Vibration control system for moving body and vibration control method for moving body

Abstract

To reduce vibrations occurring in a moving body.SOLUTION: A vibration control system 100 for a crane main body 1 includes a crane main body 1 to which a mast 14 to be controlled is fixed, a roller drive unit 4, a weight drive unit 52, a sensor 3, and a controller 7. The roller drive unit 4 moves the crane main body 1 in an X direction according to a target position command. The weight drive unit 52 drives a weight 51 installed on the mast 14 in a Y direction. The sensor 3 detects the vibration or the deformation of the mast 14 at least in the Y direction. The controller 7 controls the roller drive unit 4 according to the target position command so that the mast 14 is damped, and controls the weight drive unit 52 based on the vibration or the deformation detected by the sensor 3 so that the mast 14 is damped while the mast 14 is being damped by the roller drive unit 4.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a vibration damping system for a moving body and a vibration damping method for a moving body. [Background technology]

[0002] JP 2018-39584 A (Patent Document 1) discloses a stacker crane that can easily obtain a vibration damping effect. The stacker crane includes a running platform that runs along a running rail, multiple masts that stand upright from the running platform, a connecting section that connects the tips of the masts, and a loading / unloading unit that is supported horizontally between the multiple masts so that it can be raised and lowered. The stacker crane includes a weight attached to the connecting section so as to be movable along the running direction of the running platform, and an operating section that linearly moves the weight in the direction opposite to the acceleration or deceleration direction of the running platform. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-39584 A [Patent Document 2] WO 2020 / 44704 [Patent Document 3] Patent No. 7344134 [Patent Document 4] Patent No. 4194696 [Patent Document 5] Patent No. 6444243 Summary of the Invention [Problem to be solved by the invention]

[0004] The invention described in Patent Document 1 does not actively suppress vibration by controlling the travel of the running platform. Therefore, when the vibration is large, there is a risk that the vibration suppression using a weight is insufficient. This is because if large vibrations are to be suppressed using only a weight, the weight will need to be large, or the operating distance or speed of the weight will need to be large.

[0005] In a moving body, such as the running platform described in Patent Document 1, there is always a demand for technology to reduce, and preferably eliminate, vibrations that occur in a structure (such as the loading and unloading unit in Patent Document 1) fixed to the moving body.

[0006] The present invention has been made to solve the above problems, and one of the objects of the present invention is to reduce vibrations occurring in a moving body. [Means for solving the problem]

[0007] A control system for a movable body according to one aspect of the present invention includes a movable body to which a structure to be vibration-controlled is fixed, a first driving device that moves the movable body in a first direction in accordance with a movement command, a second driving device that drives a weight attached to the structure in a second direction, a sensor that detects vibration or deformation of the structure in at least the second direction, and a control device that controls the first and second driving devices. The control device controls the first driving device in accordance with the movement command so that the structure is vibration-controlled, and controls the second driving device based on the vibration or deformation detected by the sensor so that the structure is further vibration-controlled while the first driving device is controlling the vibration of the structure.

[0008] In the above configuration, the control device controls the first drive device in response to a movement command so that the structure is damped, and controls the second drive device based on the vibration or deformation detected by the sensor so that the structure is further damped. As a result, not only is vibration damping in the first direction achieved by the first drive device, but vibration damping in the second direction is achieved by the second drive device. Thus, with the above configuration, vibrations occurring in the moving body can be reduced. In particular, the vibration of the structure can be further reduced compared to a case where vibration damping of the structure is only performed by one of the first and second drive devices.

[0009] In a vibration control method for a moving body according to another aspect of the present invention, a structure to be vibration-controlled is fixed to the moving body. The vibration control method includes a step of moving the moving body in a first direction in accordance with a movement command, and a step of controlling the vibration of the structure moving in the first direction in accordance with the movement command. The step of controlling the vibration includes a step of detecting vibration or deformation of the structure in a second direction with a sensor, and driving a weight attached to the structure in the second direction based on the vibration or deformation detected by the sensor, thereby further controlling the vibration of the structure.

[0010] According to the above method, similarly to the above configuration, vibrations occurring in a moving body can be reduced. Effect of the Invention

[0011] According to the present invention, it is possible to reduce vibrations occurring in a moving body. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a perspective view showing an example of the overall configuration of an automated warehouse system according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a schematic diagram showing an example of the electrical configuration of the automated warehouse system. [Diagram 3] FIG. 2 is a schematic diagram for explaining an example of the arrangement of components of an automated warehouse system. [Figure 4] 5 is a schematic diagram for explaining a driving direction of a weight by a weight driving device. FIG. [Diagram 5] FIG. 13 is a schematic diagram showing a second example of an arrangement of sensors and weights. [Figure 6] FIG. 13 is a schematic diagram showing a third example of an arrangement of sensors and weights. [Figure 7] FIG. 4 is an example of a functional block diagram for explaining functions of a controller related to control by a roller driving device. [Figure 8] 10 is an example of a functional block diagram for explaining a function of a controller related to vibration damping control by a weight driving device. FIG. [Figure 9]5 is a flowchart showing a first example of a processing procedure for vibration damping control in a crane body according to the present embodiment. [Figure 10] 10 is a flowchart showing a second example of a processing procedure for vibration damping control in the crane body according to the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the drawings, the same or corresponding parts are designated by the same reference characters and their description will not be repeated.

[0014] In the following embodiment, a configuration in which the "vibration control system for a moving body" according to the present invention is applied to a stacker crane in an automated warehouse system will be described as an example. However, the device to which the "vibration control system for a moving body" according to the present invention can be applied is not limited to a stacker crane. The "vibration control system for a moving body" according to the present invention can also be applied to an automated guided vehicle (AGV), an autonomous mobile robot (AMR), an autonomous case-handling robot (ACR), an order picker, a forklift, a self-propelled cart with a robot arm, a high-altitude work vehicle, a backhoe, and the like.

[0015] [Embodiment Mode] <System configuration> 1 is a perspective view showing an example of the overall configuration of an automated warehouse system according to the present embodiment. The automated warehouse system 100 is a stacker crane type transport system, and includes a stacker crane body (hereinafter abbreviated as "crane body") 1, rails 8, and storage shelves 9.

[0016] The crane body 1 moves on the rails 8 in accordance with control commands from a controller 7 (see FIG. 2). The movement direction of the crane body 1 is described as the "X direction." The X direction is typically the horizontal direction. However, the X direction does not have to strictly coincide with the horizontal direction as long as it includes the horizontal direction.

[0017] The crane body 1 operates using power supplied from, for example, a power supply line (not shown). However, the power supply method for the crane body 1 is not particularly limited. The crane body 1 may be supplied with power from the rail 8, or from a non-contact power transmission device arranged along the rail 8, or may be supplied with power from a power supply rail (not shown) provided above the storage shelf 9 to an upper frame 12 described below. The crane body 1 corresponds to the "mobile body" according to the present invention.

[0018] The crane body 1 includes a traveling cart 11, an upper frame 12, two drive rollers 13, a pair of masts 14, and a carriage 15.

[0019] Two drive rollers 13 and a roller drive device 4 (see FIG. 2) are mounted on the traveling cart 11. The two drive rollers 13 are rotationally driven by the roller drive device 4, so that the traveling cart 11 travels along the rail 8 in the X direction.

[0020] The upper frame 12 is disposed on the upper part of the crane body 1 so as to extend in the X direction. The upper frame 12 connects a pair of masts 14 to each other.

[0021] The two drive rollers 13 are arranged one on each end in the X direction of the traveling carriage 11. The two drive rollers 13 are rotated on the rails 8 by the roller drive device 4, whereby the crane body 1 moves to the target position.

[0022] One end of each of the pair of masts 14 is fixed to the traveling cart 11. The other end of each of the pair of masts 14 is connected to the upper frame 12. In this example, the pair of masts 14 are arranged at a distance in the X direction. However, the arrangement of the pair of masts 14 is not limited to this, and the pair of masts 14 may also be arranged at a distance in a direction perpendicular to the movement direction of the crane body 1 (Y direction perpendicular to the X direction in a horizontal plane). The pair of masts 14 correspond to the "structural body" according to the present invention.

[0023] The carriage 15 moves up and down along a pair of masts 14 between the traveling cart 11 and the upper frame 12. The carriage 15 is provided with a carriage drive device 6 (see FIG. 2). The carriage 15 moves to a commanded height by being driven by the carriage drive device 6 in accordance with a control command from the controller 7. After the carriage 15 moves, a piece of luggage stored in the storage shelf 9 is placed on the carriage 15 by a fork (neither of which are shown). The piece of luggage placed on the carriage 15 may be stored in the storage shelf 9 by the fork.

[0024] The direction in which the carriage 15 moves up and down is referred to as the "Z direction." The Z direction is typically the vertical direction. However, the Z direction does not have to strictly match the vertical direction as long as it includes a vertical component.

[0025] As the traveling carriage 11 travels, the mast 14 may vibrate and deform. Hereinafter, the vibration and / or deformation of the mast 14 will be collectively referred to as the "vibration" of the mast 14. In other words, the "vibration" of the mast 14 may be only the vibration of the mast 14 (not including deformation), may be only the deformation of the mast 14 (not including vibration), or may be both the vibration and deformation of the mast 14.

[0026] Fig. 2 is a schematic diagram showing an example of an electrical configuration of the automated warehouse system 100. With reference to Fig. 1 and Fig. 2, the automated warehouse system 100 further includes a host controller 2, a sensor 3, a roller driving device 4, a vibration damping device 5, a carriage driving device 6, and a controller 7.

[0027] The upper controller 2 is, for example, a ground control panel, and is arranged outside the crane body 1. The upper controller 2 may include an HMI (Human Machine Interface). The HMI includes, for example, a keyboard, a mouse, operation buttons, a monitor, and a monitor with a touch panel. The HMI receives operations by an operator to move the crane body 1, and displays the movement status of the crane body 1 for the operator. The upper controller 2 generates a target position command X* that commands a target position of the crane body 1, for example, according to operations by the operator. The upper controller 2 outputs the generated target position command X* to the controller 7.

[0028] The sensor 3 detects vibrations of the mast 14. In this embodiment, the sensor 3 is an acceleration sensor that detects the acceleration of the mast 14. However, the sensor 3 may be a gyro sensor, a speed sensor, a strain sensor, or a distance sensor (none of which are shown). The gyro sensor detects the angular velocity of the mast 14 (the direction and magnitude of rotation of the mast 14). The speed sensor detects the speed of the mast 14. The strain sensor detects the deformation of the mast 14 (including strain and twist). The distance sensor detects the distance to a reference point located outside the crane main body 1 (the distance between the crane main body 1 and the reference point). Each sensor outputs the detection result to the controller 7. The installation position of the sensor 3 will be described with reference to Figures 3, 5, and 6.

[0029] The roller drive device 4 is arranged on the crane body 1 (for example, the traveling cart 11) (see Figures 3, 5 and 6). The roller drive device 4 is typically a servo motor. The roller drive device 4 may be another type of motor, for example, an inverter motor (an inverter-driven three-phase motor) or a brushless motor. The roller drive device 4 drives and rotates the two drive rollers 13 in accordance with a control command from the controller 7. The roller drive device 4 corresponds to the "first drive device" according to the present invention.

[0030] The vibration damping device 5 is disposed in the crane body 1. The vibration damping device 5 includes a weight 51 and a weight driving device 52. The vibration damping device 5 is an active mass damper (AMD) that drives the weight 51 by the weight driving device 52 and performs vibration damping using the inertial force (also called inertial reaction force) of the weight 51.

[0031] The weight 51 is actively driven by a weight driving device 52 so that the movement of the weight 51 reduces (absorbs) the vibration of the mast 14. The installation position of the weight 51 will also be described with reference to Figs.

[0032] The weight driving device 52 includes, for example, a ball screw device, a rack and pinion device, a linear motor device, a planar motor device, or a combination of these devices. The weight driving device 52 drives the weight 51 two-dimensionally in accordance with a control command from the controller 7. The weight driving device 52 corresponds to a "second driving device" according to the present invention. The driving direction of the weight 51 by the weight driving device 52 will be described with reference to FIG. 4.

[0033] The carriage drive device 6 is disposed on the crane body 1 (for example, the mast 14). The carriage drive device 6 is, for example, a servo motor, but may also be an inverter motor or a brushless motor. The carriage drive device 6 raises and lowers the carriage 15 in accordance with a control command from the controller 7.

[0034] The controller 7 controls the components of the automated warehouse system 100 (specifically, the roller drive device 4, the vibration control device 5, and the carriage drive device 6) in accordance with control commands (such as a target position command X* that commands a target position) from the upper controller 2. The controller 7 is mounted on the crane body 1, for example. However, the controller 7 may also be located outside the crane body 1 (for example, on the ground). When the controller 7 is located outside the crane body 1, the controller 7 may receive the detection results by the sensor 3 via a wired or wireless connection. The controller 7 may transmit control commands to the components of the automated warehouse system 100 via a wired or wireless connection.

[0035] The controller 7 includes a processor 701 and a memory 702. The processor 701 includes processing circuitry such as a central processing unit (CPU) and a micro processing unit (MPU). The memory 702 includes a volatile storage device such as a dynamic random access memory (DRAM) and a static random access memory (SRAM), and a non-volatile storage device such as a hard disk drive (HDD), a solid state drive (SSD), and a flash memory. The memory 702 stores a system program including an operating system (OS), a control program including computer-readable code, and various parameters for controlling the components of the automated warehouse system 100. The processor 701 reads out the system program, the control program, and the parameters, expands them in the memory 702, and executes them to realize various arithmetic processing. The arithmetic processing by the controller 7 may be realized by an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or the like.

[0036] The controller 7 may be divided into a plurality of units according to function. For example, a unit for controlling the roller driving device 4, a unit for controlling the vibration damping device 5, and a unit for controlling the carriage driving device 6 may be provided separately. The unit for controlling the vibration damping device 5 may control the vibration damping device 5 independently of the remaining two units. In other words, the unit for controlling the vibration damping device 5 may control the vibration damping device 5 without exchanging signals or information with the remaining two units.

[0037] <Direction of weight movement> Fig. 3 is a schematic diagram for explaining an example of the arrangement of components of the automated warehouse system 100. Fig. 3 (as well as Figs. 5 and 6 described below) shows a side view of the crane body 1 as viewed along the XY plane.

[0038] As shown in Fig. 3, the traveling cart 11 travels in the X direction. The mast 14 extends in the Z direction. The carriage 15 moves up and down along the mast 14 between the traveling cart 11 and the upper frame 12. A load L is carried on the carriage 15. In this example, the sensor 3, which is an acceleration sensor, is disposed on the mast 14. The vibration damping device 5 is disposed on the upper frame 12.

[0039] Fig. 4 is a schematic diagram for explaining the driving direction of the weight 51 by the weight driving device 52. Fig. 4 shows a planar perspective view of the crane body 1 as viewed from above in the Z direction to below in the Z direction.

[0040] Prior to starting to drive the weight 51, the weight 51 is placed at a reference position (home position) P0. In this example, the reference position P0 is located at the center in the XY plane (the midpoint of the pair of masts 14). In this embodiment, the weight driving device 52 is configured to drive the weight 51 two-dimensionally in the XY plane from the reference position P0. However, it is not essential that the driving direction of the weight 51 is two-dimensional. The driving direction of the weight 51 may be one-dimensional. In that case, the driving direction of the weight 51 may be the same as the moving direction (X direction) of the crane body 1 (i.e., it may not include a Y direction component).

[0041] When the controller 7 receives a target position command X* from the upper controller 2, which commands a target position of the crane body 1, it moves the crane body 1 toward the target position. The movement of the crane body 1 may cause vibration of the mast 14. The controller 7 generates a movement command, which will be described later, in response to the target position command X* so that the mast 14 is damped, and controls the roller drive device 4 in response to the movement command. However, there is a possibility that the vibration of the mast 14 is not completely eliminated by this alone. To explain in more detail, the vibration damping by the roller drive device 4 reduces the vibration of the mast 14 in the X direction (X component of the vibration), but may not be completely eliminated. In addition, it is difficult to reduce the vibration of the mast 14 in the Y direction (Y component of the vibration) by the vibration damping by the roller drive device 4.

[0042] Therefore, the controller 7 performs vibration damping by the weight driving device 52 in addition to vibration damping by the roller driving device 4. The controller 7 controls the weight driving device 52 so that the vibration of the mast 14 detected by the sensor 3 is cancelled.

[0043] The vibration of the mast 14 includes various vibration modes. These vibrations may include vibration of the mast 14 in the X direction, vibration of the mast 14 in the Y direction, bending of the mast 14 in the X direction, bending of the mast 14 in the Y direction, and torsion of the mast 14. It is preferable that the sensor 3 is installed at a position where these vibrations can be detected, and the controller 7 controls the weight driver 52 so that the vibration of the first mode, in particular at least one of the vibration of the mast 14 in the Y direction, bending of the mast 14 in the Y direction, and torsion of the mast 14 is cancelled.

[0044] The vibration damping by the roller drive device 4 reduces the X component of the vibration (vibration of the mast 14 in the X direction, bending of the mast 14 in the X direction). Furthermore, the vibration damping effect is improved by the vibration damping using the weight drive device 52 based on the detection result of the sensor 3. For example, the X component of the vibration that remains and is not removed by the vibration damping by the roller drive device 4 can be further reduced. Also, for example, when the Y component of the vibration (vibration of the mast 14 in the Y direction, bending of the mast 14 in the Y direction, twisting of the mast 14) is detected by the sensor 3, the vibration damping according to the detected vibration is performed, so that the Y component of the vibration is reduced. Therefore, according to this embodiment, the vibration of the mast 14 generated in the crane body 1 can be significantly reduced, and preferably eliminated, compared to the case where only the vibration damping by the roller drive device 4 is performed.

[0045] The X direction and the Y direction correspond to the "first direction" and the "second direction" of the present invention, respectively. In this example, the X direction and the Y direction are perpendicular to each other. The "second direction" preferably intersects with the "first direction", and more preferably is perpendicular to the "first direction". However, the relationship between the "first direction" and the "second direction" is not particularly limited, and the "second direction" may be the same direction as the "first direction".

[0046] <Sensor and weight placement> Referring again to FIG. 3, the higher the mast 14, the greater the vibration of the mast 14. Therefore, in order to detect the vibration of the mast 14 with high sensitivity, it is preferable that the sensor 3, which is an acceleration sensor, is disposed in the upper half of the mast 14 (in other words, above the midpoint M of the mast 14 in the vertical direction (Z direction)). Also, the higher the installation position of the weight 51 is on the mast 14, the greater the vibration damping effect of the vibration damping device 5 on the mast 14 (the degree of reduction in the vibration of the mast 14). Therefore, it is preferable that the weight 51 is also disposed in the upper half of the mast 14. In view of these technical reasons, in the first example shown in FIG. 3, the sensor 3 is disposed on the mast 14 above the midpoint M of the mast 14. The vibration damping device 5 is disposed on the upper frame 12.

[0047] 5 is a schematic diagram showing a second example of the arrangement of the sensor 3 and the weight 51. In the second example, the sensor 3 and the vibration damping device 5 are both arranged on the upper frame 12. The upper frame 12 is arranged at a position higher than the highest point MAX of the carriage 15. Therefore, it can be said that the sensor 3 and the vibration damping device 5 are arranged at a position higher than the highest point MAX of the carriage 15.

[0048] As shown in the first and second examples, the sensor 3 and the weight 51 are preferably disposed above the midpoint M of the mast 14, and more preferably disposed at a position higher than the highest point MAX of the carriage 15. This allows the vibration of the mast 14 to be detected sensitively and the vibration of the mast 14 to be effectively reduced.

[0049] FIG. 6 is a schematic diagram showing a third example of the arrangement of the sensor 3 and the weight 51. As in the third example, the sensor 3 and the weight 51 may be arranged on the carriage 15. In this case, the sensor 3 and the weight 51 also move below the midpoint M of the mast 14 as the carriage 15 descends, so that the detection sensitivity of the vibration of the mast 14 decreases and the vibration damping effect of the weight 51 may be reduced. However, when the carriage 15 is located below the midpoint M, the vibration of the mast 14 is smaller than when the carriage 15 is located above the midpoint M, so that the disadvantage of the relatively low detection sensitivity of the vibration of the mast 14 and the vibration damping effect of the weight 51 is small. When the carriage 15 rises and is located above the midpoint M, the sensor 3 and the weight 51 also move above the midpoint M of the mast 14 accordingly, so that the vibration of the mast 14 can be detected sensitively and effectively reduced, similar to the arrangements shown in FIG. 3 and FIG. 5.

[0050] 3, 5, and 6 may be combined as appropriate. That is, at least one of the sensor 3 and the weight 51 is preferably disposed above the midpoint M of the mast, and more preferably disposed at a position higher than the highest reach point MAX of the carriage 15. At least one of the sensor 3 and the weight 51 is preferably disposed on the carriage 15. For example, the sensor 3 may be disposed on the mast 14, and the weight 51 may be disposed on the carriage 15. The sensor 3 may be disposed on the upper frame 12, and the weight 51 may be disposed on the carriage 15. The sensor 3 may be disposed on the carriage 15, and the weight 51 may be disposed on the upper frame 12.

[0051] In the first to third examples, the arrangement of the sensor 3 when the sensor 3 is an acceleration sensor has been described. The gyro sensor, speed sensor, and distance sensor are preferably installed in the same positions as the acceleration sensor, that is, on the mast 14 above the midpoint M of the mast 14, on the upper frame 12, or on the carriage 15. On the other hand, although not shown, the strain sensor is preferably installed on the mast 14 itself below the midpoint M of the mast 14. This is because strain (deformation) of the mast 14 occurs significantly near the point where the mast 14 is fixed to the traveling cart 11.

[0052] In the present invention, "the weight is attached to the structure" includes a state in which the weight is directly attached to the structure (in this embodiment, the mast 14), but is not limited to this, and also includes a state in which the weight is indirectly attached to the structure (mast 14) via other components of the movable body (upper frame 12, carriage 15, etc.).

[0053] <Drive control> 7 is an example of a functional block diagram for explaining functions of the controller 7 related to vibration damping control by the roller driving device 4. The controller 7 includes a roller control unit 71 for controlling the roller driving device 4. The roller control unit 71 includes, for example, a torque feedforward unit 710, a vibration damping filter 711, a speed feedforward unit 712, a position control unit 715, a subtraction unit 714, a speed calculation unit 716, a calculation unit 717, a speed control unit 718, and an addition unit 719.

[0054] As described below, torque feedforward section 710, vibration suppression filter 711 and speed feedforward section 712 are functional blocks for reducing (damping) vibrations that occur with the traveling of crane body 1. The remaining position control section 715, subtraction section 714, position control section 715, speed calculation section 716, calculation section 717, speed control section 718 and addition section 719 are functional blocks for controlling the traveling of crane body 1.

[0055] The torque feedforward unit 710 receives a target position command X*, which commands a target position of the crane body 1, from the upper controller 2 (see FIG. 2). The torque feedforward unit 710 generates a torque feedforward value TrFF, for example, by multiplying the target position command X* by a transfer function G1. The transfer function G1 is represented by, for example, a reference model×resonance inverse characteristic×two-times pseudo differential, and may include the mass of the traveling cart 11, the mass of the mast 14, the mass of the carriage 15, and the like as parameters (see Patent Document 5 for details). The torque feedforward unit 710 outputs the generated torque feedforward value TrFF to an adder 719.

[0056] The vibration suppression filter 711 receives a target position command X* from the upper controller 2 (see FIG. 2) in the same manner as the torque feedforward unit 710. The vibration suppression filter 711 filters the target position command X*, for example, by multiplying the target position command X* by a transfer function G2. The transfer function G2 is expressed by, for example, a reference model×anti-resonance, and may include the mass of the traveling cart 11, the mass of the mast 14, the mass of the carriage 15, and the like as parameters (see Patent Document 5 for details). The vibration suppression filter 711 outputs the filtered position command Xf to the velocity feedforward unit 712 and the subtraction unit 714.

[0057] The velocity feedforward unit 712 generates a velocity feedforward value VFF by differentiating the filtered position command Xf. The velocity feedforward unit 712 outputs the generated velocity feedforward value VFF to the calculation unit 717.

[0058] The position calculation unit 713 calculates the position X of the crane body 1 (the traveling cart 11) based on a signal from a position sensor (such as an encoder not shown) provided in the roller driving device 4. The position control unit 715 outputs the calculated position X to the subtraction unit 714.

[0059] The subtraction unit 714 subtracts the position X calculated by the position calculation unit 713 from the position command Xf filtered by the vibration suppression filter 711. The subtraction unit 714 outputs the subtraction value (Xf−X) to the position control unit 715.

[0060] Position control unit 715 generates a speed command V* so that the subtraction value (Xf−X) by subtraction unit 714 is eliminated (approaching zero). Position control unit 715 outputs the generated speed command V* to calculation unit 717.

[0061] The speed calculation unit 716 calculates the speed V at which the crane body 1 moves, based on a signal from a position sensor (such as an encoder not shown) provided in the roller driving device 4. The speed calculation unit 716 outputs the calculated speed V to the calculation unit 717.

[0062] The calculation unit 717 adds the speed feedforward value VFF from the speed feedforward unit 712 to the speed command V* from the position control unit 715, and subtracts the speed V calculated by the speed calculation unit 716 from the added value. The calculation unit 717 outputs the value (X*+VFF-V) obtained by this calculation to the speed control unit 718.

[0063] The speed control unit 718 generates a torque command TrR* so that the value (X*+VFF-V) calculated by the calculation unit 717 is canceled (approaching zero). The speed control unit 718 outputs the generated torque command TrR* to the addition unit 719.

[0064] The adder 719 adds the torque feedforward value TrFF from the torque feedforward unit 710 to the torque command TrR* from the speed control unit 718. The adder 719 outputs the sum (TrR*+TrFF) to the roller driving device 4. The sum (TrR*+TrFF) corresponds to the "movement command" according to the present invention.

[0065] As described above, the controller 7 generates a movement command for moving the crane body 1 in the X direction, and controls the roller drive device 4 in response to the movement command. The movement command is generated so as to suppress vibration of the mast 14, using a model with parameters such as the mass of the traveling cart 11 of the crane body 1, the mass of the mast 14, and the mass of the carriage 15.

[0066] 8 is an example of a functional block diagram for explaining the function of the controller 7 regarding vibration suppression control by the weight driving device 52. In this example, a command value for vibration suppression control using the weight 51 based on the detection result of the acceleration sensor 3 and a command value for position control for returning the weight 51 to a reference position are added together. The controller 7 includes an AMD controller 721, an AMD position controller 722, and an adder 723.

[0067] The AMD controller 721 obtains the acceleration indicating the vibration of the mast 14 from the sensor 3. The AMD controller 721 generates a torque command T_ref_acc for vibration suppression by the weight 51 in accordance with the acceleration. The AMD controller 721 outputs the generated torque command T_ref_acc to the adder 723.

[0068] The AMD position controller 722 acquires the position of the weight 51 from a position sensor 521 (such as an encoder not shown) provided in the weight driving device 52. The AMD position controller 722 generates a torque command T_ref_pos for returning the position of the weight 51 to the reference position P0 (see FIG. 4) based on the position of the weight 51. The AMD position controller 722 outputs the generated torque command T_ref_pos to the adder 723.

[0069] The adder 723 adds the torque command T_ref_pos from the AMD position controller 722 to the torque command T_ref_acc from the AMD controller 721. The adder 723 outputs the sum of the two torque commands, T_ref_AMD, to the weight driving device 52.

[0070] As described above, the controller 7 generates the torque command T_ref_acc according to the acceleration of the weight 51 detected by the acceleration sensor 3, and controls the weight driving device 52 based on the torque command T_ref_acc. Note that the torque command T_ref_acc can be generated using a model with the mass of the weight 51 and the like as parameters so as to suppress vibration of the mast 14.

[0071] In the present embodiment, an example has been described in which feedforward control is performed in the roller control unit 71 and feedback control is performed in the spindle control unit 72. However, feedback control may be performed in the roller control unit 71. Feedforward control may be performed in the spindle control unit 72.

[0072] <Vibration control processing procedure> Fig. 9 is a flowchart showing a first example of a processing procedure for vibration suppression control in the crane body 1 according to this embodiment. The processing shown in this flowchart is called from a main routine (not shown) and executed when a predetermined condition is met (for example, at predetermined intervals). The same applies to the flowchart in Fig. 10 described later.

[0073] Each step is realized by software processing by the controller 7, but may also be realized by hardware (electrical circuitry) arranged within the controller 7. In the following, a step is abbreviated as S.

[0074] In S11, the controller 7 judges whether or not it has received a target position command X* from the upper controller 2 (see FIG. 2). If it has not received a target position command X* (NO in S11), the controller 7 returns the process to the main routine without executing the subsequent processes. If it has received a target position command X* (YES in S11), the controller 7 advances the process to S12.

[0075] In S12, the controller 7 starts controlling the roller drive device 4 in accordance with the movement command generated from the target position command X* so as to damp vibration of the mast 14. This control has been described in detail with reference to FIG. 7, and therefore description thereof will not be repeated.

[0076] In S13, the controller 7 starts (or continues) controlling the weight driver 52 based on the acceleration detected by the sensor 3 so that the mast 14 is further damped. At this time, the controller 7 controls the weight 51 so that the weight 51 returns to the reference position as described in Fig. 8. In other words, the controller 7 executes position control to return the weight 51 to the reference position while executing damping control using the weight 51.

[0077] In S14, the controller 7 judges whether the crane body 1 has reached the target position commanded by the target position command X*, that is, whether the movement of the crane body 1 has ended. Until the crane body 1 reaches the target position (NO in S14), the controller 7 returns the process to S13. This allows the control of the weight driving device 52 based on the acceleration detected by the sensor 3 to continue. When the crane body 1 reaches the target position (YES in S14), the controller 7 ends the control of the roller driving device 4 (S15). Furthermore, the controller 7 ends the control of the weight driving device 52 for damping the vibration of the mast 14 (S16).

[0078] FIG. 10 is a flow chart showing a second example of the processing procedure of vibration suppression control in the crane body 1 according to this embodiment. In the first example shown in FIG. 9, it has been explained that the command value of the vibration suppression control by the weight 51 and the command value of the position control for returning the weight 51 to the reference position are added together. In the second example, these two controls are executed separately. For example, instead of the adder 723 in FIG. 8, a changeover switch is provided that selectively outputs the torque command value T_ref_acc and the torque command value T_ref_pos to the weight driving device 52. It is assumed that the weight 51 is located at the reference position P0 (see FIG. 4) and the changeover switch is on the torque command value T_ref_acc side when the execution of the series of processes is started.

[0079] In S21, the controller 7 judges whether or not it has received a target position command X* from the upper controller 2 (see FIG. 2). If it has not received a target position command X* (NO in S21), the controller 7 returns the process to the main routine without executing the subsequent processes. If it has received a target position command X* (YES in S21), the controller 7 advances the process to S2.

[0080] In S22, the controller 7 starts controlling the roller driving device 4 in accordance with the movement command generated from the target position command X* so that the mast 14 is damped.

[0081] In S23, the controller 7 starts (or continues) controlling the weight driver 52 based on the acceleration detected by the sensor 3 so that the mast 14 is further damped.

[0082] In S24, the controller 7 judges whether the crane body 1 has reached the target position commanded by the target position command X*. Until the crane body 1 reaches the target position (NO in S24), the controller 7 returns the process to S23. When the crane body 1 reaches the target position (YES in S24), the controller 7 advances the process to S25 and ends the control of the roller driving device 4.

[0083] In S26, the controller 7 judges whether the acceleration a detected by the sensor 3 is less than the threshold value TH. The threshold value TH is determined based on a previous experiment or simulation as an acceleration that does not require vibration suppression by the vibration suppression device 5, in other words, an acceleration at which the mast 14 vibrates only sufficiently small. If the acceleration is less than the threshold value TH (YES in S26), the controller 7 advances the process to S28 and ends the control of the weight driving device 52 for suppressing the vibration of the mast 14. Then, the controller 7 switches the changeover switch to the torque command value T_ref_pos side to control the weight driving device 52 so that the weight 51 returns to the reference position P0 (S29). On the other hand, if the acceleration is equal to or greater than the threshold value TH (NO in S26), the controller 7 advances the process to S27.

[0084] In S27, the controller 7 judges whether or not the specified time REF has elapsed after the end of the movement of the crane body 1 (in other words, after the end of the control of the roller drive device 4). The specified time REF is determined, for example, based on a previous experiment or simulation as the time required for the vibration of the mast 14 to sufficiently attenuate after the end of the movement of the crane body 1. If the specified time REF has elapsed after the end of the movement of the crane body 1 (YES in S27), the controller 7 ends the control for suppressing the vibration of the mast 14 (S28), switches the changeover switch to the torque command value T_ref_pos side, and controls the weight drive device 52 so that the weight 51 returns to the reference position P0 (S29). If the specified time REF has not elapsed after the end of the movement of the crane body 1 (NO in S27), the controller 7 returns the process to S26. As a result, the control for suppressing the vibration of the mast 14 continues.

[0085] The order of execution of the process of S26 and the process of S27 may be interchanged. Alternatively, only one of the processes of S26 and S27 may be executed.

[0086] As described above, in this embodiment, when the crane body 1 moves, the controller 7 controls the roller drive device 4 in response to the target position command X* so that the mast 14 is damped. In addition, the controller 7 controls the vibration damping device 5 based on the vibration of the mast 14 detected by the sensor 3 so that the mast 14 is further damped. As a result, not only is vibration damping in the X direction achieved by the roller drive device 4, but vibration damping in the Y direction is also achieved by the vibration damping device 5. Thus, according to this embodiment, vibration of the mast 14 generated in the crane body 1 due to movement can be significantly reduced, and preferably eliminated.

[0087] As described above, the crane body 1 corresponds to the "moving body" according to the present invention, and the roller drive device 4 corresponds to the "first drive device" according to the present invention. In this embodiment, the crane body 1 is driven on rails 8 by drive rollers 13. However, the crane body may also be driven by drive rollers engaged with a toothed belt installed on the travel path.

[0088] In this embodiment, the roller drive device 4 is mounted on the crane body 1. The "first drive device" may be arranged outside the "moving body". As a specific example, the automated warehouse system may be provided with belt winding devices arranged on both sides of the crane body 1, instead of the roller drive device 4. The crane body 1 moves when one of the two belt winding devices winds up the belt connected to the crane body 1. The belt winding device in this case is another example of the "first drive device" and is arranged outside the "moving body".

[0089] The "moving body" according to the present disclosure is not limited to one that moves in a straight line, but may also include one that moves in a curved line. In the case of curved movement, the tangent direction of the curve may be defined as the "first direction."

[0090] <Additional Notes> Finally, various aspects of the present invention will be summarized as appendices.

[0091] <Appendix 1> A moving body to which a structure to be vibration-controlled is fixed; a first driving device that moves the moving body in a first direction in accordance with a movement command; a second driving device that drives the weight installed on the structure in a second direction; a sensor for detecting vibration or deformation of the structure in at least the second direction; a control device that controls the first and second drive devices; The control device includes: controlling the first driving device in response to the movement command so that the structure is vibration-damped; A vibration damping system for a moving body that controls the second driving device based on vibrations or deformation detected by the sensor so that the structure is further damped while the structure is being damped by the first driving device.

[0092] <Appendix 2> The vibration control system for a moving body described in Appendix 1, wherein the control device controls the second driving device so that vibration or deformation detected by the sensor is canceled during vibration control of the structure by the first driving device.

[0093] <Appendix 3> the second direction intersects with the first direction, The sensor detects a vibration or deformation of a first mode of the structure in the second direction; The vibration control system for a moving body described in Appendix 2, wherein the control device controls the second drive device so as to cancel out the vibration or deformation of the first mode.

[0094] <Appendix 4> The vibration control system for a moving body described in Appendix 3, wherein the vibration or deformation of the primary mode includes at least one of vibration of the structure in the second direction, bending of the structure in the second direction, and torsion of the structure.

[0095] <Appendix 5> The vibration control system for a moving body described in Appendix 3 or 4, wherein the control device controls the second driving device to drive the weight two-dimensionally within a plane including the first direction and the second direction while the first driving device is controlling vibration of the structure.

[0096] <Appendix 6> A vibration control system for a moving body described in any one of Appendices 1 to 5, wherein the control device controls the second driving device so as to reduce vibration or deformation of the structure that is not eliminated by the vibration control of the structure by the first driving device.

[0097] <Appendix 7> The control device includes: Controlling the second driving device so that the weight starts to move from a reference position; 7. The vibration damping system for a moving body according to any one of claims 1 to 6, further comprising: adding together a command value for vibration damping control of the structure by the weight and a command value for position control for returning the weight to the reference position.

[0098] <Appendix 8> A vibration control system for a moving body described in any one of Appendices 1 to 7, wherein the sensor is an acceleration sensor that detects the acceleration of the structure, a gyro sensor that detects the angular velocity of the structure, a velocity sensor that detects the velocity of the structure, a strain sensor that detects the distortion of the structure, or a distance sensor that detects the distance between the moving body and a reference point located outside the moving body.

[0099] <Appendix 9> The moving body is A mast as the structure; A traveling carriage to which the mast is fixed; a carriage that ascends and descends along the mast; 9. The vibration control system for a moving body according to claim 8, wherein the sensor is an acceleration sensor.

[0100] <Appendix 10> 10. The vibration damping system for a moving body according to claim 9, wherein at least one of the acceleration sensor and the weight is positioned above a midpoint of the mast in the vertical direction.

[0101] <Appendix 11> 11. The vibration control system for a moving body according to claim 10, wherein at least one of the acceleration sensor and the weight is positioned at a position higher than the highest point of the carriage.

[0102] <Appendix 12> 10. The vibration control system for a moving body according to claim 9, wherein at least one of the acceleration sensor and the weight is disposed on the carriage.

[0103] <Appendix 13> A vibration damping method for a moving body to which a structure to be damped is fixed, comprising the steps of: moving the moving body in a first direction in accordance with a movement command; and damping the structure moving in the first direction in response to the movement command; The vibration control method for a moving body, wherein the vibration control step includes a step of detecting vibration or deformation of the structure in a second direction with a sensor, and driving a weight installed on the structure in the second direction based on the vibration or deformation detected by the sensor, thereby further controlling vibration of the structure.

[0104] The embodiments of the present invention should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not by the description of the embodiments above, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0105] 100 automated warehouse system, 1 crane body, 11 traveling cart, 12 upper frame, 13 drive roller, 14 mast, 15 carriage, 2 HMI, 3 sensor, 4 roller drive device, 5 vibration damping device, 51 weight, 52 weight drive device, 521 position sensor, 6 carriage drive device, 7 controller, 701 processor, 702 memory, 71 roller control unit, 710 torque feedforward unit, 711 filter, 712 speed feedforward unit, 714 subtraction unit, 715 position control unit, 716 speed calculation unit, 717 calculation unit, 718 speed control unit, 719 addition unit, 72 weight control unit, 721 AMD controller, 722 AMD position controller, 723 addition unit, 8 rail, 9 storage shelf.

Claims

1. A moving body to which a structure to be vibration-controlled is fixed; a first driving device that moves the moving body in a first direction in accordance with a movement command; a second driving device that drives the weight installed on the structure in a second direction; a sensor for detecting vibration or deformation of the structure in at least the second direction; a control device that controls the first and second drive devices, The control device includes: controlling the first driving device in response to the movement command so that the structure is vibration-damped; A vibration damping system for a moving body that controls the second driving device based on vibrations or deformations detected by the sensor so that the structure is further damped while the structure is being damped by the first driving device.

2. The vibration damping system for a moving body according to claim 1 , wherein the control device controls the second driving device so that vibration or deformation detected by the sensor is cancelled out during vibration damping of the structure by the first driving device.

3. the second direction intersects with the first direction, The sensor detects a vibration or deformation of a first mode of the structure in the second direction; The vibration damping system for a moving body according to claim 2 , wherein the control device controls the second driving device so as to cancel the vibration or deformation in the first mode.

4. 4. The vibration control system for a moving body according to claim 3, wherein the vibration or deformation of the primary mode includes at least one of vibration of the structure in the second direction, bending of the structure in the second direction, and torsion of the structure.

5. 5. The vibration control system for a moving body as described in claim 3 or 4, wherein the control device controls the second driving device to drive the weight two-dimensionally within a plane including the first direction and the second direction while the first driving device is controlling vibration of the structure.

6. A vibration control system for a moving body as described in any one of claims 1 to 4, wherein the control device controls the second driving device so as to reduce vibration or deformation of the structure that has not been eliminated by the vibration control of the structure by the first driving device.

7. The control device includes: Controlling the second driving device so that the weight starts to move from a reference position; 5. The vibration damping system for a moving body according to claim 1, further comprising: adding together a command value for vibration damping control of the structure by the weight and a command value for position control for returning the weight to the reference position.

8. A vibration control system for a moving body as described in any one of claims 1 to 4, wherein the sensor is an acceleration sensor that detects the acceleration of the structure, a gyro sensor that detects the angular velocity of the structure, a velocity sensor that detects the velocity of the structure, a strain sensor that detects the distortion of the structure, or a distance sensor that detects the distance between the moving body and a reference point located outside the moving body.

9. The moving body is A mast as the structure; A traveling carriage to which the mast is fixed; a carriage that ascends and descends along the mast; The vibration damping system for a moving body according to claim 8 , wherein the sensor is an acceleration sensor.

10. 10. The vibration damping system for a moving body according to claim 9, wherein at least one of the acceleration sensor and the weight is disposed above a midpoint of the mast in the vertical direction.

11. The vibration damping system for a moving body according to claim 10 , wherein at least one of the acceleration sensor and the weight is disposed at a position higher than a highest reaching point of the carriage.

12. The vibration damping system for a moving body according to claim 9 , wherein at least one of the acceleration sensor and the weight is disposed on the carriage.

13. A vibration damping method for a moving body to which a structure to be damped is fixed, comprising the steps of: moving the moving body in a first direction in accordance with a movement command; and damping the structure moving in the first direction in response to the movement command; The vibration control method for a moving body, wherein the vibration control step includes a step of detecting vibration or deformation of the structure in a second direction with a sensor, and driving a weight installed on the structure in the second direction based on the vibration or deformation detected by the sensor, thereby further controlling vibration of the structure.

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