JP2957117B2 - Object damping control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steadying device for moving an object.

[0002]

2. Description of the Related Art Conventionally, for example, when a load is transported (an example of movement) to a predetermined place in a state where the load is suspended via a rope, the following control is employed to suppress the swing of the load. I was At the time of transport, the speed, acceleration, and the like are detected by a sensor attached to the package, and the transport device is controlled by feedback control according to the detected amount. A mechanical vibration-preventing device is mounted on the side of the transport device, and the mechanical vibration-preventing device controls the deflection of the load. Conventionally, a sensor is used to detect the amount of shake, speed, and acceleration of a load or a transport device, and control is performed by neuro or fuzzy for repeatedly performing learning so as to reduce the amount of shake. On the transport device side, a pattern control for giving a driving operation to suppress the swing amount of the load has been performed.

[0003]

The above-described controls have the following disadvantages. In the case of the feedback control, there is a disadvantage that it takes a long time to perform the control by detecting the shake after the occurrence of the shake and performing the control. In the case of using a mechanical anti-vibration device, other additional devices are required for the transfer device itself, and the configuration becomes complicated as a whole, and the anti-vibration takes a long time. In the case of learning control, the same operation is performed several times,
A learning operation and a learning time by repetition for optimizing gradually are required, and there is a disadvantage that the overall work efficiency is reduced. In the case of pattern control, there is a drawback in that a number of patterns must be prepared according to the moving distance and moving time of the transport device, the mass of the load and the transport device, and the posture of the load suspending device. However, it depends on the natural frequency (vibration period), and there is a drawback that it is not possible to cope with a change in the natural frequency due to a change in the mass of the load or the attitude of the suspension device during movement. .

Accordingly, an object of the present invention is to provide a vibration damping device for moving an object which can solve the above problem.

[0005]

In order to solve the above-mentioned problems, a first means of the present invention is to control a moving device which holds an object by a holding device and moves the holding device by a predetermined distance. A movement control input unit for inputting a movement command such as a moving distance of the object, a moving time, and a lifting and lowering distance of the object.
A lifting command input unit for inputting a lifting command such as a lifting time,
A movement curve generation unit that receives a movement command from the movement command input unit to generate a seventh-order movement curve, and a lifting curve that receives a lifting / lowering command from the lifting / lowering command input unit and generates a fifth-order movement curve A generating unit, a natural frequency calculating unit for calculating a natural frequency between the object and the moving device or the natural frequency of the object itself, based on the elevating curve obtained by the elevating curve generating unit, and an eigenfrequency calculating unit obtained by the moving curve generating unit. By inputting the moving curve and the natural frequency calculated by the natural frequency calculating section,
An optimum trajectory generating unit for obtaining a second order differential value, dividing the second order differential value by the second modulo of the natural frequency, and adding the obtained value to the moving curve to generate an optimum trajectory in which the acceleration of the mobile device is compensated. This is an anti-vibration control device for an object.

A second means of the present invention is an anti-shake control device for holding an object by a holding device and controlling a moving device for moving the holding device by a predetermined distance to thereby prevent the object from shaking. A moving command input unit for inputting a moving command such as a moving distance and a moving time of an object, an elevating command input unit for inputting a lifting command such as an elevating distance and an elevating time of the object, and a movement from the moving command input unit. A moving curve generating unit for generating a seventh-order moving curve by inputting a command, a vertical-curve generating unit for generating a fifth-order vertical curve by inputting a vertical command from the vertical command input unit, and a vertical-curve generating unit A natural frequency calculating section for calculating the natural frequency of the object based on the elevation curve obtained by the section, and a viscous drag coefficient acting on the object and the holding device based on the elevation curve obtained by the above-mentioned elevation curve generating section. A viscous drag coefficient calculating unit, a moving curve obtained by the moving curve generating unit, a natural frequency calculating unit, and a natural frequency and a viscous drag coefficient obtained by the viscous drag coefficient calculating unit. The first derivative and the second derivative of the curve are obtained, and the value obtained by dividing the second derivative by the second modulo of the natural frequency and the value obtained by multiplying the first derivative by the following equation are obtained by the above-mentioned movement. An object trajectory control device comprising: an optimum trajectory generating unit that generates an optimum trajectory in which the acceleration and the speed of the moving device are compensated by adding to a curve.

C _h / (m · ω ² ) where _ch : viscous drag coefficient ω: natural frequency m: total mass of the object and the holding device.

Further, a third means of the present invention is an anti-shake control device for holding an object by a holding device and controlling a moving device for moving the holding device by a predetermined distance to thereby prevent the object from shaking. A moving command input unit for inputting a moving command such as a moving distance and a moving time of an object, an elevating command input unit for inputting a lifting command such as an elevating distance and an elevating time of the object, and a movement from the moving command input unit. A moving curve generating unit for generating a ninth-order moving curve by inputting a command, a raising / lowering curve generating unit for generating a fifth-order raising / lowering curve by inputting a lifting / lowering command from the lifting / lowering command input unit, A natural frequency calculating section for calculating the natural frequency of the object based on the elevation curve obtained by the section, and a viscous drag coefficient acting on the object and the holding device based on the elevation curve obtained by the above-mentioned elevation curve generating section. A viscous drag coefficient calculating unit, a damping coefficient calculating unit that calculates a damping coefficient between the object and the holding device and the moving device based on the lifting curve calculated by the lifting curve generating unit, and a damping coefficient calculating unit that calculates the damping coefficient by the moving curve generating unit. The moving curve, the natural frequency calculated by the natural frequency calculating section, and the viscous resistance coefficient calculated by the viscous resistance coefficient calculating section are input, and the first differential value and the second differential value of the moving curve and n
In addition to calculating the second order differential value, the value obtained by dividing the second order differential value by the modulo 2 of the natural frequency and the first order differential value by the following expression and the nth order differential value by the following expression are multiplied. And an optimal trajectory generating unit for generating an optimal trajectory that compensates for the acceleration and speed of the moving device and higher-order differential values equal to or higher than the acceleration by adding the calculated values to the moving curve.

[0009] ^{_{c h / (m · ω 2}} ) ··· (-1) n · {(m / c) · ω} 2 · {(c / m) / ω 2} n ··· (n ≧ 3 ) in the above and the formula, c _h: viscosity resistance coefficient c: damping coefficient omega: it represents the total mass of the object and the holding device: natural frequency m.

According to the above configuration, when an object is moved, its moving trajectory is represented by a curve of a higher-order function such as a seventh-order or ninth-order, and its elevating trajectory is represented by a curve of a fifth-order function.
An optimum moving trajectory is generated by adding a value in consideration of a natural frequency and / or a viscous drag coefficient and a damping coefficient of the object based on the elevating curve and a differential value of the moving curve to the moving curve. Since the moving device and the holding device are controlled based on the above, the shake of the object can be quickly suppressed with a simple control configuration.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described below with reference to FIGS. In the present embodiment, as shown in FIGS. 1 and 2, a load (object) is moved by a hoisting device (an example of a holding device) 3 mounted on a traveling vehicle (an example of a moving device) 2 that runs on the girder 1. Example) A is suspended via a cord 4 such as a wire or a rope and a suspending tool 5, and in this state, the traveling carriage 2 travels to move (or carry) the luggage to a predetermined place. The steady rest of A will be described.

In FIG. 1, reference numeral 6 denotes a traveling motor (drive motor) for driving the traveling vehicle 2 to travel, and 7 denotes a hoisting motor for driving a winding drum 8 of the hoisting device 3.
Further, as shown in FIG. 2, a control device 11 for controlling the driving of these motors 6 and 7 is provided.

The control device 11 includes a traveling command input unit (moving command input unit) 12 for inputting a traveling command (moving command) such as a moving distance, a moving time, and a maximum speed of the traveling bogie 2; A hoisting command input unit (elevating command input unit) 13 for inputting a hoisting command (elevation command) such as a hoisting distance), a hoisting time (or hoisting time), and a maximum speed; A moving curve generating unit 14 for generating a moving curve of a 7th order function by inputting a moving command of the above, and a rising and falling curve for generating a rising and falling curve of a 5th order function by inputting a hoisting command from the hoisting command input unit 13 A hoisting motor for inputting the elevating curve generated by the elevating curve generator 15 and outputting a hoisting control signal to the hoisting motor 7 to a hoisting motor drive 17 which is a driving unit thereof The control unit 16 and the winding height, that is, the A natural frequency calculating unit 21 for calculating a natural frequency of the load swing that changes according to the load, a viscous drag coefficient calculating unit 22 for calculating a viscous drag coefficient (attributable to air resistance) at that time, An optimal trajectory generator 23 for inputting the respective curves, the natural frequency and the viscous drag coefficient from the elevating curve generator 15, the natural frequency calculator 21 and the viscous drag coefficient calculator 22 to obtain the optimum trajectory of the traveling vehicle 2; The traveling motor control unit 2 that inputs the optimal trajectory obtained by the optimal trajectory generation unit 23 and outputs a control signal to a traveling motor drive 25 that controls the traveling motor 6.
And 4.

Further, for example, the luggage A
And a position detection sensor (not shown) for detecting the position of the load A, that is, the hanging height (or the rope length), are detected by each of these detection sensors. The detected value thus obtained is input to the natural frequency calculating section 21 and the viscous drag coefficient calculating section 22, and a change in the mass of the baggage A and a change in the length of the rope 4 are determined. The natural frequency and the viscous drag coefficient are input to the optimal trajectory generating unit 23.

A method for controlling the steadying of the load A suspended from the hoisting device 3 of the traveling vehicle 2 via the cable 4 in the above configuration will be described with reference to FIGS. First, a travel distance, a travel position, a travel time, a maximum speed, and the like of the traveling vehicle 2 are input as travel commands from the travel command input unit 12.

When the above-mentioned movement command is input to the movement curve generation unit 14, the first, second, and third order differential values become zero at the starting point and the ending point of the curves having a linear function or more, alone or in combination. A traveling trajectory represented by a seventh-order function as shown in the following equation (1) having a finite order differential value is generated.

[0017]

(Equation 1)

[0018] However, (1) where, t is time, X ^* (t) is running track, L _x is the moving distance, T _x represents the travel time. on the other hand,
From the hoisting command input unit 13, a hoisting distance (or a hoisting distance), a hoisting position (or a hoisting position), and a maximum speed of the load A in the hoisting device 3 are input as hoisting commands.

When the hoisting command is input to the ascending / descending curve generator 15, the first and second order differential values become zero at the starting point and the ending point of the linear function or more, singly or in combination. A hoisting trajectory of an ascending / descending curve (fifth-order curve) as shown in the following equations (2) to (4) having a finite order differential value is generated.

In the equation (2), Y ^* is a winding track, L _ya ,
L _yb is (corresponding to lifting of cargo) Rope length indicating a winding distance (or wound under distance), T _y denotes the winding time (or wound under time).

[0021]

(Equation 2)

The elevating curve from the elevating curve generator 15 is input to a natural frequency calculator 21 and a viscous drag coefficient calculator 22, and based on the elevating curve, the load fluctuation which varies with the hoisting height. The natural frequency (shown in the following equation (5)) and the viscous drag coefficient (shown in the following equation (6)) are obtained.

[0023] ω (t) = {g / Y * (t)} 1/2 ···· (5) c h (t) = f {Y * (t)} ···· (6) of course, When the mass of the baggage A and the attitude of the traveling vehicle 2 change, the known change amount or the change amount obtained by the detection sensor is input to the respective calculation units 21 and 22, where the change amount is calculated. The corresponding natural frequency and viscous drag coefficient are obtained, and the corrected values are input to the optimum trajectory generating unit 23.

Then, the optimal trajectory generator 23 calculates the second-order differential value of the travel trajectory for the travel trajectory (1) obtained by the movement curve generator 14 by two times the input natural frequency ω (t). the value obtained by dividing the Retained (function), the first derivative of the running track, consisting of a total mass and natural frequency of the hanging member 5 inputted viscous resistance coefficient c _h (t) and the baggage a by adding the determined value (function) by multiplying the velocity compensation factor _{{c h / (m · ω} 2)}, the optimal running track shown in (7) below [X (t)] is Generated.

[0025]

(Equation 3)

In the above equation (7), ｛d / dt [X
^* (t)]} and {d ² / dt ² [X ^* (t)]} represent the first and second derivatives of X ^* (t), respectively. The optimum traveling trajectory determined in this way is input to the traveling motor control unit 24. Then, a detection signal from the detection sensor is input here, and the position and speed of the traveling motor 6, that is, the position and speed of the traveling vehicle 2 are detected, and the detected value is compared with the target value which is the optimal traveling trajectory. The value obtained by multiplying the deviation by the gain is used as the speed command,
5 is output. Further, a feedback signal from the hoisting motor 7 is input to the hoisting motor control unit 16,
Similar to the traveling vehicle 2, feedback control is also performed on the hoisting position.

In this way, the traveling trolley 2 travels based on the optimal traveling trajectory described above, so that it is possible to move the predetermined distance without swinging the load A. Here, graphs of FIGS. 3 and 4 show the state of the baggage swing when the above-described control of the present invention is not used and the state of the baggage shake when the control of the present invention is used. Do.

FIG. 3 shows a case in which the control method of the present invention is not used, and a 63-ton traveling truck is run while hanging 53-ton luggage. In this case, the following track (8), which is often used for cams, etc.
A quintic curve (a cubic curve may be given,
The result does not change much).

[0029]

(Equation 4)

The moving distance L _x is 20 m and the moving time T _x
Is 39 seconds. The graph of X ^* (t) at this time is shown in FIG.
(A). In FIG. 3 (a), X (t) indicates the movement of the traveling vehicle, Xt (t) indicates the movement of the luggage, and Xc (t) indicates the movement in which the amount of shake at the time of the stop is enlarged.

From FIG. 3 (a), it can be seen that the movement of the traveling vehicle Xt
(t) stops along the traveling trajectory X ^* (t) with a slight delay due to the effect of the feedback control, but the position of the luggage suspended on the traveling trolley side is represented by the curve of Xc (t). As shown by, this indicates that a runout of ± 100 mm or more remains.

FIG. 3B shows a curve Y (t) of the winding operation.
It shows that, at the same time as starting, the hoisting height was 25m to 15m, the hoisting track was wound up in a quintic curve in 10 seconds, and the hoisting height was 15m to 25m in 10 seconds, and the hoisting height was lowered in 10 seconds before stopping 10 seconds. I have.

FIG. 3C shows the swing angle of the load, that is, the rope body, and the required motor torque at that time. FIG. 4 shows a case where the control of the present invention is applied.

The driving conditions, the winding operation, the weight of each part, and the performance of the feedback control of the motor as the driving part are the same as those shown in FIG. In the control of the present invention, the above-described seventh order curve is used for the traveling trajectory, and the runout is compensated by the natural frequency.

Looking at the curve Xc (t) showing the state of the luggage swing shown in FIG. 4A, it can be seen that only the swing of ± 8 mm has occurred. The hoisting speed is the same as that in FIG. 3 as shown in FIG. 4 (b), and also as shown in FIG. 4 (c), the swing angle of the load and the motor torque for traveling are It can be seen that it fluctuates smoothly and can be driven without difficulty.

Further, as described with reference to FIG. 4, the control according to the present invention allows the movement of the load, that is, the transfer of the load while the swing of the load is suppressed, even when the viscous drag coefficient is not considered. it can. Of course, if the viscous drag coefficient is taken into consideration, the swing of the load can be further suppressed.

According to the configuration of the above-described embodiment, when moving a load, its moving trajectory is represented by a curve of a seventh-order function, and its elevating trajectory is represented by a curve of a quintic function. An optimum moving trajectory is generated by adding a value in consideration of the natural frequency and viscous drag coefficient of the load based on the lifting curve and a differential value of the moving curve, and the traveling vehicle and the hoisting device are controlled based on the optimum trajectory. Therefore, for example, the control does not take a long time as in feedback control, does not require an additional device such as a mechanical type, does not require a learning operation, and therefore has a simple configuration and a vibration of an object. Can be quickly suppressed.

Further, according to the configuration of the above-described embodiment, in order to easily and flexibly compensate for the swing cycle (natural frequency) of the load, the posture of the traveling vehicle, the load of the load, and the like when moving are performed. It is possible to sufficiently cope with a case where the period changes due to a change in mass.

Further, since the optimum trajectory is generated by a combination of higher-order functions, it is not necessary to prepare a pattern corresponding to a required operation in advance as in the conventional pattern control.

Next, a second embodiment of the present invention will be described with reference to FIG.
A description will be given with reference to FIG. In the above-described first embodiment, the case where the luggage is moved to a predetermined place by the crane has been described. In the second embodiment, a case where the invention is applied to a luggage handling device will be described.

That is, as shown in FIGS. 5 and 6,
The handling device 31 has a traveling vehicle (an example of a moving device) 33 that can be freely run on a pair of traveling rails 32 by a traveling motor 34, and is orthogonal to a traveling direction of the traveling vehicle 33 (hereinafter, referred to as a Y direction). In the direction of movement (hereinafter referred to as X direction) between the left and right traveling carriages 33, and the guide body 35 via a moving motor (for example, one driven by a rack and pinion mechanism) 37. And a lifting / lowering unit which is provided on the side of the moving unit 36 and which drives the lifting / lowering shaft 40 in the Z direction by a lifting / lowering motor 39 (for example, a ball screw mechanism or the like is used). The device 38 and the lifting shaft 4
It comprises a gripper (an example of a holding device) 41 of the baggage A attached to the lower end of the "0" and a control device 42 for controlling the motors 34, 37 and 39.

In the first embodiment, the moving directions are two directions, one horizontal direction and the winding direction. On the other hand, in the second embodiment, X, Y, Z The trajectory control in the three directions is performed. Therefore, the control content of the second embodiment is different from the control content of the first embodiment only by adding another horizontal control. Since the control contents are substantially the same, the control device 42 will be briefly described.

That is, the control device 42 controls X, Y,
X, Y, and Z direction movement command input units 51, 52, and 53 for inputting movement commands such as a movement distance, a movement position, a movement time, and a maximum speed in the Z direction; X, Y direction movement command input units 51, 5
X and Y-direction movement curve generation units 55 and 56 for generating a ninth-order function movement curve by inputting a movement command from 2 and a movement command from the Z-direction movement command input unit 53, that is, an ascending / descending command. A Z-direction movement curve generator 57 that generates a quintic function movement curve (hereinafter, referred to as an up-and-down curve), and inputs the up-and-down curve generated by the Z-direction movement curve generation section 57 and sends a control signal Motor control unit 58 which outputs the signal to the motor drive 59 as a driving unit
And the X, Y, and Z direction movement curve generation units 55, 56, and 5
7, the movement curve and the lifting / lowering curve and the mass of the load A from the mass input unit 54 are input, and the natural frequency of the load swing that changes based on the movement and the lifting / lowering amount (for example, the guide 35, the lifting / lowering axis) A natural frequency calculating unit 60 for calculating the rigidity of the body 40 and the like, and a viscous resistance coefficient calculating unit 61 for calculating the viscous resistance coefficient (attributable to the air resistance of the load A or the moving body 36) at that time. , And a damping coefficient calculating section 62 for calculating a damping coefficient (for example, damping of the material of the guide 35, the elevating shaft body 40, etc.), the X-direction movement curve generating section 55, a natural frequency calculating section 60, a viscous resistance coefficient calculating. From the section 61 and the attenuation coefficient calculation section 62,
X-direction optimal trajectory generator 63 for inputting the natural frequency, the viscous drag coefficient and the damping coefficient to determine the optimal trajectory of the moving body 36
A movement motor control unit 64 for inputting the optimum trajectory obtained by the X-direction optimum trajectory generation unit 63 and outputting a control signal to a movement motor drive 65 for controlling the movement motor 37; A curve trajectory, a natural frequency, a viscous resistance coefficient, and a damping coefficient are input from the curve generating unit 56, the natural frequency calculating unit 60, the viscous resistance coefficient calculating unit 61, and the damping coefficient calculating unit 62, and the optimum trajectory of the traveling vehicle 33 is obtained. Y
The direction optimal trajectory generating unit 66 and the optimal trajectory obtained by the Y direction optimal trajectory generating unit 66 are input and the traveling motor 34
And a traveling motor control unit 67 that outputs a control signal to a traveling motor drive 68 that controls the motor.

In the above configuration, a method for controlling the steadying of the suspended load A via the traveling carriage 33, the moving body 36, and the elevating shaft 40 which is moved up and down by the elevating device 38 will be described.

First, the X, Y, Z direction movement command input unit 5
1, 52, and 53, the traveling vehicle 33,
The moving distance, the moving position, the moving time, the maximum speed, and the like are input to the moving body 36 and the elevating device 38, respectively.

Then, each of the moving curve generators 55, 56, 5
7, when the above-mentioned movement command is input, a movement trajectory represented by a ninth-order function as shown by the following equations (11) and (12) is generated by using a curve of a linear function or more alone or in combination. You.

[0047]

(Equation 5)

Here, in the equations (11) and (12), t is time and X ^* (t)
And Y ^* (t) are the moving orbit (traveling orbit), L _x and L _y
The moving distance, T _x and T _y represent the travel time. on the other hand,
From the Z-direction movement command input unit 57, as a movement command (elevation command),
The vertical position, the maximum speed, etc. are input.

When the above-mentioned movement command is input to the Z-direction movement curve generation section 57, the curves having a linear function or more are used alone or in combination to obtain the following equation (13) to (15). A lifting trajectory represented by the following function is generated.

However, in the formulas (13) to (15), Z ^* is an elevating orbit,
L _za and L _zb represent a lifting distance (a lifting amount), and T _z represents a lifting time.

[0051]

(Equation 6)

The calculated value from the Z-direction curve generator 57 is supplied to the natural frequency calculator 60 and the viscous drag coefficient calculator 6.
1 and the damping coefficient calculation unit 62, where the natural frequency of the load swing that changes according to the amount of lifting / lowering [the following (16), (17)
Equation [1], viscous drag coefficient [shown in the following equations (18) and (19)], and damping coefficient [shown in the following equations (20) and (21)] are obtained.

[0053]

(Equation 7)

In the above equations (16) to (19), ω _x (t) and ω _y (t)
Is the natural frequency in the X and Y directions, c _hx (t) and c _hy (t) are viscous drag coefficients, c _x (t) and c _y (t) are damping coefficients, k _x
｛｝ And _ky ｛｝ are functions for finding the spring constant, f _x
｛｝ And f _y ｛｝ are functions for determining the viscous drag coefficient,
fx ′｝ and f _y ′｝ _関数 are functions for obtaining the damping coefficient, and m (t) represents the mass of the load A.

Then, the X-direction and Y-direction optimum trajectory generators 63 and 66 respectively calculate the movement curves (11) and (11).
For (12), the second-order differential value is calculated as the natural frequency ω _x
(t) and ω _y (t) divided by the two remainders, and the first derivative, the viscous drag coefficients _{ch hx} (t) and _cy (t)
, The velocity compensation coefficient consisting of the natural frequencies ω _x (t), ω _y (t) and the mass m (t), and the damping coefficient _{ch hx} (t)
, C _hy (t), the natural frequency ω _x (t), ω _y (t), and the value multiplied by the higher-order differential compensation coefficient consisting of the mass m (t) to obtain the following (22) , (23), the optimal movement trajectories [X (t)] and [Y (t)] are generated.

[0056]

(Equation 8)

In the above equations (22) and (23), ｛d / dt [X
^*(t)]｝, ｛d / dt [Y^*(t)]｝ and ｛d^Two/ dt^Two 
[X^*(t)]｝, ｛d^Two/ dt^Two [Y^*(t)]｝ and ｛d^Three/
dt ^Three [X^*(t)]｝, ｛d^Three/ dt^Three [Y^*(t)]｝ is
Each X^*(t), Y^*First derivative, second derivative, third derivative of (t)
Represents

In order to compensate for a third-order or higher-order (n-order) or higher-order (n-order) differential value, the product obtained by multiplying the n-th order differential value by the following coefficient is sequentially added. (-1) ⁿ · ｛(m / c) · ω｝ ² · ｛(c / m) /
ω ² ｝ ⁿ (n ≧ 3)

The ascending / descending trajectory and the optimum moving trajectory thus obtained are input to the ascending / descending / moving / running motor control units 58, 64, 67, where the positions of the motors 39, 37, 34 are determined. And a speed, and a value obtained by multiplying a deviation from a target value which is the optimal trajectory by a gain is set as a speed command, and each motor driver 59, 65,
68. That is, feedback control is also performed in accordance with the control based on the optimal trajectory.

With such a configuration, the traveling vehicle 33, the moving body 36 and the elevating shaft 4
Since 0 is moved, the handling can be performed accurately without swinging the load A.

Here, the reason why the 7th-order function is adopted as the optimum trajectory will be described. First, as shown in FIG.
A model in which the transport unit 102 is moved by the drive unit 101 will be considered.

In this model, the connection between the drive unit 101 and the transport unit 102 is represented by a spring system (K), and it is assumed that the drive unit 101 follows the drive command without delay. Mass (or moment of inertia) of drive unit 101
Can be ignored.

The equation of motion of this model is expressed by the following equation (31). M _m × x _m ″ ′ (t) + K × {x _m (t) −x (t)} = 0 (31) The natural frequency ω _{m at} that time is expressed by the following equation (32). You.

Ω _m ² = K / M _m (32) When the above equations (31) and (32) are put together, the following equation (33) is obtained. (1 / ω _m ² ) · x _m ″ (t) + x _m (t) = x (t) (33) Here, we want to drive the transport unit 102 with a certain function curve f _n (t). In this case, a drive curve to be commanded to the drive unit 101 at that time is obtained.

X _m (t) = f _n (t) (34) x (t) = f _n (t) + (1 / ω _m ² ) · f _n ″ (t) - (35) in other words, in the case of a system as in FIG. 7, if you want to drive at a certain conveying section 102 function curve f _n (t), as a command to be given to the drive unit 101, the _{f n (t) f n (} t It can be seen that a curve obtained by adding the values obtained by dividing the second derivative of ()) by the modulo 2 of the natural frequency may be given (acceleration compensation control).

Next, a function f _n (t) for performing acceleration compensation
The necessary conditions will be described. X (t) in equation (35) is given as a drive command (displacement), and the displacement, speed, and acceleration at that time are represented by the following equations (36) to (38).

[0067]

(Equation 9)

Here, it should be noted that since the displacement term includes the second derivative of the function f _n (t), the velocity has a third order and the acceleration has a fourth order function f _n (t). That is, the differential term is included.

The operation pattern of the moving / transporting device is mainly A
Although the movement is from point to point B, in order to smoothly start and stop, the drive command function is as follows: start time (t = 0): a (t) = finite value, v (t) = 0 end Time (t = T _END ): a (t) = finite value, v (t) = 0 must be satisfied.

Since the acceleration term includes the fourth derivative of the function f _n (t), in order for the acceleration a (t) to have a finite value,
The function f _n (t) needs to have a finite derivative of the fourth or higher order, and the function f _n (t) has a third order or lower because the velocity v (t) becomes zero at the start time and the end time. In the derivative of,
It must not have a constant term.

Assuming that the function f _n (t) is a higher-order time function, the general expression satisfying the above condition is given by the following (39)
To (41).

[0072]

(Equation 10)

Next, a drive command function for moving from point A to point B will be specifically obtained. For example, (acceleration compensation)
Alternatively, when performing (acceleration compensation + speed compensation), the function f _n (t) for creating the drive command function needs to have a finite differential of the fourth or higher order. What is not to be done is as described above.

It is assumed that the function f _n (t) is a higher-order time function,
Assuming that the movement is from point A to point B (distance L, movement time T _END ), the general expression satisfying the above condition is as follows:
It is expressed by equations 2) and (43).

[0075]

[Equation 11]

[0076] In t = 0, the (42) is clear of each expression becomes zero, so it holds for all A _n, can be excluded from the conditions that determine the function. The value of the fourth derivative is an arbitrary value at t = 0 and t = T _END , so that this can also be excluded.

In other words, since it is sufficient to satisfy the conditions of the four equations up to the third derivative at t = T _END , A _n (n = 3 +
If (1-4)) = A ₄ , A ₅ , A ₆ , A ₇ , a solution can be obtained, so that f _n (t) may be a higher order function of order 7 or higher. I understand. Here, the case of the seventh order function having the lowest order will be solved.

[0078]

(Equation 12)

By solving the above equations, A ₇ = −20 L / T
_END ⁷ , A ₆ = ⁷⁰ L / T _END ⁶ , A ₅ = −84 L / T _END ⁵ , A
₄ = 35 L / T _END ⁴ is obtained. (39)
When substituted into the equation, f _n (t) is expressed by the following equation (44).

[0080]

(Equation 13)

Here, the reason why a ninth-order function is adopted as the optimal trajectory will be described. First, as shown in FIG.
Similar to FIG. 7, a model in which the transport unit 102 is moved by the drive unit 101 will be considered. This case is applied when there is attenuation between the drive unit and the transport unit. For example, there are cases where the crane is provided with a mechanically and electrically controlled damping device, or where the damping of the transport device cannot be ignored.

In this model, the connection between the drive unit 101 and the transport unit 102 is represented by a spring system (K), and the mass (or moment of inertia) of the drive unit 101 is neglected. Is ignored, or even if it is acting, it overcomes the viscous resistance and moves according to the drive command.

The equation of motion of this model is expressed by the following equation (51).

[0084]

[Equation 14]

The natural frequency ω _{m at} this time is expressed by the following equation (32). ω _m ² = K / M _m (52) The damping ratio ζ is represented by the following equation (53).

Ζ = C / C _c = C / {2 (M _m · K) ^0.5 } (53) The above equations (51) to (53) can be summarized as the following equation (54).

[0087]

(Equation 15)

The above equation (54) can be rearranged into the following equation (55).

[0089]

(Equation 16)

Equation (55) is a general equation of the compensation equation of the one-mass model with attenuation. Being expressed in a series, perfect compensation requires an infinite number of differential terms and there is virtually no solution.
Therefore, when an approximation that makes the differentiation up to the third order effective is performed,
Equation (57) below is obtained.

[0091]

[Equation 17]

Next, acceleration compensation control of the damped-mass model will be described. Here, the transport section is defined by a function curve f _n
If it is desired to drive with (t), a drive curve x (t) for instructing the drive unit at that time is obtained. f _n (t), f _n ′ (t), f _n ″ (t),
The initial value of f _n ′ ″ (t) is 0, and the higher-order derivative is that the coefficient (−2 · ζ / ω _m ) ⁿ decreases in a series (ζ << ω
_m )), the drive curve x (t)
Is represented by the following equation (59).

[0093]

(Equation 18)

That is, in the case of the system as shown in FIG. 8, when it is desired to drive the transport section with a certain function curve f _n (t), the commands given to the drive section include f _n (t) and f _n (t). 2nd derivative, 3rd derivative
It can be seen that a curve obtained by adding values multiplied by the coefficient shown in the equation (59) may be given (higher-order differential compensation).

Next, the optimal trajectory control of the one-mass model with attenuation will be described. First, the necessary conditions for the function f _n (t) when performing acceleration compensation will be described. As drive command (displacement)
Equation (59) is given, where the equations for displacement, velocity, and acceleration are as follows.

[0096]

[Equation 19]

It should be noted that the displacement term is a function f
_Since the second and third derivatives of _n (t) are included, the velocity is 3
And the acceleration of the fourth order includes the differential terms of the functions f _n (t) of the fourth and fifth orders.

The operation pattern of the moving / transporting device is mainly A
Although the movement is from point to point B, in order to smoothly start and stop, the drive command function must have the start time (t = 0); a (t) = finite value v (t) = 0 end time (t = T _end ); a (t) = finite value v (t) = 0 must be satisfied.

[0099] Now, for inclusion in terms of acceleration 5 differential of the function f _n (t), for the acceleration a (t) has a finite value, the function f _n (t) is the fifth floor or differential Must be finite, and the function f _n (t) must not have a constant term in the differentiation of the fourth order or less, because the velocity v (t) is zero at the start time and the end time .

Assuming that the function f _n (t) is a higher-order time function, a general expression satisfying the above condition is as shown in the following expression (63).

[0101]

(Equation 20)

If it is considered that the Nth order is effective in the vicinity of the equations (55) and (56), the displacement term includes the 2, 3,..., Nth derivative of the function f _n (t). So the speed is 3, 4 ...
..N + 1th floor acceleration 4,5 ... N + 2nd floor function f _n
The derivative term of (t) is included. In other words, the function f _n
Since the N + 2nd derivative of (t) is included, in order for the acceleration a (t) to have a finite value, the function f _n (t) needs to have a finite derivative of the N + 2 or higher order, and the velocity v ( In order for t) to be zero at the start time and end time, the function f _n (t) must not have a constant term in the derivative of the N + 1 order or less.

Assuming that the function f _n (t) is a higher-order time function, a general expression satisfying the above condition is as shown in the following expression (64).

[0104]

(Equation 21)

Next, the drive command function at the time of movement from point A to point B will be specifically obtained. For example, when performing an N-th order higher-order differential compensation control, a function f _n (t) for creating a drive command function
Requires that the derivatives of order N + 2 or higher be finite, and N +
As described above, a constant term must not be included in the differentiation of the first order or lower.

If the function f _n (t) is a higher-order time function and is a movement from point A to point B (distance L, movement time T _end ), the general expression satisfying the above condition is as follows: (65) and
It is expressed by equation (66).

[0107]

(Equation 22)

[0108] The at t = 0 is the equation of (65) becomes zero is clear, it can be excluded from the conditions that determine the function so satisfied for all A _n. The value of the N + 2nd derivative is t = 0, t = T _end
In the above, since the value is an arbitrary value, this can also be excluded.

That is, since the conditions of the four equations up to the (N + 1) -th derivative at t = T _end need only be satisfied, A _n (n = N + 1
+ (1 to N + 2)) = A _{N + 2} ,..., A _{2N + 3} , the solution can be obtained, so f _n (t) is a higher order function of 2N + 3 or higher. I know that it would be good. Here, it is assumed that the approximation that the differentiation up to the third order is valid is performed, and the case of a ninth-order function is solved.

[0110]

(Equation 23)

By solving the above equations,

[0112]

(Equation 24)

By substituting these values into the above equation (65),
f _n (t) is represented by the following equation (68).

[0114]

(Equation 25)

Next, a drive command function from the point A to a constant speed will be obtained. In addition to the movement from point A to point B, a crane or other transfer device may be used. Accelerate from A to a certain speed in a certain acceleration time, move at a certain speed for a while, then decelerate in a certain deceleration time to point B. A driving method of stopping is used.

Here, the time T _up from the point A, the distance L,
Given the drive curve to become a constant speed smoothly accelerated to speed V _o. The conditional expression transforms equation (67),

[0117]

(Equation 26)

By solving the above equation (69),

[0119]

[Equation 27]

When these values are substituted into the above f _n (t), the following equation (70) is obtained.

[0121]

[Equation 28]

[0122]

As described above, according to the configuration of the present invention, when an object is moved, its moving trajectory is represented by a curve of a 7th order function, and its elevating trajectory is represented by a curve of a quintic function.
An optimum moving trajectory is generated by adding the natural frequency and / or the value of the object based on the elevation curve to the value obtained by considering the viscous drag coefficient and the damping coefficient and the differential value of the moving curve to the moving curve. Because the moving device and the holding device are controlled based on, for example, it does not take a long time to control such as feedback control,
Further, unlike a mechanical type, an additional device is not required, and a learning operation is not required. Therefore, it is possible to quickly suppress the vibration of an object with a simple configuration.

Further, in the configuration of the present invention, in order to easily and flexibly compensate for the shake period (natural frequency) of the object or the holding device, the movement of the device or the object at the time of movement is performed. Even if the mass changes and the period changes,
We can respond enough.

Further, since the optimum trajectory is generated by a combination of higher-order functions, it is not necessary to prepare a pattern corresponding to a required operation in advance unlike the conventional pattern control.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a schematic configuration of an anti-shake control device according to a first embodiment of the present invention.

FIG. 2 is a control block diagram of the anti-shake control device according to the first embodiment.

FIG. 3 is a graph showing a change in a running direction, a change in a hoisting direction, and a deflection angle of each part when the anti-sway controller is not used.

FIG. 4 is a graph showing a change in running direction, a change in hoisting direction, and a deflection angle of each part when the anti-shake control device is used.

FIG. 5 is a perspective view illustrating a schematic configuration of an anti-vibration control device according to a second embodiment of the present invention.

FIG. 6 is a control block diagram of the anti-shake control device according to the second embodiment.

FIG. 7 is a model diagram illustrating the control principle of the present invention.

FIG. 8 is a model diagram illustrating the control principle of the present invention.

[Explanation of symbols]

 Reference Signs List A baggage 2 traveling cart 3 hoisting device 4 rope body 5 hanging tool 6 traveling motor 7 hoisting motor 8 winding drum 11 controller 12 traveling command input unit 13 hoisting command input unit 14 movement curve generation unit 15 elevating curve Generating unit 16 Hoisting motor control unit 17 Hoisting motor drive 21 Natural frequency calculating unit 22 Damping coefficient calculating unit 23 Optimal trajectory generating unit 24 Running motor control unit 25 Running motor drive 31 Handling device 32 Running rail 33 Running Cart 34 Traveling motor 35 Guide 36 Moving body 37 Moving motor 38 Elevating device 39 Elevating motor 40 Elevating shaft 41 Gripping tool 42 Controller 51 X-direction movement command input unit 52 Y-direction movement command input unit 53 Z-direction movement Command input unit 54 Mass input unit 55 X direction movement curve generation unit 56 Y direction movement curve generation unit 57 Z direction Moving curve generator 58 Lifting motor controller 59 Lifting motor drive 60 Natural frequency calculating unit 61 Viscous resistance coefficient calculating unit 62 Damping coefficient calculating unit 63 X-direction optimal trajectory generating unit 64 Moving motor control unit 65 Moving motor drive 66 Y-direction optimal trajectory generation section 67 Traveling motor control section 68 Traveling motor drive

────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Hiroshi Isshiki 5-3-28 Nishikujo, Konohana-ku, Osaka-shi, Hitachi Zosen Corporation (56) References JP-A-55-80680 (JP, A) JP-A-60-106795 (JP, A) JP-A-5-319781 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) B66C 13/00-13/56

Claims (14)

(57) [Claims] An anti-shake control device that holds an object by a holding device and controls a moving device that moves the holding device by a predetermined distance to thereby stabilize the object, the moving distance and the moving time of the object. A movement command input unit for inputting a movement command such as a moving command, an elevating command input unit for inputting an elevating command such as an elevating distance and an elevating time of an object, and a moving curve generated by inputting a moving command from the above-mentioned moving command input unit A moving curve generating unit, an elevating curve generating unit that generates an elevating curve by inputting an elevating command from the elevating command input unit, and an object and a moving device based on the elevating curve obtained by the elevating curve generating unit. Between the natural frequency calculating section for calculating the natural frequency of the object or the object itself, and the moving curve obtained by the moving curve generating section and the natural frequency obtained by the natural frequency calculating section are input and moved. An optimal trajectory generating unit for obtaining a second differential value of the line and adding a value obtained by dividing the second differential value by a modulo 2 of the natural frequency to the moving curve to generate an optimal trajectory in which the acceleration of the mobile device is compensated; An anti-vibration control device for an object, comprising: 2. An anti-shake control device for holding an object by a holding device and controlling a moving device for moving the holding device by a predetermined distance to thereby stabilize the object. A movement command input unit for inputting a movement command such as a moving command, an elevating command input unit for inputting an elevating command such as an elevating distance and an elevating time of an object, and a moving curve generated by inputting a moving command from the above-mentioned moving command input unit A moving curve generator, an elevating curve generator for inputting an elevating command from the elevating command input unit to generate an elevating curve, and a natural frequency of the object based on the elevating curve obtained by the elevating curve generator. A viscous drag coefficient calculating unit for calculating a viscous drag coefficient acting on the object and the holding device based on the elevating curve obtained by the elevating curve generating unit; The movement curve obtained by the section, the natural frequency calculation section and the natural frequency and the viscous resistance coefficient obtained by the viscous resistance coefficient calculation section are input, and the first and second derivatives of the movement curve are obtained. A value obtained by dividing the second-order differential value by the second modulo of the natural frequency and a value obtained by multiplying the first-order differential value by the following equation are added to the moving curve to obtain the acceleration and speed of the moving device. An anti-vibration control device for an object, comprising: an optimum trajectory generation unit that generates a compensated optimum trajectory. ^{_{c h / (m · ω 2}} ) ··· In the formula, c _h: viscosity resistance coefficient omega: represents the total mass of the object and the holding device: natural frequency m. 3. An anti-shake control device that holds an object by a holding device and controls a moving device that moves the holding device by a predetermined distance, thereby preventing the object from shaking. A movement command input unit for inputting a movement command such as a moving command, an elevating command input unit for inputting an elevating command such as an elevating distance and an elevating time of an object, and a moving curve generated by inputting a moving command from the above-mentioned moving command input unit A moving curve generator, an elevating curve generator for inputting an elevating command from the elevating command input unit to generate an elevating curve, and a natural frequency of the object based on the elevating curve obtained by the elevating curve generator. A viscous drag coefficient calculating unit for calculating a viscous drag coefficient acting on the object and the holding device based on the elevating curve obtained by the elevating curve generating unit; A damping coefficient calculating unit for calculating a damping coefficient between the object and the holding device and the moving device based on the elevation curve obtained by the moving unit, a moving curve obtained by the moving curve generating unit, and a natural frequency calculating unit obtained by the natural frequency calculating unit. The natural frequency and the viscous drag coefficient obtained by the viscous drag coefficient calculation unit are input to obtain the first derivative, the second derivative, and the nth derivative of the movement curve, and the second derivative is obtained. A value obtained by multiplying the value obtained by dividing the natural frequency by the second modulo and the first order differential value by the following expression and the value obtained by multiplying the nth order differential value by the following expression to the moving curve are added to the moving device. And an optimal trajectory generation unit for generating an optimal trajectory that compensates for the acceleration and velocity of the object and a higher-order differential value equal to or higher than the acceleration. c _h / (m · ω ² ) (-1) ⁿ · ｛(m / c) · ω｝ ² ·｝ (c / m) / ω ² ｝ ⁿ (n ≧ 3) in the formula, c _h: viscosity resistance coefficient c: damping coefficient omega: it represents the total mass of the object and the holding device: natural frequency m. 4. When a natural frequency changes due to a change in mass or position of an object or a holding device, a natural frequency calculating section calculates a natural frequency in consideration of the change amount, and calculates the natural frequency in an optimal trajectory. The apparatus according to any one of claims 1 to 3, wherein the apparatus is configured to input the information to a generation unit. 5. A device for detecting a change in mass or position of an object or a holding device, wherein a change detected by the detector is input to a natural frequency calculating unit, and the change is considered. 4. The anti-vibration control device for an object according to claim 1, wherein a natural frequency is obtained, and the natural frequency is input to an optimum trajectory generating unit. 6. When the viscous drag coefficient changes due to a change in the mass or position of the object or the holding device, a viscous drag coefficient calculating section calculates a viscous drag coefficient in consideration of the change amount, and calculates the viscous drag coefficient into an optimal trajectory. 4. The apparatus according to claim 2, wherein the apparatus is configured to input the information to the generation unit. 7. A detector for detecting a change in the mass or position of the object or the holding device is provided, and the amount of change detected by the detector is input to a viscous drag coefficient calculator, and the amount of change is considered. 4. The apparatus according to claim 2, wherein a viscous drag coefficient is obtained, and the viscous drag coefficient is input to an optimum trajectory generating unit. 8. When an attenuation coefficient changes due to a change in mass or position of an object or a holding device, an attenuation coefficient calculating section calculates an attenuation coefficient in consideration of the change amount, and inputs the attenuation coefficient to an optimum trajectory generation section. 4. The apparatus according to claim 3, wherein the control unit is configured to perform the control. 9. A detector for detecting a change in the mass or position of an object or a holding device, wherein the amount of change detected by the detector is input to an attenuation coefficient calculation unit, and attenuation in consideration of the amount of change is provided. 4. The anti-vibration control device for an object according to claim 3, wherein a coefficient is obtained, and the damping coefficient is input to the optimum trajectory generating unit. 10. A curve generated by a moving curve generator or an ascending and descending curve generator, wherein the n (natural number) derivative at the start point and the end point of the curve becomes zero, and the (n + 1) th derivative is finite. 4. The apparatus according to claim 1, wherein a (2n + 1) -order curve is used. 11. A curve generated by a moving curve generator or a rising and lowering curve generator, wherein n is a starting point and an ending point of the curve.
The (natural number) derivative becomes zero, the (n + 1) th derivative is finite, the first derivative has an arbitrary value after an arbitrary time, and the 2, 3,..., Nth derivative is finite. There is (2
4. An anti-vibration control device for an object according to claim 1, wherein a (n + 1) -order curve is used, and the curve is provided with a constant velocity section by combining the curves. 12. An apparatus according to claim 10, wherein n is one of 2, 3, and 4. 13. An apparatus according to claim 11, wherein n is any one of 2, 3, and 4. 14. The apparatus according to claim 1, wherein a position or a speed of the moving device is detected, and the detected position or speed is fed back to a control unit of a driving motor of the moving device. An object vibration control device according to any one of the above.