JP7020092B2 - Crane operation control device - Google Patents

Description

The present invention relates to an operation control device for transporting a suspended load to a target position in a short time while suppressing the runout of the suspended load by a crane having a trolley and a hoist.

In crane operation, the trolley is generally accelerated or decelerated to cause the suspended load to swing. As a method of suppressing this runout, the first method of controlling the acceleration / deceleration so that the runout is suppressed when the acceleration / deceleration of the trolley is completed, and the first method of detecting the generated runout and controlling the trolley so that the runout is reduced. It is roughly divided into two methods. Even if the runout of the suspended load is suppressed by using these two methods, it is desirable to control the runout so as to suppress the runout itself.

As a first control method, a method of giving an acceleration / deceleration speed so that the acceleration / deceleration period of the trolley matches the vibration cycle of the suspended load is well known, but the application of this method is to hoist / unwind the suspended load. Only if the hoist is stopped.
Further, as a first control method other than the above, a trolley acceleration / deceleration pattern is set so that the swing angle of the suspended load at the completion of acceleration / deceleration of the trolley and its differential value become zero while the hoist is moving at a constant velocity. The method of giving is described in Patent Document 1.

Here, FIG. 5 is a schematic diagram of a crane trolley, a suspended load, etc. in Patent Document 1. In FIG. 5, 10 is a trolley that can travel in the X direction (horizontal direction), 20 is a suspended load suspended from the trolley 10 via a rope 30, and is hoisted and unwound in the Y direction (vertical direction). Is possible. l is the rope length, θ is the runout angle of the suspended load 20 with respect to the vertical line, D is the coefficient of viscous friction, and V _x is the speed of the trolley 10 (assumed to be equal to the speed of the suspended load 20 in the X direction). There is. The trolley drive mechanism for moving the trolley 10 in the X direction and the hoist drive mechanism for raising and lowering the suspended load 20 in the Y direction by the hoist are not shown.

FIG. 6 shows various acceleration / deceleration patterns a to c given to the trolley 10 in the transport test described in Patent Document 1, and FIG. 7 shows the rope runout angles a'to corresponding to the acceleration / deceleration patterns a to c, respectively. Indicates c'. In these figures, a and a'are based on the step acceleration pattern, b and b'are based on the sinusoidal acceleration pattern, and c and c'are described in Equation 14 of Patent Document 1 (acceleration / deceleration). This is due to the vibration control acceleration) pattern.
As can be seen from c'in FIG. 7, according to the acceleration / deceleration pattern of the invention according to Patent Document 1, the swing angle of the suspended load and its differential value at the time when the acceleration / deceleration of the trolley 10 is completed can be made almost zero.

In the control method described in Patent Document 1, it is not always necessary to match the acceleration / deceleration period of the trolley 10 with the vibration cycle of the suspended load 20, but in order to give the acceleration / deceleration to the vibration cycle of the suspended load 20 for a significantly short time. Then, the direction of the speed of the trolley 10 may be momentarily reversed, or a significantly large acceleration / deceleration may be required. Therefore, in reality, the acceleration / deceleration period of the trolley 10 is set to be equal to or longer than the vibration cycle of the suspended load 20 for control.

Japanese Patent No. 3742707 (paragraphs [0020] to [0040], FIGS. 1 to 5, etc.)

In order to suppress the runout of the suspended load according to the invention described in Patent Document 1, it is necessary not to accelerate or decelerate the hoist during acceleration / deceleration of the trolley, that is, not to cause a simultaneous acceleration / deceleration period of the trolley and the hoist. ..
For example, consider a case where the suspended load is transported from the start point S to the end point E according to the locus shown in FIG.

In FIG. 8, the horizontal position of the suspended load is X, the vertical position (height) is Y, and the definitions of the points _A , B, C, and D in the movement locus are the trolley start and X at Y = YA. When _B <X <X _C , the hoist is stopped, and when Y = Y _D , the trolley is stopped. Further, as conditions for generating A, B, C, and D, X _A (= X _S ), X _D (= X _E ), and Y _B (= Y _C ) are given first, and Y _A. > Y _A0 , X _B <X _{B 0} , X _C > X _C0 , Y _D > Y _{D 0} are given. Furthermore, during constant velocity motion, the rated speeds of both the trolley and the hoist shall be given.

The points _{A 0} , B ₀ , C ₀ , and D ₀ in FIG. 8 are given as conditions for avoiding the collision of the suspended load with the obstacle existing inside the locus, and YA> YA ₀ , X _B. If <X _B0 , X _C > X _C0 , Y _D > Y _{D 0} are satisfied, collision with an obstacle can be reliably avoided.

In FIG. 8, for example, the distance traveled by the trolley during the ascent of the suspended load by the hoist ( _XB - _XA ) is the distance _ΔX11 , _ΔX12 , and the distances the trolley travels during the acceleration period and the deceleration period of the hoist. It is the sum of the distance ΔX ₁₃ that the trolley moves during the constant velocity movement period of the trolley and the hoist. As described above, when the distance (X _B − X _A ) is longer than (ΔX ₁₁ + ΔX ₁₂ ), according to the technique described in Patent Document 1, the simultaneous acceleration / deceleration period of the trolley and the hoist does not occur. It is possible to realize an operation in which the runout of the suspended load 20 is suppressed. At this time, the movement time can be shortened by starting the movement of the trolley as soon as possible near the starting point S (making _YA as close to _YA0 as possible).

The above is the same on the side near the end point E. That is, the distance that the trolley moves during the descent of the suspended load by the hoist ( _{XD -} XC) is the distance that the trolley moves during the acceleration period of the hoist and the deceleration period of the trolley, and the trolley during the constant velocity movement period of the trolley and the hoist. Is longer than the sum of the distance traveled by. Therefore, according to Patent Document 1, it is possible to perform an operation in which the runout of the suspended load 20 is suppressed without causing a simultaneous acceleration / deceleration period of the trolley and the hoist.

The patterns of the trolley speed V _x and the hoist speed V _y in the above case are as shown in FIG. 9, and the simultaneous acceleration / deceleration period of the trolley and the hoist does not occur. As mentioned above, during the constant velocity movement period of the trolley and hoist, each is operated at the rated speed, and time 0 is the hoist start time, and t _A , t _B , t _C , t _D , and t _E are suspended. It indicates the time when the load 20 reaches the points A, B, C, D, and E, respectively.

Next, as shown in FIG. 10, consider a case where the distance (XB _{- XA} ) to which the trolley moves while the hoist suspends the load is ascending is shorter than that in FIG. The definitions and conditions of each point are the same as in the case of FIG.

In this case, if both the trolley and the hoist are to be operated at the rated speed, as shown in FIG. 11, the deceleration of the hoist must be started before the time when the trolley reaches the rated speed, and the hoist reaches the rated speed. You will have to start decelerating the trolley before the time you do. That is, since the time Δt for accelerating and decelerating the trolley and the hoist at the same time is generated, it becomes impossible to suppress the runout according to the above-mentioned Patent Document 1.
On the other hand, as shown in FIG. 12, if the hoist speed is set to the rated speed or less, the simultaneous acceleration / deceleration state of the trolley and the hoist can be avoided, but in this case, the suspended load is conveyed in a short time. That is, the other requirement cannot be met.

Therefore, an object of the present invention to be solved is to provide a crane operation control device capable of transporting a suspended load to a target position in a short time while suppressing the runout of the suspended load.

In order to solve the above problems, the invention according to claim 1 is a crane operation control device for transporting a suspended load from a start point to an end point by operating a trolley and a hoist.
A locus generation means for preliminarily creating a movement locus of the suspended load, a trolley speed pattern generation means for generating a trolley speed pattern based on the movement locus, and a hoist speed pattern generation means for generating a hoist speed pattern based on the movement locus. Means, a trolley drive mechanism that moves the suspended load horizontally by driving the trolley according to the trolley speed pattern, and a hoist that moves the suspended load vertically by driving the hoist according to the hoist speed pattern. Equipped with a hoist drive mechanism,
The hoist speed pattern generation means is
A first speed limit determining means for determining the speed of the hoist during the acceleration / deceleration period of the trolley as a first speed limit less than the rated speed of the hoist.
A second speed limit determining means for determining the speed of the hoist in the period before the start of the trolley as a second speed limit whose absolute value is larger than the first speed limit and equal to or less than the rated speed of the hoist. ,
Acceleration / deceleration start point determining means for determining the height of the suspended load at the time of acceleration / deceleration start between the second speed limit and the first speed limit as the acceleration / deceleration start point.
Have,
The trolley speed pattern generating means and the hoist speed pattern generating means are characterized in that they generate speed patterns that do not have a simultaneous acceleration / deceleration period of the trolley and the hoist, respectively.

The invention according to claim 2 is the crane operation control device according to claim 1, wherein the acceleration / deceleration start point determining means is the height of the suspended load at the time of starting the trolley, the acceleration / deceleration of the hoist, and the like. It is characterized in that the acceleration / deceleration start point is determined based on the first speed limit and the second speed limit.

In the invention according to claim 3, in the crane operation control device according to claim 1 or 2, the first speed limit and the second speed limit are individually set on the start point side and the end point side. It is characterized by.

The invention according to claim 4 is the crane operation control device according to any one of claims 1 to 3, wherein the trolley speed pattern generating means is the suspended load at the time of completion of acceleration or deceleration of the trolley. It is characterized in that the trolley velocity pattern is generated so as to suppress the runout of the crane.

According to the present invention, a trolley speed pattern and a hoist speed pattern considering the first speed limit, the second speed limit, the acceleration / deceleration start point, etc. are generated according to a predetermined movement locus of the suspended load, and these are generated. By not providing the simultaneous acceleration / deceleration period of the trolley and the hoist in the speed pattern, the suspended load can be conveyed to the target position in a short time while suppressing the runout during the trolley acceleration / deceleration.

It is a figure which shows the velocity pattern of a trolley and a hoist in embodiment of this invention. It is a figure which shows the speed pattern of the hoist in embodiment of this invention. It is a flowchart which shows the operation of the Embodiment of this invention. It is a block diagram which shows the main part of the operation control apparatus which concerns on embodiment of this invention. It is a schematic diagram of a trolley, a suspended load, etc. in the prior art and the embodiment of the present invention. It is a graph which shows the acceleration of a trolley when the acceleration pattern is changed in the prior art. It is a graph which shows the runout angle of a rope when the acceleration pattern is changed in the prior art. It is a figure which shows an example of the movement locus of a suspended load. It is a graph which shows the trolley speed and the hoist speed by the prior art in the movement locus of FIG. It is a figure which shows another example of the movement locus of a suspended load. It is a graph which shows the trolley speed and the hoist speed for explaining the problem of the prior art in the movement locus of FIG. It is a graph which shows the trolley speed and the hoist speed for explaining the problem of the prior art in the movement locus of FIG.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
First, assuming a case where the suspended load 20 is transported from the start point S to the end point E along the movement locus of FIG. 10 described above, the speed pattern (speed command value) given to the trolley and the hoist will be described with reference to FIG. do.
The speed pattern of the trolley 10 shown in the upper part of FIG. 1 is the same as that of FIG. 12, and there are an acceleration period, a constant velocity period according to the rated speed, and a deceleration period at times _tA to _tD . On the other hand, the speed pattern of the hoist shown in the lower part of FIG. 1 is different from that of FIG. 12 as described below.

In the hoist speed pattern, the hoist is operated at the first speed limit V _y1 for the period T _x corresponding to the acceleration period of the trolley. The first speed limit V _y1 is a speed smaller than the rated speed of the hoist shown in FIG.
In FIG. 1, the trolley movement distance ΔX ₁ of the trolley acceleration period T _x and the trolley movement distance ΔX ₂ of the hoist deceleration period from the point A to the point B (time t _A to t _B ) are expressed by the formula 1 as shown in the formula 1. Will be done.
[Formula 1]
ΔX ₁ = V _x T _x / 2,
ΔX ₂ = V _x V _y / a _y

In Equation 1, _ay is the acceleration / deceleration of the hoist, that is, the slope of the speed. As is clear from this equation 1, ΔX ₁ corresponds to the area of the diagonal triangle at the trolley velocity V _x in FIG. 1, and ΔX ₂ corresponds to the area of the diagonal quadrangle.

When the moving distance (ΔX ₁ + ΔX ₂ ) of the trolley when the rated speed is given as the hoist speed V _y is smaller than (X _B − X _A ), it corresponds to the cases shown in FIGS. 8 and 9, and the trolley and the hoist Simultaneous acceleration / deceleration period does not occur. Therefore, the hoist may be operated at the rated speed.

However, when (X _B -X _A ) on the movement path is short and the movement distance (ΔX ₁ + ΔX ₂ ) of the trolley when the rated speed is given as the hoist speed V _y is larger than (X _B -X _A ). The hoist speed V _y in the trolley acceleration period T _x is set to a first speed limit V _y1 that satisfies Equation 2.
[Formula 2]
V _x (T _x / 2 + V _y1 / a _y ) = X _B -X _A
That is, this formula 2 is a formula for obtaining the first speed limit V _y1 so that the sum of ΔX ₁ and ΔX ₂ in the formula 1 is equal to (X _B − X _A ).

By determining the first speed limit V _y1 of the hoist as described above, the hoist speed that is the largest in the range where the simultaneous acceleration / deceleration period of the trolley and the hoist does not occur, in other words, the hoist speed that winds up the suspended load in the shortest time. Can be given.
The above description relates to the hoist speed _Vy from point A to point B (time t _A to t _B ), but the same applies to the period from point C to point D (time t _C to t _D ). The first speed limit V _y1'can be determined.

Next, the starting point _A of the trolley when the hoist is operated at the first speed limit V _y1 , in other words, the height YA of the suspended load when starting the trolley is determined. To determine this starting point A, the hoist moving distance (moving distance of the suspended load) ΔY ₁ of the trolley acceleration period T _x from the point A to the point B (time t _A to t _B ) and the hoist deceleration period The hoist movement distance (movement distance of the suspended load) ΔY ₂ is required, and these are expressed by the formula 3.
[Formula 3]
ΔY ₁ = V _y1 T _x ,
ΔY ₂ = V _X V _y1 / _2ay
Here, ΔY ₁ corresponds to the area of the diagonal line quadrangle at the hoist speed V _y in FIG. 1, and ΔY ₂ corresponds to the area of the diagonal line triangle.

By using ΔY ₁ , ΔY ₂ obtained by Equation 3 and known Y _B , the height _YA , that is, the starting point _A can be determined by YA = YA = _BB − ΔY ₁ − ΔY ₂ .
The same applies to the stop point _D of the trolley, in other words, the height YD of the suspended load when stopping the trolley.

Next, the second speed limit V _y2 is determined as the limit value of the hoist speed _{V y} before the trolley start time tA. As shown in Equation 4, the ^second speed limit V _y2 is the rated speed (V) according to the magnitude relationship between (YA-YS) and ( _{V y0} ² -V _{y1 2/2} ) / _ay . It is given separately when it can be set to ( _y0 ) and when it cannot be set. Here, a _y is the acceleration / deceleration (slope of speed) of the hoist as described above.
[Formula 4]
When (YA-YS) ≥ ( _{V y0} ^{2 -} V _{y1 2/2} ) / _ay : V _y2 = V _y0 ,
(YA-YS) <( _Vy0 ^{2 -} _{Vy1 2/2} ) / _ay : _Vy2 ⁼ √ _{{ ay} (YA _{- YS} ) + _{Vy1 2/2} }

Here, FIG. 2 shows the speed pattern of the hoist before the time _tA , and FIG. 2A shows the rating when the second speed limit _Vy2 can be set to the rated speed _Vy0 . This is the case when the speed cannot be set to V _y0 .
In FIGS. 2 (a) and 2 (b), the time (period) of the shaded portion is (V _y0 −V _y1 ) / a _y , and the area of the shaded portion is (V _y2 ² −V _y1 ² ) / _2ay . This area (V _y2 ² -V _y1 ² ) / 2ay corresponds to the moving distance of the suspended load by the hoist in the _Y direction.

In the above-mentioned mathematical formula 4, (YA _- YS) (height from the start point _S to the point A in the movement locus in FIG. 10) is compared with (V _y0 ² -V _y1 ^2/2 ) / _ay . , For the following reasons.
That is,
[Formula 5]
(Y _A -Y _S ) = (V _y0 ² -V _y1 ^2/2 ) / a _y = (V _y0 · V _y0 / a _y )-(V _y1 · V _y1 / _2ay )
, And (V _y0 · V _y0 / a _y )-(V _y1 · V _y1 / _2ay ) on the right side of this formula 5 indicates the height of the suspended load when the hoist is operated at the rated speed V _y0 and the hoist. This is the difference from the height of the suspended load when operating at the first speed limit V _y1 .
Therefore, when (YA-YS) ≥ ( _{V y0} ² -V _{y1 2/2} ) / _ay , the ^second speed limit V _y2 is set equal to the rated speed V _y0 and the first speed limit V is set. Even if the vehicle decelerates to _y1 , it does not exceed (YA- _{YS), so V y2 = V y0} may be set.

Further, in the case of (YA-YS) <( _{V y0} ^{2 -} V _{y1 2/2} ) / _ay , formulas 6 to 8 hold.
[Formula 6]
a _y (YA- _YS ) <( _Vy0 ^{2 -} _{Vy1 2/2} )
[Formula 7]
_{V y0} ² > _{{ ay} (YA-YS) + V _{y1 2/2} ^}
[Formula 8]
V _y0 > ± √ _{{ ay} (YA _- YS) + V _{y1 2/2} ^}
That is, in the case of (YA-YS) <( _{V y0} ² -V _{y1 2/2} ) / _ay , the ^second speed limit V _y2 is smaller than the rated speed _{V y0} √ { _ay (YA). If it is set to −Y _S ) + _{V y1 2/2} ^} , it does not exceed (YA − Y _S ) even if the speed is reduced from the second speed limit V _y2 to the first speed limit V _y1 .

As described above, in any of the cases of FIGS. 2A and 2B, the second speed limit _Vy2 can be appropriately set.
The second speed limit V _y2'can also be determined for the period from the point D to the point E (time t _D to t _E ) in the same manner as described above.

Further, in the process of raising the suspended load from the starting point S in the movement locus of FIG. 10, the hoist speed V _y is directed from the second speed limit V _y2 to the first speed limit V _y1 before the suspended load reaches the point A. It is necessary to determine the point at which deceleration starts (referred to as the acceleration / deceleration start point A'). For that _purpose , it _suffices to know the area of the _shaded area in FIGS. The starting point _A ', that is, the height VA'at the start of deceleration can be obtained. As a result, if the hoist is decelerated from the second speed limit V _y2 at the deceleration start point A'at the deceleration _ay , the first speed limit V _y1 will be reached at the point A, and the lower part of FIG. The speed pattern shown can be realized.
[Formula 9]
V _A '= _YA- (V _y2 ² -V _y1 ² ) / _2ay

Here, FIG. 3 summarizes the procedure for determining the speed pattern of the hoist described above.
That is, the first speed limit V _y1 of the hoist during the movement (acceleration) of the trolley by the period _Tx of FIG. 1 is determined (step S1), and then the starting point A of the trolley is determined (step S2). Further, the second speed limit V _y2 of the hoist while the trolley is stopped is determined as shown in FIG. 2 (step S3), and then the speed is reduced from the second speed limit V _y2 to the first speed limit V _y1 . Deceleration start point A'is determined (step S4).

Next, FIG. 4 is a block diagram showing a configuration of a main part of the operation control device according to this embodiment.
In FIG. 4, 51 is a locus generation means, and as shown in FIG. 10, for example, a locus for moving the suspended load 20 from the start point S to the end point E while avoiding obstacles is generated. Reference numeral 52 denotes a trolley speed pattern generating means for generating a speed pattern in which the trolley speed V _x is changed as shown in FIG. 1 based on the above-mentioned movement locus.

Next, the hoist speed pattern generating means 56 is composed of a first speed limit determining means 53, a second speed limit determining means 54, and an acceleration / deceleration start point determining means 55.
The first speed limit determining means 53 is the first speed limit of the hoist based on the movement locus from the locus generating means 51, V _x , T _x , ΔX ₁ , ΔX ₂ , the acceleration / deceleration speed a _y of the trolley, and the like in the trolley speed pattern. Determine the velocity V _y1 . After determining the starting point A of the trolley, the second speed limit determining means 54 determines the second speed limit V _y2 of the hoist based on the rated speed V _y0 of the hoist, the first speed limit V _y1 , the acceleration / deceleration speed _ay , and the like. decide. The acceleration / deceleration start point determining means 55 is based on, for example, the above-mentioned point _A based on the first speed limit V _y1 , the second speed limit V _y2 , the height YA of the suspended load at the time of starting the trolley, the acceleration / deceleration speed a _y of the hoist, and the like. 'The hoist's acceleration / deceleration start point is determined.

The trolley drive mechanism 61 is composed of a power converter, a motor, or the like for driving the trolley according to the speed pattern output from the trolley speed pattern generation means 52, and the hoist drive mechanism 62 is from the hoist speed pattern generation means 56. It is composed of a power converter, a motor, etc. for driving the hoist according to the output speed pattern.
Further, each of the means 51 to 56 in FIG. 4 is realized by arithmetic processing using the hardware and software of the computer system.

As described above, according to this embodiment, it is possible to move the suspended load 20 in a short time without providing a simultaneous acceleration / deceleration period for the trolley and the hoist. Further, the runout of the suspended load 20 is suppressed by controlling the acceleration / deceleration of the trolley 10 according to the vibration damping speed pattern or the like described in Patent Document 1 so that the runout of the suspended load 20 is almost eliminated at the end of acceleration or deceleration of the trolley. can do.

The second speed limit _Vy2 of the hoist may be determined during acceleration after the hoist is started. In this case, the initial value of the second speed limit _Vy2 is obtained by performing a series of operations in FIG. 3 in advance, for example, with the maximum speed that can be operated at the maximum load as the upper limit value. Then, after starting the hoist using this initial value, the load is estimated from the torque and speed of the power converter, and the calculation shown in FIG. 3 is performed again with the maximum speed that can be operated under the load as the upper limit value. The second speed limit _Vy2 and the acceleration / deceleration start point may be obtained. As a result, even various suspended loads with different loads can be transported to the target position in the shortest time while suppressing load runout.

10: Trolley 20: Suspended load 30: Rope 51: Trajectory generating means 52: Trolley speed pattern generating means 53: First speed limit determining means 54: Second speed limit determining means 55: Acceleration / deceleration start point determining means 56: Hoist speed Pattern generation means 61: Trolley drive mechanism 62: Hoist drive mechanism

Claims (4)

In the operation control device of a crane that transports suspended loads from the start point to the end point by the operation of the trolley and hoist.
A locus generation means for preliminarily creating a movement locus of the suspended load, a trolley speed pattern generation means for generating a trolley speed pattern based on the movement locus, and a hoist speed pattern generation means for generating a hoist speed pattern based on the movement locus. Means, a trolley drive mechanism that moves the suspended load horizontally by driving the trolley according to the trolley speed pattern, and a hoist that moves the suspended load vertically by driving the hoist according to the hoist speed pattern. Equipped with a hoist drive mechanism,
The hoist speed pattern generation means is
A first speed limit determining means for determining the speed of the hoist during the acceleration / deceleration period of the trolley as a first speed limit less than the rated speed of the hoist.
A second speed limit determining means for determining the speed of the hoist in the period before the start of the trolley as a second speed limit whose absolute value is larger than the first speed limit and equal to or less than the rated speed of the hoist. ,
Acceleration / deceleration start point determining means for determining the height of the suspended load at the time of acceleration / deceleration start between the second speed limit and the first speed limit as the acceleration / deceleration start point.
Have,
The trolley speed pattern generating means and the hoist speed pattern generating means are crane operation control devices, each of which generates a speed pattern having no simultaneous acceleration / deceleration period of the trolley and the hoist. In the crane operation control device according to claim 1,
The means for determining the acceleration / deceleration start point is
A crane characterized in that the acceleration / deceleration start point is determined based on the height of the suspended load at the time of starting the trolley, the acceleration / deceleration of the hoist, the first speed limit and the second speed limit. Operation control device. In the crane operation control device according to claim 1 or 2.
A crane operation control device characterized in that the first speed limit and the second speed limit are individually set on the start point side and the end point side. In the crane operation control device according to any one of claims 1 to 3.
The trolley speed pattern generating means is a crane operation control device, characterized in that the trolley speed pattern is generated so as to suppress the runout of the suspended load when the trolley is accelerated or decelerated.

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