Crane

Abstract

The invention provides a crane capable of suppressing the swing amount of a hoisting load. The crane is provided with a winding device for moving a hoist mounted on a sling in the vertical direction, and a horizontal moving device capable of carrying the winding device and moving the hoist in the horizontal direction. The crane control device of the crane is provided with a state estimation device which estimates the device state from the operation information of the motors of the hoisting device and the horizontal moving device.

Description

Technical Field

[0001] The present invention relates to a crane. Background Art

[0002] Cranes are widely used for transporting heavy objects. In these cases, the objects are suspended and carried using slings or other means. This inevitably causes the load to swing during transport. To mitigate this swing, various technologies have been proposed to suppress it.

[0003] As an example, Patent Document 1 discloses a crane that suppresses load swing by focusing on a speed command value. Patent Document 2 discloses an acceleration / deceleration pattern for suppressing load swing. Patent Document 3 discloses estimating the state of a hoist using a state estimation formula.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Laid-Open No. 2022-15495

[0007] Patent Document 2: Japanese Patent Application Laid-Open No. 2021-75372

[0008] Patent Document 3: Japanese Patent Application Laid-Open No. 2022-157683 Summary of the Invention

[0009] Problems to be solved by the invention

[0010] In recent years, demands for higher speeds and greater safety have been growing in crane transport. These demands are expected to intensify in the future. Even if existing technologies alone achieve the same degree of improvement compared to a situation without them, an increase in the absolute value of the swing is inevitable with higher speeds. Therefore, more advanced load swing suppression technology and load swing suppression are required, and this presents a challenge.

[0011] Therefore, an object of the present invention is to provide a crane and a crane control method that can further suppress the swing amount of the suspended load.

[0012] Technical solutions to problems

[0013] A crane comprises a hoisting device for moving a load attached to a sling in a vertical direction and a horizontal moving device capable of carrying the hoisting device and moving the load in a horizontal direction. The crane control device of the crane comprises a state estimation device for estimating the device state from operating information of an electric motor of the horizontal moving device.

[0014] Effects of the Invention

[0015] According to the crane of the present invention, it is possible to provide a crane capable of suppressing the amount of swing of the suspended load.

[0016] Other aspects and other effects of the present invention will be fully described in the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is an explanatory diagram of an example of a crane.

[0018] Figure 2 This is an explanatory diagram of an example of a crane.

[0019] Figure 3 This diagram shows the positional relationship among the crane, load, and slings.

[0020] Figure 4 It is an explanatory diagram of one embodiment of the present invention.

[0021] Figure 5 It is an explanatory diagram of one embodiment of the present invention.

[0022] Figure 6 It is an explanatory diagram of the multi-task neural network of the present invention.

[0023] Figure 7A This is an example of the command frequency in the present invention, etc.

[0024] Figure 7B This is an example of the weight swing amount in the present invention, etc.

[0025] Figure 8 This is an explanatory diagram corresponding to Patent Document 2 obtained by the same first inventor as the present application, in which the same first inventor describes the structure of the speed instruction calculation device in Patent Document 2.

[0026] Figure 9 It is an explanatory diagram of another embodiment of the present invention.

[0027] Figure 10 It is an explanatory diagram of another embodiment of the present invention.

[0028] Figure 11 It is an explanatory diagram of a model of another embodiment of the present invention.

[0029] Figure 12 It is an explanatory diagram of another embodiment of the present invention. DETAILED DESCRIPTION

[0030] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. However, the present invention is not limited to the following embodiments, and various modifications and application examples are also included within the technical concept of the present invention.

[0031] The present invention is effective for all types of cranes capable of horizontally moving a load. It is applicable to cranes that use a trolley and a bridge to move the load both horizontally and vertically (e.g., overhead cranes) and cranes that only move horizontally or vertically (e.g., ship unloaders). In other words, the term "crane" used below encompasses all types of cranes capable of horizontally moving a load.

[0032] In addition, cargo (hanging weight) transported by a crane is suspended and transported using a sling or chain, but the present invention is not limited to any sling as long as it can be used to suspend cargo, and the type of material and shape, etc. is arbitrary.

[0033] Therefore, as mentioned above, the term "sling" is used as a general term for slings used to suspend cargo. That is, "sling" includes not only slings but also chains, belts, wires, cables, lines, ropes, etc.

[0034] [Example 1]

[0035] Figure 1 The schematic structure of a bridge crane is shown. As mentioned above, the present invention is not limited to bridge cranes. Crane 1 consists of rails 2 installed along the walls of a building such as a factory, a bridge 3 that moves on the top of the rails 2, and a trolley 4 that moves along the bottom of the bridge 3.

[0036] Wheels driven by electric motors are provided in the bridge 3 and the trolley 4, so that the bridge 3 and the trolley 4 can be moved by the wheels, etc. In addition, a hoisting device (elevator) 5 is provided at the bottom of the trolley 4.

[0037] The hoisting device 5 consists of an electric motor and a drum that rotates and winds up the sling. The hoisting device 5 raises or lowers the sling 6, causing the hook 7 at the end of the sling 6 to rise or fall. A load 9 is suspended from the hook 7 directly or via a hoisting rope 8. As the hook 7 rises or falls, the load 9 rises and falls. In other words, the crane 1 can move the load 9 horizontally by moving the bridge 3 horizontally (vertically) and the trolley 4 horizontally (horizontally), while the hoisting device 5 can raise or lower the load 9 vertically (vertically).

[0038] Figure 1 In the figure, the trolley 4 and the bridge 3 are equivalent to the "horizontal moving device", but one of the trolley 4 and the bridge 3 can also be regarded as the "horizontal moving device".

[0039] Figure 2 The structure of the crane control device in this embodiment is shown. Figure 2 In order to simplify the description, the horizontal movement of the trolley 4 and the control of the lifting and lowering of the hoisting device 5 are shown, and the longitudinal movement of the bridge 3 is omitted. In addition, the driving parts such as the motor are omitted.

[0040] The crane control device 100 is composed of a control computing device 101, a traverse motor control device 300 that controls the electric motor (traverse motor) of the trolley 4, a hoisting motor control device 310 that controls the electric motor (hoisting motor) of the hoisting device 5, an operation input device 200, and a display device 210. The control device 100 is equipped with a speed command value computing device 110 that computes speed command values ​​for the trolley 4 and hoisting device 5 based on operation input received from the operation input device 200. The speed command values ​​for the trolley 4 and hoisting device 5 are computed and output, and information is output to the display device 210.

[0041] The control arithmetic device 101, which is typically a general-purpose computer, consists of a microprocessor unit (MPU) that executes control arithmetic operations using built-in programs and data, a memory 102 that stores previously stored programs and data, and an input / output control unit 103 for inputting data and signals from the outside and outputting signals processed by the MPU 101 to the outside. The control arithmetic device 101, memory 102, and input / output control unit 103 are connected by a bus 104 for exchanging signals and data.

[0042] The operation input device 200 includes an operation terminal device 201 operated by the operator. Operation buttons 202 corresponding to the movement directions of the load, namely forward, backward, right, left, upward, and downward, are provided on the operation terminal device 201. A display device 210 displays information such as the crane status. The operation terminal device 201 and the control device 100 can be connected by wire or wirelessly. Alternatively, the display device 210 can be housed in the same housing as the operation terminal device 201.

[0043] The traverse motor control device 300 and the hoisting motor control device 310 control the motors of the carriage 4 and the hoisting device 5 based on the speed command value output from the control device 100. The specific structure of the traverse motor control device 300 and the hoisting motor control device 310 is not shown, but similar to the control device 100, they are composed of a general-purpose computer and inverter circuit.

[0044] In addition, the traverse motor control device 300 and the hoisting motor control device 310 may also be mounted in the same housing as the control device 100. Figure 2 Although omitted in the figure, the control device 100 outputs not only the speed command values ​​of the trolley 4 and the hoisting device 5, but also the speed command value of the bridge 3. The bridge 3 controls the motor (longitudinal motor) based on the speed command value using a motor control device (not shown).

[0045] Figure 3This diagram illustrates the positional relationship between the crane, load, and sling. x0 represents the trolley position. L1 represents the sling length, which is the distance from the center of the drum to the hook. L2 represents the hoisting rope length, which is the distance from the hook to the center of gravity of the load. L represents the oscillator length, L = L1 + L2. x2 represents the load swing, which is the horizontal distance from the trolley to the load. v1 represents the winch speed.

[0046] Next, use Figure 4 The main concepts of the present invention are explained. Figure 4 This diagram focuses on the control flow.

[0047] The control device 100 of the present invention includes a state estimation device 60 and a load swing suppression control device 61 .

[0048] The state estimation device 60 receives inputs such as rope length information 70 from the actual crane 50 and motor operation information 71 from the motor / inverter 51. The state estimation device 60 uses this information to estimate the state of the crane. Alternatively, information 51 may be solely from the motor or the inverter. The crane state estimated by the state estimation device 60 includes at least the swing angular frequency and the load speed 80. The swing angular frequency and the load speed 80 are input to the load swing suppression control device 61. The load swing suppression control device 61 uses the swing angular frequency and the load speed 80, along with the load speed command value 72, to control the motor / inverter 51 to suppress load swing. This control can also be performed via the traversing motor control device 300.

[0049] At this time, the main feature of the present invention is that when the state estimation device 60 performs state estimation, it does not use a simple consistent fixed model formula, but takes measures more in line with the actual equipment to estimate the device state.

[0050] One method is that the state estimation device 60 learns the motor operation information 71 in advance and estimates the device state based on the state estimation formula learned in advance.

[0051] At this time, at least one of the speed command value and the applied current is used as the motor operation information. Then, the state estimation device 60 estimates at least one of the swing angular frequency, the load speed, the load swing amplitude / initial phase, the load swing amount, and the load swing speed as the device state.

[0052] Thus, an optimal state estimation formula corresponding to the actual use and operation conditions of the crane is constructed, thereby achieving a further reduction in the swing amount of the hoisted load.

[0053] Alternatively, the state estimation device 60 may use a neural network to estimate the state of the device based on the motor operation information.

[0054] Figure 6 This diagram illustrates an example of a neural network used in the present invention. This neural network includes an input layer 400, a shared layer 401, an independent layer 402, and an output layer 403. This can also be called a multi-task neural network. Shared layer 401 and independent layer 402 can be a single layer or multiple layers, and can be appropriately set depending on the intended purpose.

[0055] The input layer must include horizontal motor operating information 410. This information includes command frequency, applied current, and other information. For more detailed state estimation, vertical motor operating information 411 can also be added. This information includes command frequency, rotation angle, applied current, and other information.

[0056] As the output layer 403 , it is possible to set a motor load 420 , a load swing amount 421 , a rope length or swing angular frequency 422 , a load speed 423 , and the like.

[0057] The main advantage of using a neural network is that it can estimate and suppress the swinging state of the load with a cheap and simple structure and processing. This is because it can process the information based on the original output simply by calculation without the need for various additional expensive sensors.

[0058] In addition, the performance improvement and price reduction of the structure of computing devices in recent years and in the future have achieved technological progress in the direction of exactly offsetting the increase in load swing caused by the increase in crane speed in recent years and in the future, so it can be considered a method with high future potential and availability.

[0059] Another key advantage of this approach over existing model-based approaches is the ability to respond immediately to disturbances.

[0060] When moving cargo with a crane, sudden disturbances can occur due to vibrations, typically collisions. Furthermore, during normal operation, the object begins moving from a stationary state, exhibiting initial conditions that differ from those during normal movement. Existing model-based methods are somewhat effective in stabilizing the movement during the initial stages, but struggle to cope with irregularities such as those occurring during the initial stages of movement or sudden disturbances.

[0061] In contrast, by using a neural network in the state estimation device 60 , even in the initial stage of movement or in the case of irregularities such as sudden disturbances, control can be performed so that the disturbances are immediately converged.

[0062] In addition, at this time, Figure 6This neural network is constructed so that the shared layer 401 is independent of the device state of the output, and the independent layer 402 is configured differently for each device state, creating a multi-task neural network. This enables state estimation and control with less computational effort. It can also be considered a multi-task neural network consisting of a shared layer shared by all outputs and an independent layer for each output.

[0063] At this time, at least one of the speed command value and the applied current is used as the motor operation information. Then, the state estimation device 60 estimates at least one of the weight swing angular frequency, weight speed, weight swing amplitude / initial phase, weight swing amount, and weight swing speed as the device state.

[0064] return Figure 4 Continue explaining.

[0065] The load swing suppression control device 61 generates a control output for suppressing the load swing based on the device state estimated by the state estimation device 60 and the load speed command value 72 .

[0066] At this time, it is preferred to use the state estimation device 60 to perform state estimation on at least the weight swing angular frequency and the weight speed, and use the weight swing suppression control device 61 to generate a control output for suppressing the weight swing based on the weight speed instruction value 72 and the estimated weight speed, and it is preferred to use information equivalent to the estimated weight swing angular frequency to successively update the parameters of the weight swing suppression control device.

[0067] Figure 7A and Figure 7B This diagram compares the situation of no control, the situation described in Patent Document 1, and the situation using the present invention in a crane. The dotted line represents no control, the dashed-dotted line represents the situation described in Patent Document 1, and the solid line represents the situation using a neural network in the present invention. A detailed explanation is provided below.

[0068] Figure 7A This graph shows time on the horizontal axis and command frequency on the vertical axis. As the crane begins to move from a stationary state, the command frequency increases. In the case of no control (the dotted line), the command frequency increases monotonically and remains constant at a specified value. The command frequency is, for example, the frequency of the inverter that drives the motor; a higher command frequency indicates a higher motor speed.

[0069] In the case of Patent Document 1 shown in the dashed-dotted line, Figure 7A In the example of , the control is performed in a manner that gradually approaches the specified value with repeated peaks and valleys, rather than a monotonically increasing value. In the case of the present invention shown by the solid line, the control is also performed in a manner that gradually approaches the specified value with repeated peaks and valleys, rather than a monotonically increasing value. However, the height and depth of the peaks and valleys are slightly different from those in Patent Document 1.

[0070] Then, when stopped, in the case of no control as shown by the dotted line, it decreases monotonically to 0. In the case of the dot-dashed line in Patent Document 1 and the solid line in the present invention, it does not decrease monotonically, but rather gradually approaches 0 with repeated peaks and valleys. After the command frequency in the case of no control reaches 0, the waveform, that is, the control, temporarily continues.

[0071] Figure 7B Is to express Figure 7A The corresponding graph shows the time-dependent variation of the load swing amount. It can be seen that in the case of no control (the dotted line), a large period of load swing occurs. Then, after the command frequency reaches 0 and the movement of the cargo is completed, a large load swing can be observed that persists temporarily without converging.

[0072] In the case of Patent Document 1 shown by the dot-dash line, the amplitude of the weight swing is smaller than that of the case without control, and it can be understood that the weight swing is reduced.

[0073] Then, in the case of the present invention shown by the solid line, it can be seen that the load swing amount is further reduced compared to the case of the patent document 1 shown by the dotted line, and the time from when the crane stops until the load swing amount stabilizes to 0, that is, the load completely stops, is also shortened.

[0074] As described above, the present invention generates a command value that takes parameter errors into consideration, and can further reduce the amount of weight swing after the trolley stops, that is, the residual weight swing, compared to the technique disclosed in Patent Document 1.

[0075] [Example 2]

[0076] use Figure 5 , describing other embodiments of the present invention.

[0077] Figure 5 For Patent Document 1 Figure 4 The control device using model calculation disclosed in is an example of using the state estimation device 60 described in Example 1 instead of the model calculation.

[0078] 100 is a control device, 110 is a speed command value calculation device, 112 is a load swing suppression control device, 112a is a feedforward control device, 112b is a feedback control device, 113 is a limitation processing device, 300 is a transverse motor control device, vp is the load speed, L is the vibrator length, V0 is the command frequency, and vpref is the target command speed.

[0079] In this embodiment, the Figure 4The load swing suppression control device disclosed in

[112] is supplemented with the state estimation device 60 described in Example 1 in a model-based manner. The state estimation device 60 estimates the load velocity vp and the pendulum length L. The estimated load velocity vp and the estimated pendulum length L are then input to the feedback control device 112b. Furthermore, the estimated pendulum length L is also input to the feedforward control device 112a.

[0080] This configuration can compensate for parameter errors and initial fluctuations / disturbance, thereby improving the performance of the control device of Patent Document 1.

[0081] [Example 3]

[0082] Figure 8 This diagram illustrates the structure of a load swing suppression control device 110 described in Patent Document 2, which was developed by the same first inventor as the present invention. Reference numeral 111 denotes a crane model calculation device, and reference numeral 112c denotes a speed command generation device.

[0083] In Patent Document 2, Figure 8 The structure of the patent document 2 is used. Figure 3 The trapezoidal speed command value disclosed in is used to control the swing of the load.

[0084] Figure 9 As the third embodiment of the present invention, Figure 8 The configuration 111 is an example of using the state estimation device 60 described in the first embodiment instead of the crane model calculation device.

[0085] In this embodiment, the state estimation device 60 inputs the weight swing speed v2, the weight swing amount x2 and the pendulum length L as 85 to the speed instruction generation device 112c.

[0086] thus, Figure 9 In the structure of this embodiment shown, parameter errors and initial vibrations / disturbances can be compensated.

[0087] [Example 4]

[0088] Figure 10 Is for Figure 5 The control device is added with a parameter estimation device 90 that receives the output of the state estimation device 60.

[0089] Figure 5In the control system, the state estimation device 60 primarily uses a neural network for state estimation. This offers advantages in flexibility, cost, and adaptability. However, overreliance on the neural network in the state estimation device 60 can lead to the risk of inadequate use cases when extrapolating or generalizing outside of the learned conditions. Therefore, in this embodiment, a parameter estimation device 90 is added that receives the output of the state estimation device 60. By adding parameter estimation using a model formula, the parameter estimation device 90 can further enhance versatility and achieve stable control.

[0090] Figure 11 Is used to illustrate Figure 10 90 in the parameter estimation device 90, and illustrates parameters of the crane model. This can also be considered as an illustration of the crane model used in the model-based parameter estimation device.

[0091] T is the thrust of the horizontal moving device motor, S is the cable tension, F is the disturbance force on the load, x0 is the position of the trolley (horizontal moving device), x2 is the amount of load swing, L is the length of the oscillator, m is the mass of the load, and g is the gravitational constant.

[0092] Next, based on this crane model, the crane state is calculated using the following three model equations.

[0093]

Mathematical formula 1

[0094] m·x2”+2m·vl·x2’+m·g / L·x+m·xO”+F=O

[0095]

Mathematical formula 2

[0096] m / L·x2' 2 =Sm·g·cosθ+F·sinθ

[0097]

Mathematical formula 3

[0098] T=mO / xO”+N+S·sinθ

[0099] Equation 1 is the equation for the balance of forces in the swing direction of the load. Equation 2 is the equation for the balance of tension in the sling. Equation 3 is the equation for the balance of forces on the trolley.

[0100] In addition, in the above, x2 is the swing amount of the load, or the horizontal distance from the trolley to the load, x0 is the trolley position, the Greek letter θ is the swing angle of the load, m is the mass of the load, L is the length of the oscillator, which is the distance from the center of rotation of the sling to the center of gravity of the load, v1 is the winch speed, m0 is the mass of the trolley, F is the disturbing force on the load, S is the tension of the sling, N is the friction of the trolley and the force loss caused by the transmission, and T is the thrust of the trolley motor (motor load).

[0101] The reason for setting a plurality of parameters in this manner is to enable appropriate load swing control even when a large sudden disturbance occurs. The above-mentioned equations 1 to 3 can be considered as crane models that take disturbances into consideration.

[0102] Parameter estimation device 90 performs parameter fitting processing for model equations 1 to 3 so that the motor load obtained using equations 1 to 3 matches the estimated motor load value in state estimation device 60. In this case, due to computational scale, computational processing may also utilize external computing resources such as online or cloud computing via a communication environment.

[0103] In other words, an example of the technical idea disclosed in this embodiment can be expressed as follows.

[0104] The crane is characterized in that: based on a model formula derived from the balance of forces acting on a horizontal moving device and a load, the thrust of the horizontal moving device is calculated from the speed command value of the horizontal moving device, the parameters of the model formula are determined in a manner that minimizes the error between the thrust of the horizontal moving device calculated by the model formula and the thrust of the horizontal moving device calculated by a state estimation device, and at least one of the angular frequency of the load swing and the amplitude / initial phase of the load swing, the load swing amount, the load swing speed, and the load speed is derived from the determined parameters.

[0105] In this embodiment, when a large sudden disturbance occurs, or because both the neural network in the state estimation device 60 and the crane model that takes disturbance into consideration are used, high-precision parameters can be calculated not only in the case of sudden disturbances, but also when the noise in the estimation formula is large, thereby achieving higher-performance load swing control.

[0106] [Example 5]

[0107] exist Figure 12 The structure of this embodiment is shown in FIG. Figure 10 for Figure 5 Similarly, the control device is supplemented with a parameter estimation device 90 that receives the output of the state estimation device 60. Figure 12 for Figure 9 The control device is added with a parameter estimation device 90 that receives the output of the state estimation device 60.

[0108] The calculation processing of Equations 1 to 3 described in detail in the fourth embodiment can also be applied to the parameter estimation device 90 of this embodiment, and the same effects as those described in the fourth embodiment can be achieved.

[0109] [Example 6]

[0110] In this embodiment, the intention is to add the application of emergency stop control to Embodiments 1 to 5.

[0111] In this embodiment, the feature is that for embodiments 1 to 5, when the state estimation is performed using the state estimation device 60 alone or using the state estimation device 60 and the parameter estimation device 90, the weight swing angular frequency, the weight swing amplitude and the initial phase are used as the estimated states, and the weight swing suppression control device generates and outputs the parameters of the trapezoidal wave speed instruction waveform that offsets the deceleration of the horizontal moving device and the weight swing caused by the deceleration based on the speed of the horizontal moving device at the start of the stop and the estimated weight swing angular frequency and the amplitude and initial phase of the weight swing.

[0112] This can reduce the risk of damage to people caused by the swing of the load after the crane stops, such as during an emergency stop operation caused by a person entering the crane's travel path.

[0113] [Example 7]

[0114] In this embodiment, a motor protection function is added to Embodiments 1 to 6.

[0115] In this embodiment, for Embodiments 1 to 5, when state estimation is performed using the state estimation device 60 alone or using the state estimation device 60 and the parameter estimation device 90, the motor load is estimated, and the crane is stopped when an excessive motor load is detected.

[0116] This makes it possible to prevent the motor from being damaged in advance, protect the crane itself, and avoid a plant shutdown due to crane damage.

[0117] In this case, the crane can be stopped immediately when a motor load exceeding the rated value of the motor or the rated value of the crane is detected. In such an immediate stop, the emergency stop control described in Example 6 can also be applied to safely perform an emergency stop.

[0118] In addition, when the amount of excess compared to the rated value or predetermined value of the motor load reaches a certain level, the motor is not stopped immediately, but the moving operation is completed first and then the motor is stopped. Figure 2 Displaying an overweight warning and a request to prevent recurrence on the display device 210 is considered more effective in ensuring safety. Such subtle judgments can also be learned through the use of a neural network in the state estimation device 60 of the present invention, enabling practical classification. This allows crane operation with an internally guaranteed safety factor, resulting in a crane with higher safety and operability.

[0119] [Example 8]

[0120] In this embodiment, instead of the excessive motor load in embodiment 7, the crane is stopped when excessive load swing is estimated during state estimation using the state estimation device 60 alone or using the state estimation device 60 and the parameter estimation device 90.

[0121] This embodiment can be implemented in the same manner as Embodiment 7. Of course, the various embodiments can also be combined. Compared to methods that use a single sensor to detect excessive load swing, this embodiment can more reliably detect excessive load swing, thereby achieving a fail-safe or safer crane.

[0122] The above uses various embodiments to illustrate the ideas and concepts of the present invention. Of course, examples that combine the embodiments are also included in the scope of the present invention. Furthermore, as long as the disclosed ideas and concepts are used, their modifications and similar examples are also included in the scope of the present invention.

[0123] Furthermore, one example of the invention of the present application described using the above-mentioned embodiments can be expressed as follows.

[0124] <1>

[0125] A crane comprises a hoisting device for moving a load attached to a sling in a vertical direction and a horizontal moving device capable of carrying the hoisting device and moving the load in a horizontal direction. The crane control device of the crane comprises a state estimation device for estimating the device state from operating information of an electric motor of the horizontal moving device.

[0126] <2>

[0127] The crane as described in <1>,

[0128] The state estimation device estimates the device state from the operating information of the electric motor based on a state estimation formula learned in advance.

[0129] <3>

[0130] In the crane according to <2>, the motor operation information is at least one of a speed command value and an applied current.

[0131] <4>

[0132] The crane described in <3>,

[0133] The state estimation device estimates at least one of the weight swing angular frequency, the weight speed, the weight swing amplitude / initial phase, the weight swing amount, and the weight swing speed.

[0134] <5>

[0135] The crane as described in <1>,

[0136] The state estimation device uses a neural network.

[0137] <6>

[0138] The crane described in <5>,

[0139] The neural network is a multi-task neural network composed of a shared layer that is independent of the device state and an independent layer that is different for each device state.

[0140] <7>

[0141] The crane described in <5>,

[0142] Based on a model formula derived from the balance of forces acting on a horizontal moving device and a load, the thrust of the horizontal moving device is calculated from the speed command value of the horizontal moving device, and the parameters of the model formula are determined in such a way that the error between the thrust of the horizontal moving device calculated by the model formula and the thrust of the horizontal moving device calculated by the state estimation device is minimized. At least one of the load swing angular frequency, the load swing amplitude / initial phase, the load swing amount, the load swing speed, and the load speed is derived from the determined parameters.

[0143] <8>

[0144] The crane according to any one of <1> to <7>,

[0145] The invention also includes a load swing suppression control device for generating a control output for suppressing the load swing based on a load speed command value and the estimated device state.

[0146] <9>

[0147] The crane described in <8>,

[0148] The calculated device state includes the weight swing angular frequency and the weight speed. The weight swing suppression control device generates a control output for suppressing the weight swing from the weight speed instruction value and the calculated weight speed, and updates the parameters of the weight swing suppression control device one by one with information equivalent to the calculated weight swing angular frequency.

[0149] <10>

[0150] The crane described in <8>,

[0151] The calculated state of the device includes the angular frequency of the weight swing, the amplitude and the initial phase of the weight swing, and the weight swing suppression control device generates parameters of a trapezoidal wave speed instruction waveform that can offset the deceleration of the horizontal moving device and the weight swing caused by the deceleration based on the speed of the horizontal moving device at the start of the stop, the calculated angular frequency of the weight swing, the amplitude and the initial phase of the weight swing, and outputs it.

[0152] <11>

[0153] The crane according to any one of <1> to <7>,

[0154] The state estimation device estimates the motor load, and when an excessive motor load is detected, the crane is stopped.

[0155] <12>

[0156] The crane according to any one of <1> to <7>,

[0157] The state estimation device estimates the load swing, and stops the crane when an excessive load swing is detected.

[0158] Description of Reference Numerals

[0159] 1: Crane

[0160] 2: Track

[0161] 3: Bridge

[0162] 4: Car

[0163] 5: Winch

[0164] 6: Sling

[0165] 7: Hook

[0166] 8: Lifting rope

[0167] 9: Lifting

[0168] 50: Crane real machine

[0169] 51: Motor / Inverter

[0170] 60: State estimation device

[0171] 70: Sling length information

[0172] 71: Motor operation information

[0173] 80: Swing angular frequency and lifting speed

[0174] 90: Parameter estimation device

[0175] 100: Control device

[0176] 101: Control computing device

[0177] 110: Speed ​​command value calculation device

[0178] 111: Crane model computing device

[0179] 112: Hoisting swing suppression control device

[0180] 112a: Feedforward control device

[0181] 112b: Feedback control device

[0182] 112c: Speed ​​instruction generating device

[0183] 113: Restricted processing device

[0184] 300: Transverse motor control device

[0185] 310: Winch motor control device

[0186] 400: Input layer

[0187] 401: Shared Layer

[0188] 402: Independent layer

[0189] 403: Output layer

[0190] 410: Horizontal motor operation information

[0191] 411: Up and down direction motor operation information

[0192] 420: Motor load

[0193] 421: Hoisting weight swing

[0194] 422: Sling length

[0195] 423: Lifting speed

[0196] x0: car position

[0197] L: vibrator length

[0198] L1: sling length

[0199] L2: Length of lifting rope

[0200] x2: The amount of weight swing

[0201] v: winch speed.

Claims

1. A crane comprising a hoisting device for vertically moving a load attached to a sling and a horizontal moving device capable of carrying the hoisting device and moving the load horizontally, characterized in that: The crane control device of the crane includes a state estimation device for estimating a device state from operation information of a motor of the horizontal moving device.

2. The crane according to claim 1, wherein: The state estimation device estimates the device state from the operating information of the electric motor based on a state estimation formula learned in advance.

3. The crane according to claim 2, wherein: The motor operation information is at least one of a speed command value and an applied current.

4. The crane according to claim 3, wherein: The state estimation device estimates at least one of the weight swing angular frequency, the weight speed, the weight swing amplitude / initial phase, the weight swing amount, and the weight swing speed.

5. The crane according to claim 1, wherein: The state estimation device uses a neural network.

6. The crane according to claim 5, wherein: The neural network is a multi-task neural network composed of a shared layer that is independent of the device state and an independent layer that is different for each device state.

7. The crane according to claim 5, wherein: Based on a model formula derived from the balance of forces acting on the horizontal moving device and the weight, the thrust of the horizontal moving device is calculated from the speed command value of the horizontal moving device, and the parameters of the model formula are determined in such a way that the error between the thrust of the horizontal moving device calculated by the model formula and the thrust of the horizontal moving device calculated by the state estimation device is minimized. At least one of the weight swing angular frequency, weight swing amplitude / initial phase, weight swing amount, weight swing speed, and weight speed is derived from the determined parameters.

8. The crane according to any one of claims 1 to 7, characterized in that: The invention also includes a load swing suppression control device for generating a control output for suppressing the load swing based on a load speed command value and the estimated device state.

9. The crane according to claim 8, wherein: The calculated device state includes the weight swing angular frequency and the weight speed. The weight swing suppression control device generates a control output for suppressing the weight swing from the weight speed instruction value and the calculated weight speed, and updates the parameters of the weight swing suppression control device one by one with information equivalent to the calculated weight swing angular frequency.

10. The crane according to claim 8, wherein: The calculated state of the device includes the angular frequency of the weight swing, the amplitude and the initial phase of the weight swing, and the weight swing suppression control device generates parameters of a trapezoidal wave speed instruction waveform that can offset the deceleration of the horizontal moving device and the weight swing caused by the deceleration based on the speed of the horizontal moving device at the start of the stop, the calculated angular frequency of the weight swing, the amplitude and the initial phase of the weight swing, and outputs it.

11. The crane according to any one of claims 1 to 7, wherein: The motor load is estimated by the state estimation device, and the crane is stopped when an excessive motor load is detected.

12. The crane according to any one of claims 1 to 7, wherein: The state estimation device estimates the load swing, and stops the crane when an excessive load swing is detected.

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