Position generation device for overhead crane carriage, position generation method for overhead crane carriage, and program

Abstract

To generate a change in the position of a carriage capable of suppressing the vibration of a rope even when the rope is wound up or down in an arbitrary acceleration / deceleration pattern. The reference position x of the carriage of the overhead crane is used to suppress the vibration of the rope when the rope suspended from the carriage has a fixed length L0. d The reference position generator generates (t), and the robot moves to the reference position x when the rope has a fixed length L0. d (t) The rope's swing angle θ caused by moving d The sway angle generator generates (t), and the actual length L(t), fixed length L0, and sway angle θ d (t) and based on the reference position x d By modifying (t), the modified position x of the carriage is adjusted to suppress the vibration of the rope when the rope length changes. c A position generation device for a carriage of an overhead crane, comprising: a corrected position generation unit that generates (t).

Description

[Technical Field]

[0001] The present invention relates to a position generation device for a carriage of an overhead crane, a position generation method for a carriage of an overhead crane, and a program. [Background technology]

[0002] Patent Document 1 describes a method for controlling the sway of a crane, in which acceleration / deceleration is determined by solving the equation of motion related to the sway angle of the load when the trolley moves for the trolley acceleration, and the trolley is driven according to a speed pattern corresponding to this acceleration / deceleration, and the sway angle of the load is controlled to be zero when the trolley acceleration / deceleration is completed. Patent Document 2 describes a method for controlling an anti-sway crane, which calculates a reference pattern, which is a pattern of horizontal acceleration or speed of the trolley, that will stop the swing of the load when the load reaches a target position, based on the swing period of the load determined from a predetermined virtual rope length; calculates a compensation amount that compensates for the effect on acceleration or speed due to the difference between the virtual rope length and the rope length when the load is being transported; and generates a speed pattern based on the compensation result obtained by compensating for the reference pattern with the compensation amount. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-193022 [Patent Document 2] Japanese Patent Application Publication No. 2017-52601 Summary of the Invention [Problem to be solved by the invention]

[0004] When a rope is being reeled in and out, it is sometimes necessary to generate a position change of the carriage that can suppress the vibration of the rope. In particular, there are cases where the rope is reeled in and out with an arbitrary acceleration / deceleration pattern. In such cases, it has not been possible to generate a position change of the carriage that can suppress the vibration of the rope.

[0005] An object of the present invention is to generate a change in the position of a carriage that can suppress vibration of the rope even when the rope is wound up or down with an arbitrary acceleration / deceleration pattern. [Means for solving the problem]

[0006] With this object in mind, the present invention provides a method for suppressing the vibration of a rope suspended from a carriage of an overhead crane when the rope has a fixed length L0. d The reference position generator generates (t), and the robot moves to the reference position x when the rope has a fixed length L0. d (t) The rope's swing angle θ caused by moving d The sway angle generator generates (t), and the actual length L(t), fixed length L0, and sway angle θ d (t) and based on the reference position x d By modifying (t), the modified position x of the carriage is adjusted to suppress the vibration of the rope when the rope length changes. c and a corrected position generating unit that generates (t).

[0007] The corrected position generator further calculates the reference position x based on the acceleration of the actual length L(t) of the rope. d By correcting (t), the corrected position x c It may be something that generates (t). The position generating device for the carriage of the overhead crane may further comprise at least one filter that corrects at least one of a response delay of the command position and a response delay of the command length in order to align the phases of the command position of the carriage and the command length of the rope. In this case, the position generating device for the carriage of the overhead crane may further comprise a target length generating unit that generates a target length of the rope, and the at least one filter may include a first filter that is applied to the target length to output an actual length L(t). In this case, the at least one filter may further include a second filter that is applied to the target length to output a command length. Alternatively, the at least one filter may be configured to correct a corrected position x cAlternatively, the at least one filter may further include a second filter applied to the target length to output the commanded length, and a third filter applied to the corrected position x c and a third filter applied to (t) to output a command position.

[0008] Furthermore, the present invention is also directed to a method for determining a reference position x of a carriage of an overhead crane, which is used to suppress vibration of the rope when the rope suspended from the carriage of the overhead crane has a fixed length L0. d (t), and a sway angle generating unit of the computer generates a sway angle when the carriage is at the reference position x when the rope has a fixed length L0. d (t) The rope's swing angle θ caused by moving d (t), and the correction position generating unit of the computer calculates the actual length L(t), the fixed length L0, and the swing angle θ d (t) and based on the reference position x d By modifying (t), the modified position x of the carriage is adjusted to suppress the vibration of the rope when the rope length changes. c Also provided is a method for generating a position of a carriage of an overhead crane, the method comprising the steps of: generating (t) a position of a carriage of an overhead crane;

[0009] Furthermore, the present invention provides a method for controlling the reference position x of the carriage of the overhead crane to suppress the vibration of the rope when the rope suspended from the carriage has a fixed length L0. d (t) and the function to generate the rope length L0 when the cart is at the reference position x d (t) The rope's swing angle θ caused by moving d (t), the actual length L(t), the fixed length L0, and the swing angle θ d (t) and based on the reference position x d By modifying (t), the modified position x of the carriage is adjusted to suppress the vibration of the rope when the rope length changes. c A program for realizing the function of generating (t) is also provided. [Effects of the Invention]

[0010] According to the present invention, even when the rope is wound up or down with an arbitrary acceleration / deceleration pattern, it is possible to generate a change in the position of the carriage that can suppress the vibration of the rope. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 2 is a diagram illustrating a configuration example of a crane according to the present embodiment. [Figure 2] FIG. 2 is a diagram illustrating an example of a hardware configuration of a crane control device according to the present embodiment. [Figure 3] 10(a) and 10(b) are graphs showing a method in a conventional embodiment. [Figure 4] FIG. 1 is a block diagram showing a method according to a conventional embodiment. [Figure 5] FIG. 1 is a block diagram showing a method according to a conventional embodiment. [Figure 6] 10(a) and 10(b) are graphs showing vibration control loci according to Patent Document 1. [Figure 7] 10(a) and 10(b) are graphs showing vibration control loci according to Patent Document 1 when there is a response delay in the bogie. [Figure 8] 10(a) and 10(b) are graphs showing the vibration control locus according to Patent Document 1 when there is a response delay in the carriage and the acceleration time is adjusted to the vibration period. [Figure 9] 2 is a block diagram showing an example of a functional configuration of the crane control device according to the first embodiment. FIG. [Figure 10] 10(a) and 10(b) are graphs showing the results of applying the first embodiment to a trajectory of constant acceleration. [Figure 11] 4 is a flowchart showing an example of the operation of the crane control device in the first embodiment. [Figure 12] FIG. 10 is a block diagram showing an example of a functional configuration of a crane control device according to a second embodiment. [Figure 13] 10(a) and 10(b) are graphs showing the results of applying the second embodiment. [Figure 14]10 is a flowchart showing an example of the operation of the crane control device in the second embodiment. [Figure 15] FIG. 11 is a block diagram showing an example of a functional configuration of a crane control device according to a third embodiment. [Figure 16] 10(a) and 10(b) are graphs showing the results of applying the third embodiment when the rope length is constant at a constant speed. [Figure 17] 10(a) and 10(b) are graphs showing the results of applying the third embodiment when the rope length is gradually accelerated and decelerated. [Figure 18] 10 is a flowchart showing an example of the operation of the crane control device in the third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0013] [Crane configuration] FIG. 1 is a diagram showing an example of the configuration of a crane 1 according to this embodiment. As shown in the figure, the crane 1 includes a carriage 10, a hoist 20, a carriage position detection device 30, and a rope length detection device 40. The crane 1 further includes a carriage control device 50, a hoist control device 60, and a crane control device 70.

[0014] The bogie 10 is driven by a bogie motor 11 and travels along the girder 12 . The hoist 20 is mounted on the carriage 10 and suspends a load 23 with a rope 22. The hoist 20 is driven by a hoisting motor 21 and winds up and down the rope 22. In other words, the hoist 20 changes the length of the rope 22. The bogie position detection device 30 detects the position of the bogie 10 in the direction along the girder 12. Then, the bogie position detection device 30 outputs the detection result to the bogie control device 50. The rope length detection device 40 detects the length of the rope 22. Then, the rope length detection device 40 outputs the detection result to the hoisting machine control device 60.

[0015] The bogie controller 50 acquires the position change pattern of the bogie 10 from the crane controller 70. Then, the bogie controller 50 generates a motor speed command based on the input position change pattern and the position of the bogie 10. Here, the position of the bogie 10 is included in the detection result output by the bogie position detection device 30. Thereafter, the bogie controller 50 outputs the generated motor speed command to the bogie motor 11. As a result, the bogie motor 11 controls the rotation speed in accordance with the motor speed command while the bogie 10 is performing traversal. Then, the bogie motor 11 causes the bogie 10 to traverse in accordance with the position change pattern.

[0016] The hoisting machine control device 60 acquires the length change pattern of the rope 22 from the crane control device 70. Then, the hoisting machine control device 60 generates a motor speed command based on the input length change pattern and the length of the rope 22. Here, the length of the rope 22 is included in the detection result output by the rope length detection device 40. Thereafter, the hoisting machine control device 60 outputs the generated motor speed command to the hoisting motor 21. As a result, the hoisting motor 21 controls the rotation speed in accordance with the motor speed command while the traverse is being performed. In other words, the hoisting motor 21 controls the rotation speed in accordance with the motor speed command while the crane 1 is transporting the load 23. Then, the hoisting motor 21 changes the rope 22 in accordance with the length change pattern.

[0017] The crane control device 70 acquires the change pattern of the length of the rope 22 and the change pattern of the position of the carriage 10. Here, the change pattern of the length of the rope 22 may be input by the operator of the crane 1. The change pattern of the position of the carriage 10 is a change pattern that suppresses vibration when the suspended load 23 is transported while changing the length of the rope 22. Then, the crane control device 70 outputs the change pattern of the position of the carriage 10 to the carriage control device 50. Furthermore, the crane control device 70 outputs the change pattern of the length of the rope 22 to the hoisting machine control device 60.

[0018] [Crane control device hardware configuration] FIG. 2 is a diagram showing an example of the hardware configuration of the crane control device 70 in this embodiment. As shown in the figure, the crane control device 70 is realized by, for example, a general-purpose PC (Personal Computer). The crane control device 70 includes a CPU (Central Processing Unit) 71. The crane control device 70 further includes a main memory 72 and a magnetic disk device 73. The crane control device 70 further includes a communication interface (hereinafter referred to as "communication I / F") 74. The crane control device 70 further includes a display mechanism 75, an input device 76, and a driver 77.

[0019] The CPU 71 executes various programs such as an OS (Operating System) and application software, etc. In this way, the CPU 71 realizes each function of the crane control device 70. The main memory 72 is a storage area that temporarily stores various programs, data used for executing the programs, etc. The main memory 72 is realized by, for example, a RAM (Random Access Memory). The magnetic disk device 73 is a storage area that stores input data for various programs, output data from various programs, etc. The magnetic disk device 73 is realized by, for example, an HDD (Hard Disk Drive).

[0020] The communication I / F 74 performs communication with external devices. The display mechanism 75 is a mechanism for displaying information, and is composed of, for example, a video memory, a display, and the like. The input device 76 is a device used to input information, such as a keyboard or a mouse. The driver 77 reads and writes data from and to a recording medium (not shown).

[0021] 2 merely illustrates an example of a hardware configuration in the case where the crane control device 70 is realized by a computer system. The hardware configuration of the crane control device 70 is not limited to the configuration shown in the figure.

[0022] [Functional configuration and operation of crane control device] (Conventional embodiment) First, consider the case where the rope 22 is not wound up or down and has a fixed length L0. In this case, there is a method shown in Figure 3. In this method, the crane control device 70 controls the carriage 10 so that it performs a constant acceleration for a period of vibration 2π√(L0 / g). The crane control device 70 then controls the carriage 10 so that the sway angle of the suspended load 23 becomes 0 when the carriage 10 accelerates, decelerates, and stops, thereby suppressing vibration. There is also a method shown in Fig. 4. In this method, the crane control device 70 includes a target trajectory output unit 701 and a filter 702. The target trajectory output unit 701 outputs a target trajectory x of the carriage 10 having an arbitrary acceleration / deceleration pattern. n The filter 702 is a filter that cuts off the waveform with a vibration period of 2π√(L0 / g). The filter 702 outputs the target trajectory x n Apply this filter to (t) to obtain a new target trajectory x d Output (t). 5. In this method, the crane control device 70 includes a target trajectory output unit 706 and a filter 707. The target trajectory output unit 706 outputs a target trajectory x of the carriage 10, which is manually operated. n The filter 707 is a filter that cuts off the waveform of the vibration period 2π√(L0 / g). The filter 707 outputs the target trajectory x n Apply this filter to (t) to obtain a new target trajectory x d Output (t).

[0023] However, in the method shown in Figure 3, the time for constant acceleration is restricted by the vibration period for the fixed length L0. For example, if the fixed length L0 is 10 m, the vibration period is 6.34 seconds. Therefore, the travel time of the trolley 10, including acceleration and deceleration, is at least 6.34 x 2 = 12.7 seconds. As a result, it takes 12.7 seconds for the trolley 10 to travel even a short distance.

[0024] On the other hand, the methods shown in Figures 4 and 5 have no time constraints. In the method shown in Figure 4, a target trajectory with a high degree of freedom that prioritizes takt time can be obtained from any acceleration / deceleration pattern. In addition, in the method shown in Figure 5, the target trajectory x n (t) can be a target trajectory determined manually. In other words, a vibration control trajectory can be obtained even with manual operation, and the range of application is wide.

[0025] Incidentally, feedback (FB) control is the mainstream for vibration suppression control of the crane 1 that involves winding up and down the rope 22. Feedforward (FF) control has also been proposed in Patent Document 1 and the like, but it has many problems as described below.

[0026] The first problem is that it can be handled only when the acceleration pattern of the carriage 10 is a specific acceleration pattern. Here, the specific acceleration pattern is an acceleration pattern in which constant acceleration is performed as shown in FIG.

[0027] The second problem is that the acceleration of the carriage 10 cannot always be set to the specified acceleration. Specifically, when the winding speed of the rope 22 is constant, the acceleration of the carriage 10 can be set to the specified acceleration. However, when the winding speed of the rope 22 is not constant, the acceleration of the carriage 10 cannot be set to the specified acceleration. Figure 6 shows an application example in which acceleration and deceleration are performed at the same acceleration as in Figure 3 for the same period of time. In Figure 6, because the winding speed of the rope 22 is not constant, the acceleration of the carriage 10 cannot be set to the specified acceleration. Furthermore, the speed of the carriage 10 at the end of acceleration is lower than in Figure 3. Furthermore, when the carriage 10 decelerates, it slows down too much and starts moving in the opposite direction instead of stopping. Naturally, the stopping position (although it is not stopped in Figure 6) is also completely different from that in Figure 3.

[0028] The third problem is that even a slight response delay can cause vibration and a lack of stability. As can be seen from FIG. 6, in Patent Document 1, the sway angle is forcibly controlled to be the same as that shown in FIG. 3. Therefore, it is difficult to apply Patent Document 1 without feedback control. In fact, large cranes such as overhead cranes have a response delay relative to the target trajectory. FIG. 7 shows the results when there is a one-second response delay. A one-second response delay results in a slight deviation from the sway angle based on constant acceleration, which is the premise of Patent Document 1. This slight deviation leads to further deviation, further deviating from the sway angle shown in FIG. 6, resulting in vibration occurring in a nearly uncontrolled state.

[0029] The fourth problem is that even if attempts are made to avoid the third problem, even more severe vibrations occur. Specifically, Patent Document 1 minimizes deviation from the target sway angle. To achieve this, it is possible to adjust the acceleration time of the carriage 10 to the vibration period when the length of the rope 22 is changed. However, the length of the rope 22 is basically changed. Therefore, while the natural vibration period changes from moment to moment, the acceleration time of the carriage 10 must be adjusted to the changing vibration period. Figure 8 shows the results of adjusting the acceleration time to the vibration period. Because it is difficult to analytically derive the period for any change in the length of the rope 22, Figure 8 uses a period determined experimentally. Figure 8 shows that adjusting the acceleration time to the vibration period results in even more severe vibrations. Figure 8 also shows that the acceleration is now greater than the specified acceleration, causing the carriage to overshoot.

[0030] The fifth problem is that the speed pattern for winding up and down the rope 22 must be determined in advance. Specifically, if this speed pattern is not determined, it is impossible to derive a vibration-damping trajectory, and it is also impossible to change the trajectory of the carriage 10 midway. The crane 1 must stop or slow down for safety reasons. However, in such cases, the method disclosed in Patent Document 1 is unable to suppress vibration. As a result, vibration occurs, and there is a risk that the swinging of the suspended load 23 will cause the load 23 to collide with the outside world.

[0031] Similarly to Patent Document 1, Patent Document 2 also proposes a method for deriving a target trajectory in a FF control manner based on the equation of motion of the suspended load 23. However, the inventors confirmed that the method did not have any vibration damping effect when the rope 22 was being wound up and down.

[0032] (Outline of this embodiment) In this embodiment, a trajectory of the bogie 10 capable of suppressing vibration is generated even when the rope 22 is being wound up and down. Moreover, a trajectory of the bogie 10 capable of stably suppressing vibration by FF is generated for any acceleration / deceleration pattern. Furthermore, even if there is a response delay in the bogie 10 or the rope 22, a trajectory of the bogie 10 capable of stably suppressing vibration is generated.

[0033] (First embodiment) 9 is a block diagram showing an example of the functional configuration of a crane control device 70 according to the first embodiment. As shown in the figure, the crane control device 70 includes a vibration control trajectory generation unit 711 and a sway angle calculation unit 712. The crane control device 70 further includes a second-order differentiator 713, a correction term calculation unit 714, and an adder 715.

[0034] The vibration control trajectory generation unit 711 generates a vibration control trajectory x that suppresses vibration when the rope 22 has a fixed length L0. d (t) where the damping locus x d (t) is the position of the carriage 10 at time t for suppressing vibration when the rope 22 has a fixed length L0. The vibration suppression trajectory generation unit 711 generates the vibration suppression trajectory x using, for example, the methods described in FIGS. 3, 4, 5, etc. d In other words, the vibration control trajectory generating unit 711 may use a conventional method for suppressing vibrations with a natural vibration period of 2π√(L0 / g).

[0035] Vibration control locus x d (t) is the reference position x of the carriage that suppresses the rope vibration when the rope has a fixed length L0. d (t). The vibration control trajectory generation unit 711 d 10 is an example of a reference position generating unit that generates (t).

[0036] The sway angle calculation unit 712 calculates the sway angle θ when the rope 22 has a fixed length L0. d (t) where the swing angle θ d (t) is the vibration-damping locus x of the bogie 10. d The sway angle θ is the sway angle of the suspended load 23 at time t when the suspended load 23 moves at (t). The sway angle calculation unit 712 calculates the sway angle θ by, for example, the following equation (1): d (t) where g represents the gravitational acceleration and ζ represents the damping coefficient of the pendulum.

[0037]

number

[0038] Swing angle θ d (t) is the time when the cart is at the reference position x when the rope has a fixed length L0. d (t) The rope's swing angle θ caused by moving d (t). The deflection angle calculation unit 712 calculates the deflection angle θ d 10 is an example of a swing angle generating unit that generates (t).

[0039] The second-order differentiator 713 differentiates the actual length L(t) of the rope 22 by two orders of magnitude to obtain the actual length acceleration d 2 L(t) / dt 2 Here, actual length L(t) is the actual length of the rope 22 at time t when the length of the rope 22 changes. Note that in the following formulas and figures, the second derivative of a variable will be represented by adding two dots (··) to the variable.

[0040] The correction term calculation unit 714 calculates the vibration control locus x d The correction term calculation unit 714 calculates a correction term for the deflection angle θ d (t), fixed length L0, actual length L(t), and actual length acceleration d 2 L(t) / dt 2 The correction term calculation unit 714 may calculate the correction term of, for example, the following equation (2).

[0041]

number

[0042] The adder 715 applies this correction term to the vibration suppression locus x d (t) to obtain the damping locus x for the actual length L(t). c (t) is calculated. Here, the vibration control locus x c (t) is the position of the carriage 10 at time t for suppressing vibration when the length of the rope 22 changes. The adder 715 calculates the vibration suppression locus x by, for example, the following equation (3): c It is advisable to calculate (t).

[0043]

number

[0044] Vibration control locus x c (t) is the corrected position x of the carriage that suppresses the vibration of the rope when the rope length changes. c The adder 715 calculates the actual length L(t) of the rope, the fixed length L0, and the sway angle θ d (t) and the acceleration of the actual length L(t) of the rope. d By correcting (t), the corrected position x c 10 is an example of a correction position generator that generates (t).

[0045] As a result, the crane control device 70 calculates the vibration suppression trajectory x c (t) is output as a vibration-damping trajectory command value to the bogie 10. At that time, if FF control such as an inertia term is performed, it is possible to drive the bogie 10 in accordance with the vibration-damping trajectory command value. Here, the vibration-damping trajectory command value can also be said to be a change pattern of the position of the bogie 10 that is output to the bogie control device 50.

[0046] In the first embodiment, even if there is a slight response delay in the trajectory of the carriage 10, large disturbances in the sway angle as in Patent Document 1 do not occur. However, there is a possibility that some residual vibrations may occur. If it is desired to suppress this residual vibration as well, the second embodiment, which will be described later, may be applied.

[0047] FIG. 10 shows the vibration suppression results of the first embodiment corresponding to FIG. 6. In the first embodiment, the sway angle is not forcibly made to match the target sway angle as in Patent Document 1. Furthermore, in the first embodiment, the counter operates to match the natural movement of the rope 22, which changes from moment to moment in length. As a result, the sway angle becomes 0 when the robot stops, and vibration is completely suppressed. Furthermore, problems such as the arrival position being shifted or the speed not reaching 0 upon arrival as in Patent Document 1 do not occur.

[0048] FIG. 11 is a flowchart showing an example of the operation of the crane control device 70 in the first embodiment. As shown in the figure, in the crane control device 70, first, the vibration control trajectory generating unit 711 generates a vibration control trajectory x d Specifically, the vibration control trajectory generation unit 711 generates a vibration control trajectory x (t) that suppresses vibration when the rope 22 has a fixed length L0. d Generate (t). Next, the swing angle calculation unit 712 calculates the swing angle θ d Specifically, the sway angle calculation unit 712 calculates the sway angle (t) when the carriage 10 moves along the vibration-damping locus x d (t) Swing angle θ when moving d Calculate (t). Next, the correction term calculation unit 714 calculates the actual length L(t) and the actual length acceleration d 2 L(t) / dt 2 Specifically, the correction term calculation unit 714 obtains the actual length acceleration d 2 L(t) / dt 2 Get. Next, the correction term calculation unit 714 calculates the vibration control locus x d (t) (step 814). Specifically, the correction term calculation unit 714 calculates a correction term for the deflection angle θ d (t), fixed length L0, actual length L(t), and actual length acceleration d 2 L(t) / dt 2 and calculate the correction term. Next, adder 715 calculates the damping locus x c (t) (step 815). Specifically, the adder 715 calculates the vibration control locus x d By adding a correction term to (t), the vibration control locus x c Calculate (t). Finally, the crane control device 70 outputs the vibration-damping trajectory command value (step 816). Specifically, the crane control device 70 outputs the vibration-damping trajectory x c (t) is output as the vibration control trajectory command value.

[0049] In the first embodiment, based on the conventional method for the fixed length L0, it is possible to easily generate a vibration control locus for the actual length L(t). In addition, the acceleration d 2 L(t) / dt 2 Even when the vibration damping effect is large, a high vibration damping effect can be obtained.

[0050] (Second embodiment) Consider a case where there is a response delay in the trajectory of the carriage 10 or the length of the rope 22. In this case, even in the first embodiment described above or the third embodiment described below, only a slight residual vibration occurs. However, there are cases where it is desired to completely suppress this residual vibration. The second embodiment is an embodiment for such a case.

[0051] 12 is a block diagram showing an example of the functional configuration of a crane control device 70 according to the second embodiment. As shown in the figure, the crane control device 70 includes a vibration suppression trajectory generator 721 and a sway angle calculator 722. The crane control device 70 further includes a target length generator 723 and a filter 724. The crane control device 70 further includes a second-order differentiator 725, a correction term calculator 726, and an adder 727. The crane control device 70 further includes a filter 728a and a response delay 729a. The crane control device 70 further includes a filter 728b and a response delay 729b.

[0052] The vibration control trajectory generation unit 721 and the vibration angle calculation unit 722 are similar to the vibration control trajectory generation unit 711 and the vibration angle calculation unit 712 in FIG. Target length generator 723 generates a target length of rope 22, which is a target value of actual length L(t) of rope 22. Target length generator 723 is an example of a target length generator that generates a target length of the rope. The filter 724 is arranged to filter F at the target length of the rope 22. L (s) and outputs the actual length L(t). L (s) is an example of a first filter applied to the target length to output the actual length L(t). The second-order differentiator 725, the correction term calculation unit 726, and the adder 727 are similar to the second-order differentiator 713, the correction term calculation unit 714, and the adder 715 in FIG.

[0053] The filter 728a is connected to the target length of the rope 22 by the filter F r (s) and filter F r The length of the rope 22 to which (s) is applied is output. Filter F r (s) is an example of a second filter that is applied to the target length to output the command length. The response delay 729a applies a response delay R(s) to this output length of the rope 22. Here, the response delay R(s) can be set to a specified response delay when a two-degree-of-freedom control system or the like is configured. Then, the response delay 729a outputs the length of the rope 22 to which the response delay R(s) has been applied as a rope length command value. Here, the rope length command value can also be said to be a change pattern of the length of the rope 22 that is output to the hoisting machine control device 60.

[0054] The filter 728b is a damping locus x c (t) Filter F c (s) and filter F c The vibration control trajectory of the bogie 10 to which (s) is applied is output. Filter F c (s) is the corrected position x c 10 is an example of a third filter that is applied to (t) to output a command position. The response delay 729b applies a response delay D(s) to this output vibration damping trajectory of the bogie 10. Here, the response delay D(s) can be set to a specified response delay when a two-degree-of-freedom control system or the like is configured. Then, the response delay 729b outputs the vibration damping trajectory of the bogie 10 to which the response delay D(s) has been applied as a vibration damping trajectory command value. Here, the vibration damping trajectory command value can also be said to be a change pattern of the position of the bogie 10 that is output to the bogie control device 50.

[0055] Now, let us assume that the response delay of the trajectory of the carriage 10 is D(s) and the response delay of the length of the rope 22 is R(s). Then, the filter F r (science fiction c (science fictionL (s) should be set so as to satisfy the following formula (4).

[0056]

number

[0057] FIG. 13 shows the results when the vehicle 10 corresponding to FIGS. 7 and 8 has a response delay of 1 second (D(s)=1 / (s+1)). c (s)=1, F L (s) = 1, R(s) = 1, and F r We set (s) = 1 / (s + 1). Here, "1" for the filter indicates that there is no filter, and "1" for the response delay indicates that there is no response delay. Figure 13 shows that vibration can be stably suppressed even with a response delay, and that vibration is completely suppressed when the motor is stopped.

[0058] Here, three filters F r (science fiction c (science fiction L However, as in the above example, it is also possible to use only one or two filters and not use the other filters. For example, three filters F r (science fiction c (science fiction L (s), filter F L (s) can be used. In that case, the filter F L In addition to (s), the filter F r Alternatively, the filter F L In addition to (s), the filter F c Alternatively, only the filter F(s) may be used. L In addition to (s), the filter F r (s) and filter F c (s) may also be used. In this way, three filters F r (science fiction c (science fiction LUsing one, two, or all of the filters (s) is an example of providing at least one filter that corrects at least one of the response delays of the command position and the command length in order to align the phase of the command position of the carriage and the command length of the rope.

[0059] FIG. 14 is a flowchart showing an example of the operation of the crane control device 70 in the second embodiment. As shown in the figure, in the crane control device 70, first, the vibration control trajectory generating unit 721 generates a vibration control trajectory x d Specifically, the vibration control trajectory generation unit 721 generates a vibration control trajectory x (t) that suppresses vibration when the rope 22 has a fixed length L0. d Generate (t). Next, the swing angle calculation unit 722 calculates the swing angle θ d Specifically, the sway angle calculation unit 722 calculates the sway angle (t) when the carriage 10 moves along the vibration-damping locus x d (t) Swing angle θ when moving d Calculate (t). Next, target length generator 723 generates a target length of rope 22 (step 823). Specifically, target length generator 723 generates a target length that is a target value of actual length L(t) of rope 22. Next, the correction term calculation unit 726 calculates the actual length L(t) and the actual length acceleration d 2 L(t) / dt 2 Specifically, the correction term calculation unit 726 calculates the correction term F by applying the filter F to the target length of the rope 22. L The correction term calculation unit 726 obtains the actual length L(t) by applying the second-order differentiation to the actual length L(t). 2 L(t) / dt 2 Get. Next, the correction term calculation unit 726 calculates the vibration control locus x d (t) (step 825). Specifically, the correction term calculation unit 726 calculates a correction term for the deflection angle θ d (t), fixed length L0, actual length L(t), and actual length acceleration d 2 L(t) / dt 2and calculate the correction term. Next, adder 727 calculates the damping locus x c (t) (step 826). Specifically, the adder 727 calculates the vibration control locus x d By adding a correction term to (t), the vibration control locus x c Calculate (t). Finally, the crane control device 70 outputs the rope length command value and the vibration-damping trajectory command value (step 827). Specifically, the crane control device 70 applies a filter F r The crane control device 70 outputs a rope length command value to which the vibration damping locus x(s) and the response delay R(s) have been applied. c (t) Filter F c The vibration control trajectory command value to which the response delay D(s) has been applied is output.

[0060] Actual long acceleration d 2 L(t) / dt 2 or the actual length L(t) suddenly changes. d (t) correction time and damping locus x d Suppose there is a difference in the length of the rope 22 between when the force is reflected on the carriage 10 at (t) and when it is reflected on the carriage 10. In such a case, there is a possibility that the vibration damping effect will be slightly lost. In the second embodiment, this can be corrected to maintain a high vibration damping effect.

[0061] (Third embodiment) In the first and second embodiments, d 2 L(t) / dt 2 However, with a normal crane 1, it is rare to raise or lower the load 23 with sudden acceleration or deceleration. 2 L(t) / dt 2 If g is exceeded, the rope 22 may become loose, creating a very dangerous situation. 2 L(t) / dt 2 ≪ g. Assuming this, the vibration control locus x d The correction term for (t) can be approximated as in equation (5) below.

[0062]

number

[0063] That is, like a normal crane 1, d 2 L(t) / dt 2 When <<g, vibration can be suppressed even with the configuration of the third embodiment.

[0064] 15 is a block diagram showing an example of the functional configuration of a crane control device 70 according to the third embodiment. As shown in the figure, the crane control device 70 includes a vibration control trajectory generation unit 731 and a sway angle calculation unit 732. The crane control device 70 further includes a correction term calculation unit 733 and an adder 734.

[0065] The vibration control trajectory generation unit 731 and the vibration angle calculation unit 732 are similar to the vibration control trajectory generation unit 711 and the vibration angle calculation unit 712 in FIG. The correction term calculation unit 733 calculates the vibration control locus x d The correction term calculation unit 733 calculates a correction term for the deflection angle θ d The correction term calculation unit 733 calculates the correction term using the actual length acceleration d(t), the fixed length L0, and the actual length L(t). The correction term calculation unit 733 may calculate the correction term on the right side of the above equation (5), for example. In the third embodiment, the correction term calculation unit 733 calculates the correction term using the actual length acceleration d 2 L(t) / dt 2 Therefore, in the third embodiment, the crane control device 70 does not include the second-order differentiator 713 in FIG. Adder 734 is similar to adder 715 of FIG.

[0066] By the way, d 2 L(t) / dt 2 In this case, you may want to set θ d If (t)<<1 and the following equation (6) holds, then the above equation (5) also holds.

[0067]

number

[0068] So, in this case, θ d When (t) is sufficiently small, the length of the rope 22 can be accelerated or decelerated. For example, when the carriage 10 accelerates or decelerates, θ d When θ(t) increases, the acceleration of the length of the rope 22 can be reduced. d When (t) is small, the acceleration of the length of the rope 22 should be increased.

[0069] Fig. 16 shows the results when the length of the rope 22 is changed at a constant speed when accelerating or decelerating the carriage 10. Fig. 16 shows that when operated in this manner, vibration is completely suppressed by the third embodiment.

[0070] FIG. 17 shows the results when the length of the rope 22 is gradually accelerated and decelerated in the third embodiment. 2 L(t) / dt 2 17 shows that although some residual vibration remains when the motor is stopped, it can be said that the vibration is sufficiently suppressed.

[0071] FIG. 18 is a flowchart showing an example of the operation of the crane control device 70 in the third embodiment. As shown in the figure, in the crane control device 70, first, the vibration control trajectory generating unit 731 generates a vibration control trajectory x d Specifically, the vibration control trajectory generation unit 731 generates a vibration control trajectory x (t) that suppresses vibration when the rope 22 has a fixed length L0. d Generate (t). Next, the swing angle calculation unit 732 calculates the swing angle θ d Specifically, the sway angle calculation unit 732 calculates the sway angle (t) when the carriage 10 moves along the vibration-damping locus x d (t) Swing angle θ when moving d Calculate (t). Next, the correction term calculation unit 733 obtains the actual length L(t) of the rope 22 (step 833). Next, the correction term calculation unit 733 calculates the vibration control locus x d (t) (step 834). Specifically, the correction term calculation unit 733 calculates a correction term for the deflection angle θ d (t), the fixed length L0, and the actual length L(t) are used to calculate the correction term. Next, adder 734 calculates the damping locus x c (t) (step 835). Specifically, the adder 734 calculates the vibration damping locus x d By adding a correction term to (t), the vibration control locus x c Calculate (t). Finally, the crane control device 70 outputs the vibration-damping trajectory command value (step 836). Specifically, the crane control device 70 outputs the vibration-damping trajectory x c (t) is output as the vibration control trajectory command value.

[0072] In the third embodiment, a vibration control locus for the actual length L(t) can be easily generated based on the conventional method for the fixed length L0. [Explanation of symbols]

[0073] 1...Crane, 10...Carriage, 20...Hoist, 22...Rope, 23...Suspended load, 30...Carriage position detection device, 40...Rope length detection device, 50...Carriage control device, 60...Hoisting machine control device, 70...Crane control device, 711, 721, 731...Vibration control trajectory generation unit, 712, 722, 732...Sway angle calculation unit, 714, 726, 733...Correction term calculation unit, 715, 727, 734...Adder, 723...Target length generation unit, 724, 728a, 728b...Filter

Claims

1. The rope hanging from the overhead crane's carriage is of fixed length L. ０ The reference position x of the carriage that suppresses the vibration of the rope when ｄ a reference position generating unit that generates (t); The rope has the fixed length L ０ When the carriage is at the reference position x ｄ The swing angle θ of the rope caused by moving (t) ｄ A swing angle generation unit that generates (t); The actual length L(t) of the rope and the fixed length L ０ and the swing angle θ ｄ (t) based on the reference position x ｄ By correcting (t), the corrected position x of the carriage is obtained, which suppresses the vibration of the rope when the length of the rope changes. ｃ a correction position generator for generating (t); A position generating device for a carriage of an overhead crane, comprising:

2. The correction position generating unit further calculates the reference position x based on the acceleration of the actual length L(t) of the rope. ｄ (t) to obtain the corrected position x ｃ 2. The position generating device for a carriage of an overhead crane according to claim 1, wherein (t) is generated.

3. 2. The position generation device for a carriage of an overhead crane according to claim 1, further comprising at least one filter that corrects at least one of a response delay of the command position and a response delay of the command length in order to align the phases of the command position of the carriage and the command length of the rope.

4. A target length generating unit that generates a target length of the rope is further provided, 4. The position generation device for a carriage of an overhead crane according to claim 3, wherein the at least one filter includes a first filter that is applied to the target length to output the actual length L(t).

5. The position generation device for a carriage of an overhead crane according to claim 4 , wherein the at least one filter further includes a second filter that is applied to the target length to output the command length.

6. The at least one filter is configured to ｃ 5. The position generating device for a carriage of an overhead crane according to claim 4, further comprising a third filter applied to (t) to output the command position.

7. The at least one filter a second filter applied to the target length to output the command length; The correction position x ｃ a third filter applied to (t) to output the command position; The position generating device for a carriage of an overhead crane according to claim 4, further comprising:

8. The reference position generating unit of the computer determines whether the rope suspended from the carriage of the overhead crane is at a fixed length L ０ The reference position x of the carriage that suppresses the vibration of the rope when ｄ generating (t); The swing angle generating unit of the computer determines whether the rope has the fixed length L ０ When the carriage is at the reference position x ｄ The swing angle θ of the rope caused by moving (t) ｄ generating (t); The correction position generating unit of the computer calculates the actual length L(t) of the rope and the fixed length L ０ and the swing angle θ ｄ (t) based on the reference position x ｄ By correcting (t), the corrected position x of the carriage is obtained, which suppresses the vibration of the rope when the length of the rope changes. ｃ generating (t); A method for generating a position of a carriage of an overhead crane, comprising:

9. On the computer, The rope hanging from the overhead crane's carriage is of fixed length L. ０ The reference position x of the carriage that suppresses the vibration of the rope when ｄ (t) and a function for generating The rope has the fixed length L ０ When the carriage is at the reference position x ｄ The swing angle θ of the rope caused by moving (t) ｄ (t) and a function for generating The actual length L(t) of the rope and the fixed length L ０ and the swing angle θ ｄ (t) based on the reference position x ｄ By correcting (t), the corrected position x of the carriage is obtained, which suppresses the vibration of the rope when the length of the rope changes. ｃ (t) and A program to achieve this.

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