WO2021065835A1

WO2021065835A1 - Turning swing stopping device for crane and crane equipped therewith

Info

Publication number: WO2021065835A1
Application number: PCT/JP2020/036736
Authority: WO
Inventors: 俊明沢村; 前川　智史; 菅野　直紀; 薫広安和; 裕也福川
Original assignee: 株式会社神戸製鋼所; コベルコ建機株式会社
Priority date: 2019-09-30
Filing date: 2020-09-28
Publication date: 2021-04-08
Also published as: JP2021054655A

Abstract

Provided are a turning swing stopping device for a crane, and a crane, the device being capable of stably converging the turning swing of a suspended load caused by the turning motion of the crane. This turning swing stopping device (70) has a state quantity calculation unit (700F), a control gain setting unit (726), and a turning target velocity calculation unit (727). When the turning operation is stopped, the control amount calculation unit (700F) calculates five state quantities of a suspended load displacement, a suspended load velocity, a turning displacement of the tip of the undulation body (16), a turning velocity of the tip of the undulation body (16), and a turning angle of an upper body 12. The control gain setting unit (726) sets five control gains corresponding to the respective state quantities from a state equation including a term corresponding to the elastic deformation of the undulation body (16). The turning target velocity calculation unit (727) calculates the turning velocity for suppressing the swing of the suspended load, on the basis of the five state quantities and the five control gains.

Description

Crane swivel steady rest device and crane equipped with this

The present invention relates to a crane swivel steady rest device and a crane provided with the device.

Conventionally, as a mobile crane, a lower traveling body, an upper rotating body supported by the lower traveling body so as to be able to turn around a turning center axis extending in the vertical direction, and an undulating body such as a boom or a jib are provided. Things are known. The undulating body is attached to the front portion of the upper rotating body so as to be rotatable in the undulating direction around a horizontal rotation center axis. Further, a hook is attached to the suspended load rope hanging from the tip of the undulating body, and the suspended load is lifted by connecting the suspended load to the hook. When the upper swing body turns while the suspended load is lifted in this way, the suspended load can be moved in the turning direction.

According to Patent Document 1, in a crane having a telescopic boom, when a swing of the suspended load (swing swing) occurs when the upper swing body stops swinging, the tip of the boom is positioned vertically above the suspended load. A technique for controlling the turning motion of the upper swing body so as to move it is disclosed. As the tip of the boom moves to follow the suspended load, the runout of the suspended load eventually converges.

Japanese Patent No. 5087251

When the crane turns, the undulating body may bend (elastic deformation) depending on the moment of inertia applied to the undulating body and the weight of the suspended load. Since the technique described in Patent Document 1 does not consider such elastic deformation of the undulating body, it is between the tip of the undulating body that is moved so as to follow the suspended load in a plan view and the suspended load. Misalignment is likely to occur. As a result, there is a problem that the runout of the suspended load is likely to be promoted due to the misalignment, and the runout of the suspended load is difficult to settle.

An object of the present invention is to provide a crane swing steady rest device and a crane capable of stably converging the swing runout of a suspended load caused by the swinging motion of the crane.

Provided by the present invention is a swing steady rest device for a crane, and the swing steady rest device is a lower main body and an upper main body rotatably supported around a turning central axis extending in the vertical direction by the lower main body. And, it is supported so as to be rotatable in the undulating direction around the center axis of rotation horizontal to the upper body, and includes the undulating body base end portion and the undulating body tip portion opposite to the undulating body base end portion. The body, the suspended load rope hanging from the tip of the undulating body and connected to the suspended load, and the upper main body in the first turning direction around the turning center axis and in the second turning direction opposite to the first turning direction. A turning drive unit capable of turning and driving, and a turning operation unit that receives an operation for turning and driving the upper main body, and the upper main body is moved in the first turning direction and the second turning direction. The turning operation unit and the undulating body, which can be switched between the turning position for turning and the neutral position for stopping the turning of the upper body, and the undulating body are rotated in the undulating direction around the rotation center axis. An undulating body driving unit capable of undulating, and an undulating operation unit that accepts an operation for undulating the undulating body, and stops the undulating position for undulating the undulating body and the undulation of the undulating body. An undulating operation unit that can be switched between the neutral position and the suspended load that can be raised and lowered relative to the ground by winding and feeding the suspended load rope. Between the drive unit and the elevating operation unit that accepts the operation for raising and lowering the suspended load, between the elevating position for raising and lowering the suspended load and the neutral position for stopping the ascending and descending of the suspended load. The suspended load connected to the suspended load rope after the turning operation of the upper main body is stopped, which is mounted on a crane having an elevating and lowering operation unit which can be switched by, of the upper main body with the tip of the undulating body as a fulcrum. This is a crane swing steady rest device that can suppress the swing swing of a suspended load, which is a phenomenon of swinging along the swing direction. The swivel steady rest device acquires and outputs undulating body length information which is information corresponding to the length of the undulating body in the longitudinal direction of the undulating body, which is the direction connecting the base end portion of the undulating body and the tip end portion of the undulating body. The undulation body length information acquisition unit, the rotation angle detection unit that detects and outputs the rotation angle around the rotation center axis of the upper body, and the undulations that detect and output the undulation angle of the undulation body around the rotation center axis. The angle detection unit, the undulating body displacement detection unit that detects and outputs the displacement of the undulating body tip portion, which is the displacement of the undulating body tip portion in the turning direction, and the undulating body, which is the speed of the undulating body tip portion in the turning direction. The undulating body speed detecting unit that detects and outputs the tip speed, the suspended load displacement detecting unit that detects and outputs the suspended load displacement that is the displacement of the suspended load with respect to the undulating body tip, and the above-mentioned with respect to the undulating tip. Corresponds to the length of the suspended load rope between the suspended load speed detection unit that detects and outputs the suspended load speed, which is the amount of change in the suspended load displacement per unit time, and the tip of the undulating body and the suspended load. A rope length information acquisition unit that acquires and outputs rope length information, which is information, a suspension load amount information acquisition unit that acquires and outputs suspension load amount information, which is information on the weight of the suspended load, and the turning operation. After the swivel drive unit swivels the upper main body in a predetermined swivel direction in response to the portion being set to the swivel position, the swivel operation unit, the undulation operation unit, and the elevating operation unit The control start condition determination unit that determines whether or not the turning steady rest control start condition, which is established by setting all the operation units of the above to the neutral position, and the control start condition determination unit determine the turning. When it is determined that the steady rest control start condition is satisfied, the suspension load displacement, which is the displacement of the suspended load in the turning direction, the hanging load speed, which is the speed of the suspended load in the turning direction, and the tip of the undulating body. Target state amount setting for setting a target state amount for stopping the suspended load at least in the turning direction at a predetermined target position for a plurality of state amounts including the displacement, the tip speed of the undulating body, and the turning angle. The unit, the undulating body length information output from the undulating body length information acquisition unit, the turning angle output from the turning angle detecting unit, the undulating angle output from the undulating angle detecting unit, and the above. The undulating body tip displacement output from the undulating body displacement detection unit, the undulating body tip speed output from the undulating body speed detection unit, and the suspended load displacement output from the suspended load displacement detecting unit. , The suspension speed detection The suspension speed output from the unit, the rope length information output from the rope length information acquisition unit, the suspension load information output from the suspension load information acquisition unit, and the target state. A state quantity calculation unit that calculates the current values of the plurality of state quantities based on the target state quantities of the plurality of state quantities set by the quantity setting unit, and at least a term corresponding to the elastic deformation of the undulating body. A plurality of control gains corresponding to each of the plurality of state quantities are set based on the state equation relating to the behavior of the suspended load, which is preset to include the state equation and the turning speed of the upper body is used as a variable. It is the target value of the turning speed from the control gain setting unit, the plurality of control gains set by the control gain setting unit, and the current values of the plurality of state quantities calculated by the state quantity calculation unit. The turning target speed calculation unit that calculates the turning target speed, and the turning target speed with respect to the turning drive unit so that the turning speed of the upper body becomes the turning target speed calculated by the turning target speed calculation unit. It is provided with a command information output unit that outputs command information corresponding to.

It is a side view of the crane which concerns on 1st Embodiment of this invention. It is a block diagram of the swing steady rest device of the crane which concerns on 1st Embodiment of this invention. It is a schematic plan view for demonstrating the swing steady rest control of the crane which concerns on 1st Embodiment of this invention. It is a flowchart of the swing steady rest control of the crane which concerns on 1st Embodiment of this invention. It is a side view of the crane which concerns on 2nd Embodiment of this invention. It is a block diagram of the swing steady rest device of the crane which concerns on 2nd Embodiment of this invention. It is a block diagram of the swing steady rest device of the crane which concerns on 3rd Embodiment of this invention. It is an enlarged side view of the tip part of the boom of the crane which concerns on 3rd Embodiment of this invention. It is a block diagram of the suspension load displacement detection unit and the suspension load speed detection unit of the crane according to the third embodiment of the present invention. It is a model diagram for demonstrating the swing steady rest control of the crane which concerns on each embodiment of this invention. It is a model diagram for demonstrating the swing steady rest control of the crane which concerns on each embodiment of this invention. It is a model diagram for demonstrating the swing steady rest control of the crane which concerns on each embodiment of this invention. It is a graph which shows the transition of the swing direction displacement of a suspended load in another swing steady rest control which is compared with the swing steady rest control of the crane which concerns on one Embodiment of this invention. It is a graph which shows the transition of the swing direction displacement of a suspended load in the swing steady rest control of the crane which concerns on one Embodiment of this invention. It is a model diagram for demonstrating the swing steady rest control of the crane which concerns on the modified embodiment of this invention.

<First Embodiment>
Hereinafter, the first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a side view of the crane 10 according to the present embodiment. Note that FIG. 1 shows the directions of "up", "down", "front" and "rear", and the directions will explain the structure and assembly method of the crane 10 according to the present embodiment. Therefore, it is shown for convenience, and does not limit the moving direction and usage mode of the crane according to the present invention.

The crane 10 includes a traveling body 14 (lower body), a rotating body 12 (upper body) rotatably supported by the traveling body 14 around a turning center axis extending in the vertical direction, a boom 16 (undulating body), and a mast. 20 and. Further, a counterweight 13 for adjusting the balance of the crane 10 is loaded on the rear portion of the swivel body 12. A cab 15 is provided at the front end of the swivel body 12. The cab 15 corresponds to the driver's seat of the crane 10.

The boom 16 shown in FIG. 1 is a so-called lattice type, and has a lower boom 16A (base end of the undulating body), one or more

intermediate booms

16B, 16C, 16D, and an upper boom 16E. (The tip of the undulating body opposite to the base end of the undulating body). Specifically, the lower boom 16A is supported so as to be rotatable in the undulating direction around a rotation center axis (first rotation center axis) horizontal to the front portion of the swivel body 12. The

intermediate booms

16B, 16C, and 16D are detachably added to the tip side of the lower boom 16A in that order. The upper boom 16E is detachably added to the tip side of the intermediate boom 16D. The lower boom 16A is rotatably supported by the swivel body 12 by a boom foot pin 16S provided at the lower end thereof.

Further, the boom 16 has

idler sheaves

34S and 36S. The idler sheaves 34S and 36S are rotatably supported on the rear side surface of the base end portion of the lower boom 16A, respectively.

However, the specific structure of the boom is not limited in the present invention. For example, the boom may have no intermediate member, or may have a different number of intermediate members from the above. Further, the boom may be composed of a single member.

The mast 20 has a base end and a rotating end, and the base end is rotatably connected to the swivel body 12. The rotation shaft of the mast 20 is parallel to the rotation shaft of the boom 16 and is located immediately behind the rotation shaft of the boom 16. That is, the mast 20 can rotate in the same direction as the undulating direction of the boom 16.

Further, the crane 10 includes a pair of left and right boom backstops 23 and a pair of left and right boom guy lines 24.

A pair of left and right boom backstops 23 are provided on both left and right sides of the lower boom 16A of the boom 16. These boom backstops 23 come into contact with the central portion of the swivel body 12 in the front-rear direction when the boom 16 reaches the standing posture shown in FIG. This contact regulates the boom 16 from being fanned backwards by strong winds or the like.

The pair of left and right boom guy lines 24 connect the rotating end of the mast 20 to the tip of the boom 16. This connection links the rotation of the mast 20 with the rotation of the boom 16.

In addition, the crane 10 is further equipped with various winches. Specifically, the crane 10 includes a boom undulating winch 30 for raising and lowering the boom 16, a main winding winch 34 and a auxiliary winding winch 36 for hoisting and lowering the suspended load. Further, the crane 10 includes a boom undulating rope 38, a main winding rope 50 (suspended load rope) hanging from the upper boom 16E and connected to the suspended load, and a supplementary winding rope 60. In the crane 10 according to the present embodiment, the main winding winch 34 and the auxiliary winding winch 36 are installed near the base end of the boom 16. Further, the boom undulating winch 30 is installed on the swivel body 12. The positions of these

winches

30, 32, 34, 36 are not limited to the above.

The boom undulating winch 30 winds up and unwinds the boom undulating rope 38. Then, the boom undulating rope 38 is arranged so that the mast 20 rotates by this winding and unwinding. Specifically, sheave blocks 40 and 42 in which a plurality of sheaves are arranged in the width direction are provided at the rotating end of the mast 20 and the rear end of the rotating body 12, respectively, and are pulled out from the boom undulating winch 30. The boom undulating rope 38 is hung between the sheave blocks 40 and 42. Therefore, when the boom undulating winch 30 winds up and extends the boom undulating rope 38, the distance between the two sheave blocks 40 and 42 changes, whereby the mast 20 and the boom 16 interlocking with the mast 20 undulate. Rotate in the direction.

The main winding winch 34 winds up and lowers the suspended load with the main winding rope 50. The main winding rope 50 hangs from the upper boom 16E of the boom 16 and is connected to the suspended load. Further, a main winding guide sheave 54 is arranged on the upper boom 16E, and a main winding sheave block in which a plurality of main winding point sheaves 56 are arranged in the width direction at a position adjacent to the main winding guide sheave 54 is provided. It is provided. The main winding rope 50 drawn out from the main winding winch 34 is hung on the idler sheave 34S and the main winding guide sheave 54 in this order, and the main winding point sheave 56 of the sheave block and the main hook 57 for suspension are used. It is hung between the sheave 58 and the sheave 58 of the sheave block provided in. Therefore, when the main winding winch 34 winds up or unwinds the main winding rope 50, the distance between the

sheaves

56 and 58 changes, and the main winding rope 50 is connected to the main winding rope 50 hanging from the tip of the boom 16. The hook 57 is wound and unwound. As a result, the suspended load can be hoisted and unwound.

Similarly, the auxiliary winding winch 36 winds up and lowers the suspended load by the auxiliary winding rope 60. For this auxiliary winding, the auxiliary winding guide sheave 64 is rotatably provided coaxially with the main winding guide sheave 54, and the auxiliary winding point sheave (not shown) can rotate at a position adjacent to the auxiliary winding guide sheave 64. It is provided in. The auxiliary winding rope 60 pulled out from the auxiliary winding winch 36 is hung on the idler sheave 36S and the auxiliary winding guide sheave 64 in this order, and is hung from the auxiliary winding point sheave. Therefore, when the auxiliary winding winch 36 winds up or unwinds the auxiliary winding rope 60, the auxiliary hook for hanging load connected to the end of the auxiliary winding rope 60 is wound up or unwound.

The crane 10 further includes a drive control unit 700, a drive unit 700A, an operation unit 700B, and a swivel steady rest device 70. FIG. 2 is a block diagram of the swing steady rest device 70 of the crane 10 according to the present embodiment.

The drive unit 700A drives each member of the crane 10. The drive unit 700A includes a swivel drive unit 701, an undulating drive unit 702 (undulating body drive unit, boom drive unit), and a winch drive unit 703 (suspended load drive unit).

The swivel drive unit 701 generates a driving force capable of swiveling the swivel body 12 around the swivel center axis in the first swivel direction and in the second swivel direction opposite to the first swivel direction. The swivel drive unit 701 includes a hydraulic motor that swivels the swivel body 12 by receiving the supply of hydraulic oil.

The undulation drive unit 702 generates a driving force for rotating the boom undulation winch 30, and it is possible to rotate the boom 16 around the rotation center axis. The undulation drive unit 702 includes a hydraulic motor that rotates the boom undulation winch 30 by receiving the supply of hydraulic oil.

The winch drive unit 703 generates a driving force for rotating the main winding winch 34, and the main winding winch 34 winds and unwinds the main winding rope 50 so that the suspended load is relative to the ground. It is possible to raise and lower the rope. The winch drive unit 703 includes a hydraulic motor that rotates the winch 34 for main winding by receiving the supply of hydraulic oil.

The operation unit 700B is arranged in the cab 15 and receives an operation for driving each member of the crane 10 by an operator. The operation unit 700B includes a swivel operation unit 704 (swivel operation unit), an undulation operation unit 705 (undulation operation unit, boom undulation operation unit), and a winch operation unit 706 (elevation operation unit).

The swivel operation unit 704 receives an operation for swiveling and driving the swivel body 12 by the swivel drive unit 701. The turning operation unit 704 can switch between a turning position for turning the turning body 12 in the first turning direction and the second turning direction, and a neutral position for stopping the turning of the turning body 12. Has been done.

The undulation operation unit 705 receives an operation for undulating the boom 16 by the undulation drive unit 702. The undulation operation unit 705 is switchable between an undulating position for undulating the boom 16 and a neutral position for stopping the undulation of the boom 16.

The winch operation unit 706 receives an operation for raising and lowering the suspended load by the winch drive unit 703. The winch operation unit 706 is switchable between an elevating position for raising and lowering the suspended load and a neutral position for stopping the ascending and descending of the suspended load.

The drive control unit 700 sends a command signal according to the operation direction and operation amount of the operation received by the swivel operation unit 704, the undulation operation unit 705, and the winch operation unit 706 to the swivel drive unit 701, the undulation drive unit 702, and the winch drive unit 703. Input each to drive each drive unit.

In the swivel steady rest device 70, the suspended load connected to the main winding rope 50 after the swivel operation of the swivel body 12 is stopped is the swivel direction (rotation direction) of the swivel body 12 with the main winding point sheave 56 of the upper boom 16E as a fulcrum. It is possible to suppress the swirling runout of the suspended load, which is a phenomenon of swinging along the line.

The swivel steady rest device 70 has an information acquisition unit 700C, a detection unit 700D, and a vibration damping control unit 700E.

The information acquisition unit 700C has a boom length information acquisition unit 708 (undulating body length information acquisition unit). The boom length information acquisition unit 708 acquires information (length information) regarding the length of the boom 16 used in the swivel steady rest control of the suspended load executed by the vibration damping control unit 700E. That is, the boom length information acquisition unit 708 is a boom in the boom longitudinal direction (undulating body longitudinal direction), which is a direction connecting the base end portion (undulating body base end portion) and the tip portion (undulating body tip portion) of the boom 16. Information corresponding to the length of 16 (undulating body length information) is acquired and output. The boom length information acquisition unit 708 has a storage unit (not shown), and acquires the length information of the boom 16 from the storage unit. In another embodiment, the operation unit 700B has an input unit (not shown), the operator inputs the length information of the boom 16 through the input unit, and the boom length information acquisition unit 708 inputs the information. It may be the mode to acquire.

The detection unit 700D includes a swivel angle detection unit 710, a boom undulation angle detection unit 711 (undulation angle detection unit), a boom top swivel direction displacement detection unit 713 (undulation body displacement detection unit), and a boom top swivel direction speed detection unit. 714 (undulating body velocity detection unit), rope swivel direction runout angle detection unit 715 (suspended load displacement detection unit, rope runout angle detection unit), and rope swivel direction runout angular velocity detection unit 716 (hanging load speed detection unit, rope runout). It has an angular velocity detection unit), a rope length detection unit 717 (rope length information acquisition unit), and a suspension load amount detection unit 718 (suspension load amount information acquisition unit).

The turning angle detection unit 710 detects and outputs the turning angle around the turning center axis of the boom 16 (swivel body 12). The turning angle detection unit 710 includes a gyro sensor (not shown) and a calculation unit. The turning angle detection unit 710 measures the angular velocity around the turning center axis of the turning body 12 with the gyro sensor, and the calculation unit converts the measured angular velocity into an angle by integrating the measured angular velocity once with respect to time. , The angle is output as a turning angle.

The boom undulation angle detection unit 711 detects and outputs the undulation angle around the rotation center axis of the boom 16. The boom undulation angle detection unit 711 includes an inclination sensor and detects the relative angle (ground angle) of the boom 16 with respect to the ground. The boom undulation angle detection unit 711 may detect the relative angle with respect to other objects.

The boom top turning direction displacement detection unit 713 detects and outputs the displacement amount (displacement of the undulating body tip portion) of the tip portion (upper boom 16E) of the boom 16 in the turning direction. In the present embodiment, the boom top turning direction displacement detection unit 713 includes an acceleration sensor (not shown) attached to the upper boom 16E and a calculation unit. The acceleration sensor measures the acceleration of the upper boom 16E in the turning direction, and the calculation unit converts the measured acceleration into a displacement (displacement amount) by integrating the measured acceleration twice with respect to time, and outputs the displacement. To do.

The boom top turning direction speed detection unit 714 detects and outputs the speed of the upper boom 16E in the turning direction (velocity at the tip of the undulating body). In the present embodiment, the boom top turning direction speed detecting unit 714 includes the acceleration sensor and the calculation unit shared with the boom top turning direction displacement detecting unit 713. The acceleration measured by the acceleration sensor attached to the upper boom 16E is converted into a speed by the calculation unit once integrating with time, and the speed is output.

The rope turning direction runout angle detection unit 715 detects and outputs the runout angle of the main winding rope 50 with respect to the vertical direction when viewed along the radial direction in the turning operation of the turning body 12. The rope turning direction swing angle detecting unit 715 includes a jig (not shown) capable of swinging only in the turning direction on the upper boom 16E, and a tilt sensor mounted on the jig. The jig is locked to the main winding rope 50, and the inclination sensor detects and outputs the swing angle of the main winding rope 50 in the turning direction with respect to the boom 16 (vertical direction) as a swing angle. The rope turning direction runout angle detection unit 715 constitutes the suspended load displacement detection unit of the present invention. The rope turning direction runout angle detecting unit 715 detects and outputs the runout angle as a suspended load displacement which is a displacement of the suspended load with respect to the tip end portion (upper boom 16E) of the boom 16.

The rope turning direction runout angular velocity detection unit 716 detects and outputs the runout angular velocity, which is the amount of change in the runout angle of the main winding rope 50 per unit time. The rope turning direction runout angular velocity detection unit 716 includes a gyro sensor attached to the above jig, and the gyro sensor detects and outputs the runout angular velocity. In another embodiment, the rope turning direction swing angular velocity detection unit 716 includes a camera attached to the upper boom 16E, acquires an image of the main hook 57 taken by the camera, and obtains an image of the main hook 57 (suspended load). The swing angle in the turning direction of the above may be detected and output as the swing angle, and the angular velocity may be output by differentiating the swing angle once. The rope turning direction swing angular velocity detection unit 716 constitutes the suspended load speed detection unit of the present invention. The rope turning direction runout angular velocity detection unit 716 detects and outputs the runout angular velocity as the suspension angular velocity, which is the amount of change in the suspension load displacement with respect to the tip end portion (upper boom 16E) of the boom 16.

The rope length detection unit 717 acquires and outputs rope length information which is information corresponding to the length of the suspended load rope between the boom tip and the suspended load. In the present embodiment, the distance between the main winding point sheave 56 of the upper boom 16E and the main hook 57 (sheave 58) is detected as the rope length. The rope length detection unit 717 has a rotation amount detection unit capable of detecting the rotation amount of the main winding winch 34 and a winding layer detection unit for detecting the number of winding layers of the main winding rope 50 on the outer peripheral surface of the main winding winch 34. Including part. The rope length detection unit 717 is estimated from the winch diameter of the main winding winch 34, the winch rotation amount detected by the rotation amount detection unit, and the winding layer of the main winding rope 50 detected by the winding layer detection unit. The distance is calculated from the amount of the main winding rope 50 unwound from the main winding winch 34 and the number of times the main winding rope 50 is applied between the sheave blocks of the main winding point sheave 56 and the sheave 58. Output.

The suspension load amount detection unit 718 acquires and outputs information (suspension load amount information) regarding the weight of the suspended load connected to the main hook 57. In the present embodiment, the suspension load amount detection unit 718 includes a load detector (load cell) (not shown) connected to the main winding rope 50, and is based on a change in tension strain of the main winding rope 50. Detect weight. In another embodiment, the pressure in the hydraulic circuit that raises and lowers the boom 16 may be detected by a pressure gauge (not shown), and the load of the suspended load may be estimated based on the pressure.

The vibration damping control unit 700E is composed of a CPU (Central Processing Unit), a ROM for storing a control program (Read Only Memory), a RAM (Random Access Memory) used as a work area of the CPU, and the like. The vibration suppression control unit 700E controls the control determination unit 719 (control start condition determination unit), the control target amount setting unit 720 (target state amount setting unit), and the control by executing the control program stored in the ROM by the CPU. It functions to include a quantity calculation unit 700F, a control gain setting unit 726, a turning target speed calculation unit 727, and a turning operation target calculation unit 728. The vibration damping control unit 700E controls the rotation and vibration suppression of the suspended load when the crane 10 stops the rotation operation, based on the operation received by the operation unit 700B, the information acquired by the information acquisition unit 700C, and the information detected by the detection unit 700D. Execute automatically.

In the control determination unit 719, after the swivel drive unit 701 swivels the swivel body 12 in a predetermined swivel direction in response to the swivel operation unit 704 being set to the swivel position, the swivel operation unit 704 and the undulation operation unit Rotational steady rest control (also referred to as vibration damping control) corresponds to the satisfaction of the turning steady rest control start condition that is established when all the operating units of the 705 and winch operation unit 706 are set to the neutral positions. Is determined to start, and when it is determined that the turning steady rest control start condition is satisfied, a predetermined control start signal is output. It should be noted that the determination as to whether or not each operation unit is set to the neutral position is determined to be set to the neutral position when the operation amount received by each operation unit is smaller than the preset threshold value. .. That is, in such a state, the operation of the crane 10 is stopped after the turning operation of the turning body 12, and the suspended load connected to the main hook 57 is vertically below the upper boom 16E (main winding point sheave 56). It is desirable to be located in. As described above, the operation of the crane 10 is stopped after the turning operation, and the switch (input unit) for starting the turning steady rest control, which is arranged in the cab 15 in advance as described later, is pressed by the operator. When it is (ON), the steady rest control described later may be started.

The control target amount setting unit 720 sets each control target amount (state target amount) at the time when the control determination unit 719 determines the execution of the turning steady rest control and outputs the control start signal. Specifically, the control target amount setting unit 720 includes at least five (plurality) including the suspended load turning direction displacement X1, the suspended load turning direction speed X2, the boom tip turning direction displacement X3, the boom tip turning direction speed X4, and the turning angle X5. ) Is set as a target amount for stopping the suspended load at least in the turning direction at a predetermined target position. The suspended load turning direction displacement X1 is the displacement of the suspended load (main hook 57) in the turning direction, and the suspended load turning direction speed X2 is the speed of the suspended load in the turning direction. The boom tip turning direction displacement X3 is the displacement of the upper boom 16E (main winding point sheave 56) in the turning direction, and the boom tip turning direction speed X4 is the speed of the upper boom 16E in the turning direction. Further, the turning angle X5 is the turning angle of the boom 16 (swivel body 12).

FIG. 3 is a schematic plan view for explaining the swing steady rest control of the crane 10 according to the present embodiment.

With reference to FIG. 3, in the plan view of the crane 10 when the control determination unit 719 determines the start of execution of the rotation steady rest control and outputs the control start signal, the rotation center axis of the rotation body 12 is set to the zero point. With respect to the XY coordinate system, the xy coordinate system is shown with the direction in which the virtual center line of the boom 16 extends is the y direction and the direction orthogonal to the center line is the x direction. The xy coordinate system is set based on the virtual center line of the boom 16 assuming that the boom 16 is not elastically deformed. The boom 16 is bent to the upstream side in the turning direction in the turning operation of the turning body 12 stopped before the state shown in FIG. Further, the main winding rope 50 connected to the tip end portion of the boom 16 extends further toward the upstream side in the turning direction than the tip end portion of the boom 16. When the steady rest control according to the present embodiment is not executed, the deflection of the boom 16 is eliminated from the state of FIG. 3, and the runout (swivel runout) of the suspended load connected to the main winding rope 50 (main hook 57) is caused. appear.

In the state shown in FIG. 3, the control target amount setting unit 720 sets the zero point position in the xy coordinate system, that is, the tip portion of the virtual boom 16 as the target boom tip position, and sets the position vertically below the target boom tip position as the target suspension. Set as the load position. Therefore, through the swivel steady rest control, the swivel speed and the swivel direction of the swivel body 12 are automatically controlled so that the displacement of the suspended load at least in the swivel direction becomes zero at the target suspended load position. The target turning angle in the XY coordinate system for arranging the tip of the boom 16 and the suspended load at the target boom tip position and the target suspended load position, respectively, is defined as θref. In other words, the control target amount setting unit 720 can calculate the target boom tip position and the target suspended load position from the target turning angle θref, the undulation angle of the boom 16, and the length of the boom 16. Further, the control target amount setting unit 720 sets the target amount to zero for the speed control amount among the above-mentioned control amounts because the purpose is to keep the suspended load stationary. The turning speed is defined as a positive (positive) value in the left turning direction and a negative (negative) value in the right turning direction.

The control amount calculation unit 700F detects each of the control amounts of the suspended load turning direction displacement X1, the suspended load turning direction speed X2, the boom tip turning direction displacement X3, the boom tip turning direction speed X4, and the turning angle X5. The deviation between the detected value detected by the unit and the target amount set by the control target amount setting unit 720 is calculated. More specifically, the control amount calculation unit 700F outputs the boom length information output from the boom length information acquisition unit 708, the turning angle output from the turning angle detecting unit 710, and the boom undulation angle detecting unit 711. The undulation angle, the displacement of the boom tip portion output from the boom top swivel direction displacement detection unit 713, the boom tip portion speed output from the boom top swivel direction speed detection unit 714, and the rope swivel direction runout angle detection unit. The runout angle of the main winding rope 50 output from 715 (suspended load displacement output from the suspended load displacement detection unit) and the runout angle speed of the main winding rope 50 output from the rope turning direction runout angle speed detection unit 716 (suspended load). The suspension load speed output from the speed detection unit), the rope length information output from the rope length detection unit 717, the suspension load amount information output from the suspension load amount detection unit 718, and the control target amount. The current values of the five state quantities are calculated based on the target state quantities of the five state quantities set by the setting unit 720.

With reference to FIG. 3, the suspended load turning direction displacement X1 is the displacement in the turning direction of the suspended load relative to the tip position of the boom 16 plus the boom tip turning direction displacement X3. Therefore, the suspended load turning direction displacement X1 can be calculated by the following equation 1.

In Equation 1, L is the length of the main winding rope 50 between the tip of the boom 16 and the suspended load, and is detected by the rope length detecting unit 717. Further, γl is a runout angle of the main winding rope 50 in the turning direction, and is detected by the rope turning direction runout angle detecting unit 715. As shown in Equation 1, when γl << 1, it can be approximated as sin (γl) = γl.

Similarly, the suspended load turning direction speed X2 is the value obtained by adding the boom tip turning direction speed X4 to the relative speed of the suspended load with respect to the tip position of the boom 16. Therefore, the suspended load turning direction speed X2 can be calculated by the following equation 2.

In Equation 2, γl'is the runout angular velocity of the main winding rope 50 in the turn direction, and is detected by the rope turn direction runout angular velocity detection unit 716.

Further, the boom tip turning direction displacement X3 and the boom tip turning direction speed X4 are detected by the boom top turning direction displacement detecting unit 713 and the boom top turning direction speed detecting unit 714, respectively.

Further, the turning angle X5 corresponds to the deviation between the turning angle of the turning body 12 (boom 16) that changes every moment and the above-mentioned target turning angle θref, and is calculated by the following equation 3.

In Equation 3, integral (θ') is a value obtained by integrating the turning angle detected by the turning angle detecting unit 710 with respect to time. Further, the target turning angle θref is set by the control target amount setting unit 720 as described above.

The control gain setting unit 726 minimizes the time integration of the weighted sum of each control amount and input amount (turning speed) based on a control model that considers the influence of elastic deformation (deflection) of the boom 16. Set the control gain of each control amount. Specifically, the control gain setting unit 726 sets the control gains G1, G2, G3, G4 and G5 for each of the above-mentioned control quantities X1, X2, X3, X4 and X5 calculated by the control amount calculation unit 700F, respectively. Set. At this time, each control gain is set so that the above-mentioned control quantities X1, X2, X3, X4 and X5 calculated by the control amount calculation unit 700F and the turning speed corresponding to the input amount quickly converge to zero. Will be done. More specifically, the control gain setting unit 726 sets the control gains based on a predetermined control model so as to minimize the time integration of the weighted sum of each of the above control quantities and input amounts (turning speeds). .. In the control model of the present embodiment, the influence of elastic deformation generated on the boom 16 is taken into consideration by the inertial force generated by the moment of inertia of the boom 16 and the external force in the turning direction generated by the swing of the suspended load. The control model is a differential equation that expresses the behavior of an object, such as an equation of motion, transformed into a standard form that makes it easy to evaluate the stability of the control system. It is possible to design a stable control system. In the control model, a state space expression in consideration of the elasticity of the boom 16 can be obtained by combining the equations expressing the elasticity of the boom 16. The control model according to this embodiment will be described in detail later.

The turning target speed calculation unit 727 turns from the following equation 4 based on the control amounts X1 to X5 calculated by the control gain setting unit 726 and the control gains G1 to G5 set by the control gain setting unit 726. The turning target speed Vref of the body 12 is calculated.

Further, the turning operation target calculation unit 728 is input to the drive control unit 700 so that the turning speed of the turning body 12 becomes the turning target speed Vref calculated by the turning target speed calculation unit 727. Is calculated. Specifically, the turning operation target calculation unit 728 calculates the turning operation target amount based on the turning target speed Vref calculated by the turning target speed calculation unit 727 and the hydraulic characteristics in the turning drive unit 701. Then, the calculated turning operation target amount is input to the drive control unit 700, and the turning drive unit 701 sets the turning speed and turning direction of the turning body 12.

FIG. 4 is a flowchart of the swing steady rest control of the crane 10 according to the present embodiment. In the present embodiment, when the turning steady rest control is started, known parameters are set and stored in advance in a storage unit (not shown) in the vibration damping control unit 700E (step S01). The known parameters include the length of the boom 16, the elastic modulus of the boom 16, the moment of inertia of the boom 16, and the like. As described above, the length of the boom 16 is acquired and referred to by the boom length information acquisition unit 708 of the information acquisition unit 700C. The elastic modulus of the boom 16 and the moment of inertia of the boom 16 are included as _{I and k θ, respectively, by replacing the jib with a boom in the formula 17 described later.}

Then, the control determination unit 719 determines whether or not the switch (input unit) for starting the swivel steady rest control arranged in the cab 15 is pressed (ON) (step S02). When the switch is turned on (YES in step S02), the control determination unit 719 is in the flow immediately before the case where the flowchart shown in FIG. 4 is repeated (repetition from steps S10 to S02 in FIG. 4). , It is determined whether or not the switch has been turned on (step S03). When the switch is turned off in the previous flow (NO in step S03), the detection unit 700D updates the detection parameters (step S04). Specifically, the boom undulation angle detection unit 711, the rope length detection unit 717, and the suspension load amount detection unit 718 detect the undulation angle of the boom 16, the extension amount of the main winding rope 50, and the suspension load amount (load), respectively. ,Update.

Next, the control target amount setting unit 720 sets the parameters of the control model (step S05). Specifically, the control target amount setting unit 720 sets the target amount of each control amount as described above.

Next, the control gain setting unit 726 determines the control gain (feedback gain) (step S06). Specifically, the control gain setting unit 726 determines the above-mentioned G1, G2, G3, G4 and G5, respectively, and proceeds to step S08.

In step S03, when the switch is ON in the previous flow (YES in step S03), the values acquired in the previous flow are maintained for each parameter and gain in steps S04 to S06 (step S07). The process proceeds to step S08.

In step S08, the control amount calculation unit 700F updates the state parameter. Specifically, the control amount calculation unit 700F calculates the suspended load turning direction displacement X1, the suspended load turning direction speed X2, the boom tip turning direction displacement X3, the boom tip turning direction speed X4, and the turning angle X5, respectively.

Next, the turning target speed calculation unit 727 calculates the turning target speed Vref (step S09).

Next, the turning operation target calculation unit 728 calculates the command current value for inputting the command signal to the turning drive unit 701 (step S10). Specifically, as described above, the turning operation target calculation unit 728 inputs to the drive control unit 700 so that the turning speed of the turning body 12 becomes the turning target speed Vref calculated by the turning target speed calculation unit 727. The turning operation target command value for is calculated.

In step S02, when the switch (input unit) for starting the turning steady rest control is not pressed (NO in step S02), the vibration damping control unit 700E automatically moves the crane 10 for the purpose of turning steady rest control. Prohibit control.

Then, the flow shown in FIG. 4 is repeated until the suspended load stops (substantially stops) at the target suspended load position in FIG. 3 at least in the turning direction.

<Second Embodiment>
FIG. 5 is a side view of the crane 10 according to the second embodiment of the present invention. FIG. 6 is a block diagram of the swing steady rest device 70 of the crane 10 according to the present embodiment. In this embodiment, the differences from the first embodiment will be mainly described, and the common points will be omitted.

With reference to FIG. 5, the crane 10 according to the present embodiment further includes a jib 18 (undulating body) as compared with the crane 10 of FIG.

The jib 18 is rotatably supported by the tip of the boom 16 (boom tip, upper boom 16E) around a rotation center axis (second rotation center axis) parallel to the rotation center axis of the boom 16. It has a jib base end and a jib tip opposite to the jib base end. In the present embodiment, the main winding rope 50 is hung from the tip of the jib and connected to the suspended load. The specific structure of the jib 18 is not limited as in the boom 16.

Further, the crane 10 includes a rear strut 21, a front strut 22, a pair of left and right strut backstops 25, a pair of left and right guy lines 26, and a pair of left and right jib guy lines 28.

The rear strut 21 is rotatably supported by the tip of the boom 16. The rear strut 21 is held in a posture of projecting from the tip of the upper boom 16E to the boom standing side (left side in FIG. 1). As a means for maintaining this posture, a pair of left and right strut backstops 25 and a pair of left and right guy lines 26 are interposed between the rear struts 21 and the boom 16. The strut backstop 25 is interposed between the intermediate boom 16D and the intermediate portion of the rear strut 21, and supports the rear strut 21 from below. The guy line 26 is stretched so as to connect the tip end portion of the rear strut 21 and the lower boom 16A of the boom 16, and the position of the rear strut 21 is regulated by the tension thereof. In other words, the pair of left and right strut struts 25 and the pair of left and right guy lines 26 regulate the relative rotation of the rear struts 21 with respect to the boom 16 when the crane 10 is in use. The rear strut 21 has a sheave block 47 and rear strut idler sheaves 52 and 62. The sheave block 47 includes a plurality of sheaves arranged at the rotating end of the rear strut 21 and arranged in the width direction. The rear strut idler sheaves 52 and 62 are arranged in a portion of the rear strut 21 located closer to the base end portion than the central portion in the longitudinal direction, and include a plurality of sheaves arranged in the width direction, respectively.

The front strut 22 is arranged behind the jib 18 and is rotatably supported at the tip of the boom 16 (upper boom 16E) so as to rotate in conjunction with the jib 18. Specifically, a pair of left and right jib guy lines 28 are stretched so as to connect the tip of the front strut 22 and the tip of the jib 18. Therefore, by the rotational drive of the front strut 22, the jib 18 is also rotationally driven integrally with the front strut 22. The rear strut 21 described above is arranged on the rear side of the front strut 22 as shown in FIG. 1, and forms a substantially isosceles triangular shape with the front strut 22. The front strut 22 has a sheave block 48 and front strut idler sheaves 53 and 63. The sheave block 48 includes a plurality of sheaves arranged at the rotating end of the front strut 22 and arranged in the width direction. The front strut idler sheaves 53 and 63 are arranged in a portion of the front strut 22 located closer to the proximal end side than the central portion in the longitudinal direction, and include a plurality of sheaves arranged in the width direction, respectively.

The crane 10 further includes a jib undulating winch 32 for rotating the jib 18 in the undulating direction, and a jib undulating rope 44.

The jib undulating winch 32 winds and unwinds the jib undulating rope 44 that is hung between the rear strut 21 and the front strut 22. Then, the jib undulating rope 44 is arranged so that the front strut 22 rotates by this winding and unwinding. Specifically, the jib undulating rope 44 pulled out from the jib undulating winch 32 is hung on the idler sheave 32S and the intermediate boom sheave 46, and is further hung between the sheave blocks 47 and 48 a plurality of times. Therefore, the jib undulating winch 32 changes the distance between the two sheave blocks 47 and 48 by winding and unwinding the jib undulating rope 44, and rotates the front strut 22 relative to the rear strut 21. Move. As a result, the jib undulating winch 32 undulates the jib 18 interlocking with the front strut 22.

Further, referring to FIG. 6, in the crane 10 according to the present embodiment, the operation unit 700B further has a jib undulation operation unit 705A (undulation operation unit, jib undulation operation unit) as compared with FIG. , The drive unit 700A further includes a jib undulating drive unit 702A (undulation body drive unit, jib drive unit). Further, the information acquisition unit 700C of the swivel steady rest device 70 further has a jib length information acquisition unit 709 (undulation body length information acquisition unit), and the detection unit 700D is a jib undulation angle detection unit 712 (undulation angle detection unit). Further has. Further, the detection unit 700D replaces the boom top turning direction displacement detecting unit 713 and the boom top turning direction speed detecting unit 714 in FIG. 2 with the jib top turning direction displacement detecting unit 713A (undulating body displacement detecting unit) and the jib top turning direction speed. It has a detection unit 714A (undulating body velocity detection unit).

The jib undulation operation unit 705A is capable of switching between a jib undulation position for undulating the jib 18 and a neutral position for stopping the undulation of the jib 18. The jib undulation drive unit 702A is capable of rotating the jib 18 around the second rotation center axis in the undulation direction. The jib length information acquisition unit 709 acquires and outputs jib length information which is information corresponding to the length of the jib 18 in the jib longitudinal direction which is the direction connecting the jib base end portion and the jib tip end portion. The jib undulation angle detection unit 712 detects and outputs the undulation angle of the jib 18 around the second rotation center axis. The jib top turning direction displacement detection unit 713A detects and outputs the displacement of the jib tip in the turning direction (jib tip displacement) as the undulating body tip displacement. The jib top turning direction speed detection unit 714A detects and outputs the speed of the jib tip in the turning direction (jib tip speed) as the undulating body tip speed.

Further, the control amount calculation unit 700F calculates the jib tip turning direction displacement X3A and the jib tip turning direction speed X4A instead of the boom tip turning direction displacement X3 and the boom tip turning direction speed X4. The jib tip turning direction displacement X3A is the displacement of the tip of the jib 18 in the turning direction as described above, and the jib tip turning direction speed X4A is the speed of the tip of the jib 18 in the turning direction.

Further, in the present embodiment, in the flowchart of FIG. 4, in step S01, the length information of the jib 18, the elastic modulus of the jib 18, and the moment of inertia of the jib are stored in storage units (not shown). Further, in step S04, the undulation angle of the jib 18 is further detected by the jib undulation angle detection unit 712. Further, in step S05, when the control determination unit 719 determines that the turning steady rest control start condition is satisfied and the control start signal is output, the control target amount setting unit 720 receives the suspended load turning direction displacement X1. The target state quantities are set for at least five (plurality) control amounts (state amounts) of the suspended load turning direction speed X2, the jib tip turning direction displacement X3A, the jib tip turning direction speed X4A, and the turning angle X5, respectively. Further, in step S06, the control gain setting unit 726 sets the control gains G1 to G5, and in step S08, the control amount calculation unit 700F from the boom length information acquisition unit 708 and the jib length information acquisition unit 709. The boom length information and the jib length information output, respectively, the turning angle output from the turning angle detection unit 710, the boom undulation angle output from the boom undulation angle detection unit 711, and the jib undulation angle. The jib undulation angle output from the detection unit 712, the jib tip displacement output from the jib top turning direction displacement detection unit 713A, the jib tip speed output from the jib top turning direction speed detection unit 714A, and the rope turning direction. The runout angle output from the runout angle detection unit 715, the runout angle speed output from the rope turning direction runout angle speed detection unit 716, the rope length information output from the rope length detection unit 717, and the suspension load. Based on the suspension load amount information output from the amount detection unit 718 and the target state amounts of the five state amounts set by the control target amount setting unit 720, the jib tip turning direction displacement X3A and the jib tip turning direction The current values of the five state quantities including the speed X4A are calculated.

That is, also in the present embodiment, in each of the above-described first embodiments, the boom 16 as the undulating body is replaced with the jib 18, so that the boom 16 is connected to the main winding rope 50 hanging from the tip of the jib 18. The swivel steady rest control of the suspended load (main hook 57) is realized.

<Third Embodiment>
FIG. 7 is a block diagram of the swivel steady rest device 70 of the crane 10 according to the third embodiment of the present invention. FIG. 8 is an enlarged side view of the tip of the boom 16 of the crane 10 according to the third embodiment of the present invention. FIG. 9 is a block diagram of a suspended load displacement detecting unit 715A and a suspended load speed detecting unit 716A of the crane 10 according to the third embodiment of the present invention. In this embodiment, the differences from the first embodiment will be mainly described, and the common points will be omitted. Further, the structure of the crane 10 according to the present embodiment is the same as that of the crane 10 shown in FIG.

In this embodiment, the structure for acquiring the suspended load displacement and the suspended load speed is different from that in the first embodiment. Specifically, the swivel steady rest device 70 (FIG. 7) according to the present embodiment has a suspended load displacement detection unit 715A instead of the rope swivel direction swing angle detection unit 715 of FIG. 2, and the rope swivel direction of FIG. It has a suspended load speed detecting unit 716A instead of the swing angular velocity detecting unit 716.

With reference to FIG. 8, the swivel steady rest device 70 has a camera 80 (photographing device), a camera jig 80S, and a recognition marker 57S (target object). The camera 80 is supported by a camera jig 80S attached to the tip end portion (upper boom 16E) of the boom 16. The camera jig 80S is fastened to the lattice (frame) of the boom 16 with bolts or the like, and the posture of the camera 80 is adjusted so that the shooting direction of the camera 80 faces downward even if the undulation angle of the boom 16 changes. It has a function to adjust. The adjustment function may be possessed by the camera 80 itself. The recognition marker 57S is attached to a part of the hook 57. As a result, the recognition marker 57S moves integrally with the suspended load. The camera 80 captures the recognition marker 57S (target object) associated with the suspended load and outputs the captured image information.

With reference to FIG. 9, the suspended load displacement detecting unit 715A and the suspended load speed detecting unit 716A include an image processing unit 81 and a detection amount calculation unit 82 (both are calculation units) in addition to the above camera 80.

The image processing unit 81 and the detection amount calculation unit 82 acquire the image information input from the camera 80 as position information by image processing, and input the image information to the control amount calculation unit 700F via a wired cable (not shown) or wireless communication. To do. More specifically, the image processing unit 81 performs image processing such as known template matching, edge detection, and corner detection on the image information captured and output by the camera 80, and detects the information after the image processing. Input to the quantity calculation unit 82. The detection amount calculation unit 82 acquires the coordinates of the marker 57S based on the size of the recognition marker 57S included in the received information in pixel units and the distance information from the camera 80 to the marker 57S acquired in advance. As a result, the displacement of the suspended load that moves integrally with the marker 57S, particularly the swing angle (swing angle) in the turning direction is acquired. Further, the detection amount calculation unit 82 calculates the speed of the suspended load, particularly the swing angle velocity of the suspended load in the turning direction, by numerically differentiating the displacement (swing angle) of the suspended load.

The control amount calculation unit 700F has each of the suspended load turning direction displacement X1, the suspended load turning direction speed X2, the boom tip turning direction displacement X3, the boom tip turning direction speed X4, and the turning angle X5, as in the first embodiment. Regarding the control amount, the deviation between the detection value detected by each detection unit of the detection unit 700D and the target amount set by the control target amount setting unit 720 is calculated. More specifically, the control amount calculation unit 700F outputs the boom length information output from the boom length information acquisition unit 708, the rotation angle output from the rotation angle detection unit 710, and the boom undulation angle detection unit 711. The undulation angle, the displacement of the boom tip output from the boom top turning direction displacement detection unit 713, the boom tip speed output from the boom top turning direction speed detection unit 714, and the suspended load displacement detection unit 715A. The output suspended load displacement, the suspended load speed output from the suspended load speed detection unit 716A, the rope length information output from the rope length detecting unit 717, and the output from the suspended load amount detecting unit 718. Based on the suspension load amount information and the target state amounts of the five state amounts set by the control target amount setting unit 720, the current values of the five control amounts (state amounts) are calculated.

In the present embodiment, the suspended load turning direction displacement X1 is obtained by adding the boom tip turning direction displacement X3 to the suspended load turning direction displacement X1'when viewed from the tip end portion (upper boom 16E) of the boom 16. It is calculated by the following equation 5.

Here, X1'is the suspended load displacement seen from the tip of the boom 16 acquired by the suspended load displacement detection unit 715A. On the other hand, the suspended load turning direction speed X2 is obtained by adding the boom tip turning direction speed X4 to the speed X2'in the suspended load turning direction when viewed from the tip of the boom 16, and is calculated by the following equation 6. Will be done.

The boom tip turning direction displacement X3, the boom tip turning direction speed X4, and the turning angle X5 are detected or calculated in the same manner as in the first embodiment. Further, the calculation process by the control gain setting unit 726, the turning target speed calculation unit 727, and the turning operation target calculation unit 728 is the same.

As described above, in the present embodiment, the suspended load turning direction displacement X1 and the suspended load turning direction speed X2 can be acquired based on the image information of the camera 80 attached to the tip end portion of the boom 16. Therefore, as compared with the first embodiment, the position of the recognition marker 57S associated with the suspended load is directly detected even when the main winding rope 50 (suspended load rope) is bent. Therefore, it is possible to accurately acquire the suspended load turning direction displacement X1 and the suspended load turning direction speed X2.

<About the flow from control model creation to gain derivation>
Next, the control model used in the calculation of the vibration damping control unit 700E according to each of the above embodiments will be described. In creating the control model, the behavior of the crane 10 is expressed by the equation of motion as described below, and the equation of motion is transformed into the equation of state as shown in Equation 7 below.

Here, x is called a state quantity, and corresponds to each of the above-mentioned control quantities (suspended load turning direction displacement X1, suspended load turning direction speed X2, turning angle X5, etc.). On the other hand, u corresponds to the control input (turning speed). Further, A and B of Equation 5 are system matrices, and in the matrix, turning runout control is performed, such as the rope length of the main winding rope 50 and the working radius of the crane 10 (the radius of the boom 16 in a plan view). It does not change, but contains parameters that affect the behavior of the suspended load.

Note that a dot is added above the characters in the following formulas, such as x included in formula 7, which means time derivative. For example, if one dot is attached above x, x is first-order time-differentiated, and if two dots are attached above x, x is second-order time-differentiated. Furthermore, in texts other than mathematical formulas, apostrophes are added instead of the above dots due to the restrictions of the description. The same applies to other mathematical formulas and descriptions in the text thereafter.

Various methods for designing such a control system are known, but in the present embodiment, a method called an optimum control method, in which the target (crane 10) is controlled so as to minimize the evaluation function. Is used. In the optimum control method, the evaluation function is first defined as shown in Equation 8 below.

In Equation 8, x and u correspond to a vector or scalar, and the superscript T attached to x and u means transpose. Also, Q and R correspond to matrices or scalars. Here, in order to solve the optimum control method, a matrix X corresponding to the input (u = θ'm = Gx) that minimizes the above evaluation function is derived (θ'm is the first derivative of θm). .. The matrix X can be obtained by solving a known Riccati algebra equation shown in Equation 9 below. Note that θ'm and Gx are equivalent to the above-mentioned turning target speed Vref. Further, Gx corresponds to the right side of Equation 4.

Further, the feedback gain G can be expressed by the following equation 10.

Therefore, in step S06 of FIG. 4, the control gain setting unit 726 can calculate the gains G1 to G5 based on the above calculation.

<About the derivation of the equation of state in a crane>
Next, the derivation of the equation of state shown in the above equation 7 will be described. 10 and 11 are model diagrams for explaining the swing steady rest control of the crane 10 according to the present embodiment. In addition, in FIGS. 10 and 11, the jib 18 is supported by the boom 16 assuming the crane 10 according to the second embodiment, but in the crane 10 according to the first embodiment, FIGS. 10 and 11 By assuming that the jib 18 does not exist, that is, the length of the jib 18 is zero, the equation of state can be derived in the same manner.

When deriving the equation of state, first, the control model of the crane 10 is derived using the equation of motion. As shown in FIGS. 10 and 11, it is assumed that the crane 10 turns around the Z axis. Further, the position of the suspended load is represented using the suspended load position coordinates xt, yt, and zt. The suspended load position coordinates xt, yt, and zt are the suspended load positions when the vibration of the jib 18 and the swing of the suspended load are stopped with reference to the initial turning angle at the moment (initial state) when the control start signal is output. The yy axis is set to extend in the radial direction so as to share the XYZ coordinates and the XY plane of the global coordinate system with the origin directly below, the xt axis is set to extend in the turning direction, and the zt axis is the Z axis. Is set in the same direction as. Here, the turning angle, which is the angle at which the turning body 12 turns from the initial state, is defined as θ. The angle at which the swivel body 12 turns from the position where the swivel body 12 starts turning until the control start signal is output is defined as θt. The length by _{L B1} boom 16, length _{L B2} of the jib 18, derricking angle γ1 of the boom 16, the hoisting angle of the jib 18 is defined as .gamma.2, pivoting of the suspended load in plan view a radius r0 = represented by L _B1 cosγ1 ₊ L B2 cosγ2. Further, the swing angle of the main winding rope 50 is defined as γl. At this time, the kinetic energy T and the potential energy U of the suspended load are represented by the following equation 11.

Where g is the gravitational acceleration. The suspended load can be regarded as being restricted on a spherical surface of radius L _{M (rope} length) as viewed from being restrained their behavior by the main hoisting rope 50, the tip of the jib 18. Therefore, the following equation 12 holds. Note that h means the height of the tip of the jib 18.

At this time, φ is defined as in Equation 13.

As a result, in Equation 13, the constraint condition can be expressed by φ = 0. Therefore, when a known Language equation is derived, Equation 14 is derived from Equation 13.

In Equation 14, μ is an undetermined multiplier. Using this equation 14, assuming the following equation 15, the following equation 16 can be obtained for xt.

Here is a _{λ = √ (g / L M} ).

FIG. 12 is a model diagram for further explaining the swivel steady rest control of the crane 10 according to the present embodiment. The inertia of the jib 18 (undulating body) acts as a mass (difficult to move, difficulty to rotate) in linear motion with respect to the rotational motion, and the force contributing to the deformation of the jib 18 is the forced displacement by the hydraulic motor and the jib 18. Since it is the tension of the main winding rope 50, the twist deformation of the jib 18 is dominant. Therefore, when considering the elasticity of the jib 18, the equation of motion can be obtained by the analogy of the spring-mass system as shown in FIG. Assuming that the moment of inertia of the jib 18 is I, the torsional rigidity of the jib 18 is kθ, the angle of the tip of the jib is θ, and the rotation angle of the swivel motor is θm, the motion is driven by the following equation 17 derived from the equation of motion of Lagrange in equation 14. Can represent an equation.

As described above, the equation 17 includes a term considering the elastic deformation of the undulating body. Based on the above, in order to show the equation of state, the state x is defined as the following equation 18.

Then, from the

equations

16, 17, and 18, the equations of state of the equation 7 are represented by the following equations 19 and 20.

That is, the control gain setting unit 726 can calculate the control gains G1 to G5 (feedback gain) based on the equations of state represented by the equations 19 and 20.

FIG. 13 is a graph showing the transition of the displacement of the suspended load in the turning direction in other turning steady rest control compared with the turning steady rest control of the crane 10 according to the present embodiment. The broken line in FIG. 13 shows the displacement of the suspended load in the turning direction when the turning steady rest control is not performed immediately after the turning operation of the crane 10 is stopped, and it can be seen that the periodic swing continues. .. On the other hand, the solid line in FIG. 13 is the result when the control gains G1 to G5 are calculated by the control model which does not consider the elastic deformation of the undulating body (boom 16) unlike each embodiment of the present invention. As shown in FIG. 13, in such an operation, the feedback control is diverged, and the result is that the suspended load swings more than the result of the broken line where the control is not performed.

On the other hand, FIG. 14 is a graph showing the transition of the displacement in the turning direction of the suspended load in the turning steady rest control of the crane 10 according to each embodiment of the present invention. The broken line is the same as in FIG. As shown in FIG. 14, when the control gains G1 to G5 are calculated by the control model considering the elastic deformation of the undulating body (boom 16) as in each embodiment of the present invention, the runout of the suspended load converges at an early stage. It is confirmed that

As described above, according to the swivel steady rest device 70 according to each embodiment of the present invention, in the crane 10 having the undulating body such as the boom 16 and the jib 18, the control gain setting unit 726 swivels the swivel body 12 and suspends the load. Based on the control model considering the influence of the elastic deformation of the boom 16 due to the load of, each control amount (state amount) (suspended load swivel direction displacement X1, suspended load swivel direction velocity X2, boom tip swivel direction displacement X3, boom tip The control gains G1 to G5 are determined so as to minimize the time integration of the weighted sum of the turning direction speed X4 and the turning angle X5) and the input amount (turning speed). Then, the turning target speed calculation unit 727 calculates the turning target speed based on the control amount and the control gain, and the turning operation target calculation unit 728 drives the turning drive unit 701 so as to reach the above target speed. Therefore, it is possible to perform stable steady rest of the suspended load.

In particular, in the first, second and third embodiments described above, the suspension is preset so that the control gain setting unit 726 includes at least a term corresponding to elastic deformation of the undulating body (boom 16, jib 18). Five control gains G1 to G5 corresponding to the five state quantities are set based on the equation of state relating to the behavior of the load and the turning speed of the swivel body 12 (undulating body) as a variable. Then, the turning target speed calculation unit 727 includes the five control gains set by the control gain setting unit 726 and the current values of the five state quantities calculated by the control quantity calculation unit 700F (state quantity calculation unit). Therefore, the turning target speed, which is the target value of the turning speed of the turning body 12, is calculated. Then, the turning operation target calculation unit 728 and the drive control unit 700 (both are command information output units) have the turning target speed (the magnitude of the speed, which is calculated by the turning target speed calculation unit 727) for which the turning speed of the turning body 12 is calculated. The command information corresponding to the turning target speed is output to the turning drive unit 701 so as to be (including the direction).

According to such a configuration, the control gain setting unit 726 sets the control gains G1 to G5 of each state quantity based on the equation of state considering the elastic deformation of the undulating body. Further, the turning target speed calculation unit 727 sets the turning target speed Vref of the turning body 12 based on each state quantity calculated by the control amount calculation unit 700F and each control gain set by the control gain setting unit 726. Set. Since the above state quantity includes the displacement and velocity of the tip of the undulating body in addition to the displacement and velocity of the suspended load, the suspension and undulating body can be combined with the rope length information of the suspended load rope. It is possible to control the swirling runout of the suspended load while taking into account the relative position with the tip portion. Therefore, even if the undulating body is elastically deformed such as bending due to the moment of inertia applied to the undulating body by the turning motion or the load of the suspended load, the swing in the turning direction of the suspended load can be stably converged. It will be possible.

Further, in the first, second and third embodiments described above, the control target amount setting unit 720 determines that the turning steady rest control start condition is satisfied by the control determination unit 719, and outputs the control start signal. Then, assuming that the undulating body is not elastically deformed in the plan view of the crane 10, the turning angle, the displacement of the undulating body tip, and the suspension are set with the position vertically below the tip of the undulating body as the target position. The target state amount of the load displacement is set, and the target state amount of the suspended load speed and the tip speed of the undulating body is set to zero, respectively.

According to such a configuration, a target position for converging the swirling runout of the suspended load is set with reference to the position of the tip of the undulating body at the time when the control start signal is output. Therefore, like other swivel steady rest devices that control the swivel operation of the upper body so as to always move the tip of the undulating body to a position above the suspended load without considering the elastic deformation of the undulating body, the undulating body. The tip portion follows the movement of the suspended load and the turning direction is not frequently switched, and the swing of the suspended load can be quickly converged by controlling the turning operation according to the final target position.

Further, the control gain setting unit 726 sets the five control gains G1 to G5 so that the integrated value with respect to the time of the weighted sum including the five state quantities and the turning speed of the turning body 12 is the smallest. Therefore, the control gain for quickly converging the swirling runout of the suspended load can be set in a short time. As a method for setting the control gain, a method based on the so-called pole arrangement method or a method based on the H-infinity control may be adopted. The method of setting the control gain according to each embodiment of the present invention follows the so-called LQ optimum control (Linear Quadratic Optimal Control) (linear quadratic optimum control). The LQ optimum control has a feature that it is easy to design the control system to be robust against disturbance as compared with the above-mentioned pole arrangement method. Further, the LQ optimum control is characterized in that the design of the control system is easier than that of the H infinity control, and the effect is easily exhibited even under the influence of disturbance.

Further, in the second embodiment described above, in a configuration in which the main winding rope 50 hangs down from the tip end portion of the jib 18 undulatingly supported by the tip end portion of the boom 16, the inertia imparted to the jib 18 by the turning motion. Even when the jib 18 is elastically deformed such as bending due to the moment or the load of the suspended load, it is possible to stably converge the runout of the suspended load in the turning direction.

In each embodiment of the present invention, as described above, the length of the undulating body that determines the working radius of the crane 10, the undulating angle of the undulating body, the elastic modulus of the undulating body, the amount of extension of the main winding rope 50, and the undulation. The moment of inertia of the body and the weight of the suspended load (suspended load) are detection parameters for determining the feedback gain. On the other hand, the suspended load turning direction displacement X1, the suspended load turning direction speed X2, the boom tip turning direction displacement X3, the boom tip turning direction speed X4, and the turning angle X5 correspond to the control amount (state amount).

The swivel steady rest device 70 and the crane 10 provided with the swivel steady rest device 70 according to each embodiment of the present invention have been described above. The present invention is not limited to these forms. The present invention can take, for example, the following modified embodiments.

(1) FIG. 15 is a model diagram for explaining the swing steady rest control of the crane according to the modified embodiment of the present invention. In each of the above embodiments, as the state quantities, the suspended load turning direction displacement X1, the suspended load turning direction speed X2, the boom tip turning direction displacement X3, the boom tip turning direction speed X4, and the turning angle X5 have been described. The state quantity of is calculated from the detection result of another detection unit.

With reference to FIG. 15, the boom tip turning direction displacement X3 and the boom tip turning direction speed X4 are calculated from the turning angle θ and the turning angular velocity dθ / dt by detecting the amount of deflection θe = θ−θm of the boom 16. You may. If it is possible to detect the relative displacement xm of the suspended load with respect to the tip of the boom 16, the position θ of the tip of the boom 16 is calculated from the detection result and used as a control amount (state amount). It is also possible to select the suspended load turning direction displacement X1, the suspended load turning direction speed X2, the suspended load turning direction relative displacement X3, the suspended load turning direction relative speed X4, and the turning angle X5. Further, depending on the camera attached to the swivel body 12 and the camera attached to the tip of the boom 16, the suspended load turning direction displacement X1, the suspended load turning direction speed X2, the suspended load turning direction relative displacement X3, and the suspended load turning direction relative speed X4. May be measured respectively.

(2) Further, in the above-described embodiment, the structure of the crane to which the swivel steady rest device 70 according to each of the above-described embodiments is applied is not limited to the crane 10 shown in FIGS. 1 and 5. It may be a crane having another structure. Further, the number of the control amount (state amount) and the corresponding control gain is not limited to 5, and at least 5 control amounts and control gains may be detected or calculated.

(3) Further, in the third embodiment, the suspended load turning direction displacement X1 and the suspended load turning direction speed X2 are acquired based on the image information of the camera 80 mounted on the tip of the boom 16. However, the present invention is not limited to this. The suspended load position in the global coordinate system may be detected by the hook 57 or GPS attached to the suspended load, and the suspended load turning direction displacement X1 and the suspended load turning direction speed X2 may be acquired, respectively. Further, the swivel steady rest device 70 may have a gyro sensor (IMU: Inertial Measurement Unit) connected to the tip of the main winding rope 50 (suspended rope) hanging from the tip of the boom 16. In this case, the suspended load displacement detecting unit 715A and the suspended load speed detecting unit 716A detect and output the suspended load displacement and the suspended load speed, respectively, based on the output of the gyro sensor. Further, the suspended load displacement detecting unit 715A and the suspended load speed detecting unit 716A according to the third embodiment may be applied to the second embodiment.

According to this configuration, the control gain setting unit sets the control gain of each state quantity based on the equation of state considering the elastic deformation of the undulating body. Further, the turning target speed calculation unit sets the turning target speed of the turning body based on each state quantity calculated by the state quantity calculation unit and each control gain set by the control gain setting unit. Since the above state quantity includes the displacement and velocity of the tip of the undulating body in addition to the displacement and velocity of the suspended load, the suspension and undulating body can be combined with the rope length information of the suspended load rope. It is possible to control the swirling runout of the suspended load while taking into account the relative position with the tip portion. Therefore, even if the undulating body is elastically deformed such as bending due to the moment of inertia applied to the undulating body by the turning motion or the load of the suspended load, the swing in the turning direction of the suspended load can be stably converged. It will be possible.

In the above, the suspended load displacement detecting unit detects and outputs the deflection angle of the suspended load rope with respect to the vertical direction when viewed along the radial direction in the turning operation of the upper body as the suspended load displacement. The suspension angular velocity detection unit includes a detection unit, and the suspension angular velocity detection unit includes a rope deflection angular velocity detection unit that detects and outputs a deflection angular velocity, which is a change amount of the deflection angle of the suspension rope per unit time, as the suspension velocity. But it may be.

Further, the suspension is attached to the tip of the undulating body, the target object associated with the suspended load is photographed, and the photographed image information is output, and the suspension is based on the image information output from the imaging device. The imaging device and the calculation unit further include a calculation unit for calculating the load displacement and the suspension load speed, respectively, and the photographing device and the calculation unit detect and output the suspension load displacement as the suspension load displacement detection unit, and detect the suspension load speed. As a unit, the suspension speed may be detected and output.

Further, a gyro sensor connected to the tip of the suspension rope hanging from the tip of the undulating body is further provided, and the suspension displacement detection unit and the suspension speed detection unit are based on the output of the gyro sensor. The suspended load displacement and the suspended load speed may be detected and output, respectively.

In the above configuration, when the control start condition determination unit determines that the turning steady rest control start condition is satisfied, the target state amount setting unit elastically deforms the undulating body in the plan view of the crane. The turning angle, the displacement of the tip of the undulating body, and the target state amount of the suspended load are set with the position vertically below the tip of the undulating body as the target position when it is assumed that the undulating body does not exist. It is desirable to set the target state quantities of the suspended load speed and the undulating body tip speed to zero, respectively.

According to this configuration, a target position for converging the swirling runout of the suspended load is set with reference to the position of the tip of the undulating body at the time when the control start signal is output. Therefore, like other swivel steady rest devices that control the swivel operation of the upper body so as to always move the tip of the undulating body to a position above the suspended load without considering the elastic deformation of the undulating body, the undulating body. The tip portion follows the movement of the suspended load and the turning direction is not frequently switched, and the swing of the suspended load can be quickly converged by controlling the turning operation according to the final target position.

In the above configuration, it is desirable that the control gain setting unit sets the plurality of control gains so that the integrated value with respect to the time of the weighted sum including the plurality of state quantities and the turning speed is the smallest.

According to this configuration, the control gain for quickly converging the swirling runout of the suspended load can be set in a short time.

In the above configuration, the crane has a boom base end portion supported as the undulating body so as to be rotatable in the undulating direction around the first rotation center axis horizontal to the upper body, and the boom base end portion. The boom and the jib base end supported by the boom tip so as to be rotatable in the undulating direction around the second rotation center axis parallel to the first rotation center axis, including the boom tip opposite to the above. The jib comprises a portion and a jib tip that is opposite to the jib base and allows the suspended rope to hang from the jib tip. As the undulating body driving unit, the boom driving unit capable of rotating the boom around the first rotation center axis in the undulating direction and the jib rotating in the undulating direction around the second rotation center axis. It has a jib drive unit capable of undulating, and as the undulating operation unit, it is a boom undulating operation unit that accepts an operation for undulating the boom, and has a boom undulating position for undulating the boom. A boom undulation operation unit that can be switched between a neutral position for stopping the undulation of the boom and a jib undulation operation unit that accepts an operation for undulating the jib, and undulates the jib. It has a jib undulation operation unit that can be switched between a jib undulation position for the purpose and a neutral position for stopping the undulation of the jib. Further, the undulating body length information acquisition unit acquires and outputs boom length information which is information corresponding to the length of the boom in the boom longitudinal direction which is the direction connecting the boom base end and the boom tip. A jib that acquires and outputs jib length information that is information corresponding to the length of the jib in the jib longitudinal direction, which is the direction connecting the boom length information acquisition unit and the jib base end portion and the jib tip portion. The undulating body displacement detecting unit has a length information acquisition unit, and the undulating body displacement detecting unit detects and outputs the displacement of the jib tip portion in the turning direction as the undulating body tip portion displacement. The speed of the tip of the jib in the turning direction is detected and output as the speed of the tip of the undulation body, and the undulation angle detection unit detects and outputs the undulation angle of the boom around the first rotation center axis. It has an angle detection unit and a jib undulation angle detection unit that detects and outputs the undulation angle of the jib around the second rotation center axis, and the target state amount setting unit is said by the control start condition determination unit. When it is determined that the swivel steady rest control start condition is satisfied, the suspended load displacement, the suspended load speed, the displacement of the jib tip in the turning direction, the displacement of the undulating body tip, and the jib tip. The target state amounts are set for each of the undulating body tip speed and the plurality of state amounts of the turning angle, which are the speeds in the turning direction, and the state amount calculation unit is the boom length information acquisition unit and the boom length information acquisition unit. The boom length information and the jib length information output from the jib length information acquisition unit, the swivel angle output from the swivel angle detection unit, and the boom output from the boom undulation angle detection unit, respectively. The undulation angle, the jib undulation angle output from the jib undulation angle detection unit, the displacement of the undulation body tip portion output from the undulation body displacement detection unit, and the undulation output from the undulation body speed detection unit. The body tip speed, the suspended load displacement output from the suspended load displacement detection unit, the suspended load speed output from the suspended load speed detecting unit, and the output from the rope length information acquisition unit. Based on the rope length information, the suspension load amount information output from the suspension load amount information acquisition unit, and the target state amounts of the plurality of state amounts set by the target state amount setting unit, the plurality of states. It may be the one that calculates the current value of the state quantity of.

According to this configuration, in a configuration in which a suspended load rope is hung from the tip of a jib that is undulatingly supported at the tip of the boom, the jib is subjected to the moment of inertia applied to the jib by the turning motion and the load of the suspended load. Even when elastic deformation such as bending occurs, it is possible to stably converge the runout of the suspended load in the turning direction.

Further, what is provided by the present invention is a crane, which is provided on a lower main body, an upper main body rotatably supported around a turning central axis extending in the vertical direction on the lower main body, and the upper main body. An undulating body including a undulating body base end portion supported so as to be rotatable in the undulating direction around a horizontal center axis of rotation, and a undulating body tip portion opposite to the undulating body base end portion, and the undulating body. The crane that hangs down from the tip and is connected to the suspended load and the upper body are swiveled around the center axis of the swivel in the first swivel direction and in the second swivel direction opposite to the first swivel direction. It is a turning drive unit capable of turning and a turning operation unit that accepts an operation for turning and driving the upper main body, and is a turning for turning the upper main body in the first turning direction and the second turning direction, respectively. An undulating operation unit that can be switched between a working position and a neutral position for stopping the turning of the upper body, and an undulation that can rotate the undulating body around the center axis of rotation in the undulating direction. A body driving unit and an undulating operation unit that accepts an operation for undulating the undulating body, and a undulating position for undulating the undulating body and a neutral position for stopping the undulation of the undulating body. An undulating operation unit that can be switched between, a crane drive unit that can raise and lower the crane relative to the ground by winding and feeding the crane rope, and the crane. An elevating operation unit that accepts operations for raising and lowering a load, and can be switched between an elevating position for raising and lowering the suspended load and a neutral position for stopping the ascending and descending of the suspended load. The operation unit and the swing steady rest device for the crane according to any one of the above are provided.

According to this configuration, even if the undulating body is elastically deformed such as bending due to the moment of inertia applied to the undulating body by the turning motion of the crane or the load of the suspended load, the swing of the suspended load in the turning direction is stabilized. It becomes possible to converge.

According to the present invention, there is provided a crane turning steady rest device and a crane capable of stably converging the turning runout of a suspended load caused by the turning operation of the crane.

Claims

With the lower body
An upper body supported by the lower body so as to be able to swivel around a swivel center axis extending in the vertical direction,
An undulating body that is supported so as to be rotatable in the undulating direction around a rotation center axis horizontal to the upper body, and includes a undulating body base end portion and a undulating body tip portion opposite to the undulating body base end portion. ,
A hanging rope hanging from the tip of the undulating body and connected to the hanging load,
A swivel drive unit capable of swiveling and driving the upper body around the swivel center axis in the first swivel direction and in the second swivel direction opposite to the first swivel direction, respectively.
A turning operation unit that accepts an operation for turning and driving the upper body, and a turning position for turning the upper body in the first turning direction and the second turning direction, and turning of the upper body. A swivel operation unit that can be switched between the neutral position for stopping and
An undulating body driving unit capable of rotating the undulating body in the undulating direction around the rotation center axis,
An undulating operation unit that accepts an operation for undulating the undulating body, and can be switched between an undulating position for undulating the undulating body and a neutral position for stopping the undulation of the undulating body. , The undulating operation part,
A suspended load drive unit capable of raising and lowering the suspended load relative to the ground by winding and feeding the suspended load rope.
An elevating operation unit that accepts operations for raising and lowering the suspended load, and can be switched between an elevating position for raising and lowering the suspended load and a neutral position for stopping the ascending and descending of the suspended load. , Elevating operation unit and
This is a phenomenon in which the suspended load connected to the suspended load rope after the turning operation of the upper main body is stopped swings along the turning direction of the upper main body with the tip of the undulating body as a fulcrum. It is a crane turning steady rest device that can suppress the turning runout of the crane.
A undulating body length information acquisition unit that acquires and outputs undulating body length information, which is information corresponding to the length of the undulating body in the undulating body longitudinal direction, which is the direction connecting the undulating body base end portion and the undulating body tip portion. When,
A swivel angle detection unit that detects and outputs a swivel angle around the swivel center axis of the upper body,
An undulation angle detection unit that detects and outputs the undulation angle of the undulating body around the rotation center axis,
The undulating body displacement detecting unit that detects and outputs the displacement of the undulating body tip portion, which is the displacement of the undulating body tip portion in the turning direction,
An undulating body speed detection unit that detects and outputs the undulating body tip speed, which is the speed of the undulating body tip in the turning direction.
A suspended load displacement detecting unit that detects and outputs a suspended load displacement, which is a displacement of the suspended load with respect to the tip of the undulating body.
A suspension speed detection unit that detects and outputs the suspension speed, which is the amount of change in the suspension displacement with respect to the tip of the undulating body per unit time.
A rope length information acquisition unit that acquires and outputs rope length information, which is information corresponding to the length of the suspended load rope between the tip of the undulating body and the suspended load.
A suspension load amount information acquisition unit that acquires and outputs suspension load amount information, which is information on the weight of the suspended load, and
After the swivel drive unit swivels the upper main body in a predetermined swivel direction in response to the swivel operation unit being set to the swivel position, the swivel operation unit, the undulation operation unit, and the above-mentioned undulation operation unit. A control start condition determination unit that determines whether or not the turning steady rest control start condition that is established by setting all the operation units of the elevating operation unit to the neutral position is satisfied.
When the control start condition determination unit determines that the swivel steady rest control start condition is satisfied, the suspension load displacement, which is the displacement of the suspended load in the swivel direction, and the speed of the suspended load in the swivel direction are used. For a plurality of state quantities including a certain suspended load speed, the displacement of the tip of the undulating body, the speed of the tip of the undulating body, and the turning angle, a target state for stopping the suspended load at least in the turning direction at a predetermined target position. Target state quantity setting unit that sets the quantity respectively,
The undulating body length information output from the undulating body length information acquisition unit, the turning angle output from the turning angle detecting unit, the undulating angle output from the undulating angle detecting unit, and the undulating body displacement. The displacement of the tip of the undulating body output from the detection unit, the speed of the tip of the undulating body output from the speed detection unit of the undulating body, the displacement of the suspended load output from the suspended load displacement detecting unit, and the suspension. The suspension load speed output from the load speed detection unit, the rope length information output from the rope length information acquisition unit, and the suspension load amount information output from the suspension load amount information acquisition unit. A state amount calculation unit that calculates the current values of the plurality of state amounts based on the target state amounts of the plurality of state amounts set by the target state amount setting unit.
The plurality of states based on a state equation relating to the behavior of the suspended load, which is preset to include at least a term corresponding to the elastic deformation of the undulating body, and in which the turning speed of the upper body is a variable. A control gain setting unit that sets multiple control gains corresponding to each quantity,
The turning target speed, which is the target value of the turning speed, is calculated from the plurality of control gains set by the control gain setting unit and the current values of the plurality of state quantities calculated by the state quantity calculation unit. Turning target speed calculation unit and
A command information output unit that outputs command information corresponding to the turning target speed to the turning drive unit so that the turning speed of the upper body becomes the turning target speed calculated by the turning target speed calculation unit. ,
Crane swivel steady rest device.
The crane swivel steady rest device according to claim 1.
The suspended load displacement detecting unit detects and outputs the deflection angle of the suspended load rope with respect to the vertical direction when viewed along the radial direction in the turning operation of the upper body as the suspended load displacement. Including
The suspended load speed detecting unit includes a rope swing angular velocity detecting unit that detects and outputs a runout angular velocity, which is a change amount of the runout angle of the suspended load rope per unit time, as the suspended load speed. apparatus.
The crane swivel steady rest device according to claim 1.
An imaging device attached to the tip of the undulating body, which photographs a target object associated with the suspended load and outputs the photographed image information.
A calculation unit that calculates the suspended load displacement and the suspended load speed, respectively, based on the image information output from the photographing device.
Further prepare
The photographing device and the calculation unit detect and output the suspended load displacement as the suspended load displacement detecting unit, and detect and output the suspended load speed as the suspended load speed detecting unit.
The crane swivel steady rest device according to claim 1.
Further provided with a gyro sensor connected to the tip of the suspended load rope hanging from the tip of the undulating body.
The suspended load displacement detecting unit and the suspended load speed detecting unit detect and output the suspended load displacement and the suspended load speed, respectively, based on the output of the gyro sensor.
The crane swivel steady rest device according to any one of claims 1 to 4.
When the control start condition determination unit determines that the turning steady rest control start condition is satisfied, the target state amount setting unit assumes that the undulating body is not elastically deformed in the plan view of the crane. In this case, the position vertically below the tip of the undulating body is set as the target position, and the turning angle, the displacement of the tip of the undulating body, and the target state quantities of the suspended load displacement are set, respectively, and the suspended load speed and the suspended load speed are set. A crane swivel steady rest device that sets each of the target state quantities of the undulating body tip speed to zero.
The crane swivel steady rest device according to any one of claims 1 to 4.
The control gain setting unit is a crane swivel steady rest device that sets the plurality of control gains so that the integral value with respect to the time of the weighted sum including the plurality of state quantities and the swivel speed is the smallest.
The crane swivel steady rest device according to any one of claims 1 to 4.
The crane
As the undulating body
A boom including a boom base end portion supported so as to be rotatable in an undulating direction around a first rotation center axis horizontal to the upper body, and a boom tip portion opposite to the boom base end portion.
A jib base end portion supported on the boom tip portion so as to be rotatable in an undulating direction around a second rotation center axis parallel to the first rotation center axis, and a jib tip opposite to the jib base end portion. A jib and a portion that includes a jib tip that allows the suspended rope to hang from the jib tip.
Have,
As the undulating body drive unit,
A boom drive unit capable of rotating the boom in the undulating direction around the first rotation center axis,
A jib drive unit capable of rotating the jib around the second rotation center axis in an undulating direction,
Have,
As the undulating operation unit
A boom undulating operation unit that accepts an operation for undulating the boom, and can be switched between a boom undulating position for undulating the boom and a neutral position for stopping the undulation of the boom. Boom undulating operation unit and
A jib undulating operation unit that accepts an operation for undulating the jib, and can be switched between a jib undulating position for undulating the jib and a neutral position for stopping the undulation of the jib. Jib undulation operation unit and
Have
The undulating body length information acquisition unit
A boom length information acquisition unit that acquires and outputs boom length information, which is information corresponding to the length of the boom in the boom longitudinal direction, which is the direction connecting the boom base end portion and the boom tip portion, and
A jib length information acquisition unit that acquires and outputs jib length information that is information corresponding to the length of the jib in the jib longitudinal direction, which is the direction connecting the jib base end portion and the jib tip portion, and
Have,
The undulating body displacement detecting unit detects and outputs the displacement of the jib tip portion in the turning direction as the undulating body tip portion displacement, and outputs the displacement.
The undulating body speed detecting unit detects and outputs the speed of the jib tip portion in the turning direction as the undulating body tip portion speed.
The undulation angle detection unit
A boom undulation angle detection unit that detects and outputs the undulation angle of the boom around the first rotation center axis, and
A jib undulation angle detection unit that detects and outputs the undulation angle of the jib around the second rotation center axis, and
Have,
When the control start condition determination unit determines that the turning steady rest control start condition is satisfied, the target state amount setting unit determines the suspension displacement, the suspension speed, and the rotation of the jib tip. The target state quantities are set for the displacement of the tip of the undulating body, which is the displacement in the direction, the velocity of the tip of the undulating body, which is the velocity of the tip of the jib in the turning direction, and the plurality of state quantities of the turning angle.
The state quantity calculation unit includes the boom length information and the jib length information output from the boom length information acquisition unit and the jib length information acquisition unit, respectively, and the rotation angle detection unit. The turning angle, the boom undulation angle output from the boom undulation angle detection unit, the jib undulation angle output from the jib undulation angle detection unit, and the undulation body tip output from the undulation body displacement detection unit. Part displacement, the undulating body tip speed output from the undulating body speed detection unit, the suspended load displacement output from the suspended load displacement detecting unit, and the suspension output from the suspended load speed detecting unit. It was set by the load speed, the rope length information output from the rope length information acquisition unit, the suspension load information output from the suspension load amount information acquisition unit, and the target state amount setting unit. A swing steady rest device for a crane that calculates the current values of the plurality of state quantities based on the target state quantities of the plurality of state quantities.
With the lower body
An upper body supported by the lower body so as to be able to swivel around a swivel center axis extending in the vertical direction,
An undulating body including a undulating body base end portion supported so as to be rotatable in an undulating direction around a rotation center axis horizontal to the upper body, and a undulating body tip portion opposite to the undulating body base end portion. ,
A hanging rope hanging from the tip of the undulating body and connected to the hanging load,
A swivel drive unit capable of swiveling and driving the upper body around the swivel center axis in the first swivel direction and in the second swivel direction opposite to the first swivel direction, respectively.
A turning operation unit that accepts an operation for turning and driving the upper body, and a turning position for turning the upper body in the first turning direction and the second turning direction, and turning of the upper body. A swivel operation unit that can be switched between the neutral position for stopping and
An undulating body driving unit capable of rotating the undulating body in the undulating direction around the rotation center axis,
An undulating operation unit that accepts an operation for undulating the undulating body, and can be switched between an undulating position for undulating the undulating body and a neutral position for stopping the undulation of the undulating body. , The undulating operation part,
A suspended load drive unit capable of raising and lowering the suspended load relative to the ground by winding and feeding the suspended load rope.
An elevating operation unit that accepts operations for raising and lowering the suspended load, and can be switched between an elevating position for raising and lowering the suspended load and a neutral position for stopping the ascending and descending of the suspended load. , Elevating operation unit and
The crane swivel steady rest device according to any one of claims 1 to 7.
Equipped with a crane.