the motor control device 1a calculates the bogie stop position based on the speed command before being corrected by the notch filter 12. Then, the vehicle deceleration moving distance is calculated based on the speed command corrected by the notch filter 12, and is output to the monitor 4. In addition to the trolley stop position that indicates the movement distance of the crane 2 until the trolley of the crane 2 stops, the motor control device 1a determines the distance that the trolley of the crane 2 moves during the period from the start of deceleration to the stop of the trolley.
  • the operator can know how many meters from the current position the trolley will stop when the deceleration is started at the current time, and the stop timing can be determined. It makes it easier to imagine.
  • FIG. 6 is a diagram showing a configuration example of the motor control device according to the third embodiment of the present invention.
  • the motor control device 1b according to the third embodiment like the motor control device 1a according to the second embodiment, calculates the bogie stop position P refstop and the bogie deceleration movement distance P realstop .
  • the motor control device 1a according to the second embodiment calculates the bogie deceleration movement distance P realstop based on the corrected speed command output by the notch filter 12.
  • the bogie deceleration movement distance P realstop is calculated based on the motor actual position x real detected by the position detector 22 included in the crane 2. In the present embodiment, parts different from the motor control device 1a according to the second embodiment will be described.
  • the motor control device 1b includes a stop position calculation unit 16b that calculates a bogie stop position P refstop and a bogie deceleration movement distance P realstop .
  • the components other than the stop position calculation unit 16b of the motor control device 1b are the same as the components denoted by the same reference numerals as the motor control device 1a, and thus the description thereof will be omitted.
  • the stop position calculator 16b includes an integrator 161, an adder 163, a subtractor 165, and a translation converter 166a. These respective constituent elements are the same as the integrator 161, the adder 163, the subtracter 165, and the translation converter 166a of the stop position calculation unit 16a included in the motor control device 1a according to the second embodiment. However, the stop position x refstop output by the adder 163 and the motor actual position x real output by the position detector 22 of the crane 2 are input to the subtractor 165.
  • the subtractor 165 subtracts the motor actual position from the stop position to obtain the deceleration moving distance x realstop , and outputs it to the translation converter 166a . Since the subtractor 165 of the stop position calculation unit 16b calculates the deceleration movement distance x realstop based on the actual position of the rotor of the motor 21 included in the crane 2, the stop provided in the motor control device 1a according to the second embodiment. It is possible to calculate the trolley deceleration movement distance P realstop with high accuracy as compared with the position calculation unit 16a.
  • Each of the constituent elements of the motor control device described in each embodiment is realized by a dedicated processing circuit corresponding to the processing executed by each constituent element.
  • the dedicated processing circuit corresponds to a single circuit, a composite circuit, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination thereof.
  • Each of the constituent elements of the motor control device described in each embodiment may be realized by the processing circuit including the processor 101 and the memory 102 illustrated in FIG. 7.
  • the processor 101 shown in FIG. 7 is a CPU (Central Processing Unit) or the like.
  • the memory 102 shown in FIG. 7 is a nonvolatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, a magnetic disk, or the like.
  • some of the constituent elements that constitute the motor control device described in each embodiment are realized by the processor 101 and the memory 102 shown in FIG. 7, and the remaining constituent elements are realized by dedicated processing circuits. Good.
  • the stop position calculation units 16, 16a, 16b may be implemented by the processor 101 and the memory 102, and the other components may be implemented by dedicated processing circuits.
  • the crane 2 is an overhead traveling crane, but the present invention can be applied even when the crane 2 is a swing crane.
  • the operations on the crane 2 are the swing operation and the undulating operation of the transport unit that transports the load.
  • the present invention is applied to a swing crane, the above-described translational converters 166 and 166a are unnecessary.
  • the monitor connected to the motor control device according to the first embodiment displays the stop position of the crane when the stop operation is performed at the current time (the transfer unit of the swing crane starts moving and then stops). Distance moved to) is displayed.
  • the monitor connected to the motor control device stops after the crane starts decelerating.
  • the moving distance to is displayed.
  • the moving distance in this case is represented by a rotation amount, that is, an angle.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
PCT/JP2019/000325 2019-01-09 2019-01-09 モータ制御装置 WO2020144762A1 (ja)

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Application Number Priority Date Filing Date Title
PCT/JP2019/000325 WO2020144762A1 (ja) 2019-01-09 2019-01-09 モータ制御装置
JP2019534982A JP6580295B1 (ja) 2019-01-09 2019-01-09 モータ制御装置
CN201980087693.3A CN113302144B (zh) 2019-01-09 2019-01-09 电动机控制装置

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Publication number Priority date Publication date Assignee Title
JPH0826668A (ja) * 1994-07-14 1996-01-30 Mitsubishi Electric Corp 停止位置制御装置
JPH08101011A (ja) * 1994-09-29 1996-04-16 Asia Marine Kk 車両の位置決め装置
JPH1036070A (ja) * 1996-07-23 1998-02-10 Toyo Umpanki Co Ltd シャーシ位置表示設備
JPH11193195A (ja) * 1998-01-05 1999-07-21 Hitachi Plant Eng & Constr Co Ltd 天井クレーン用ブレーキ装置
JP2010018364A (ja) * 2008-07-09 2010-01-28 Tadano Ltd 作業機の制御装置
JP2013116774A (ja) * 2011-12-01 2013-06-13 Shimizu Corp クレーンの操作システム
JP2013193825A (ja) * 2012-03-19 2013-09-30 Tadano Ltd クレーン作業監視装置
JP2014227246A (ja) * 2013-05-21 2014-12-08 株式会社タダノ 作業領域線表示装置
JP2018053508A (ja) * 2016-09-28 2018-04-05 清水建設株式会社 コンクリートバケット制御支援システム、及びコンクリートバケット制御支援方法

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