Control device and control method

Abstract

To switch a crane control mode according to a request.SOLUTION: A control device controls at least one of a trolley and a girder provided in a crane. The control device comprises a setting unit to accept any one selection of an automatic control mode, a first manual control mode, and a second manual control mode, and a control unit which controls at least one of the trolley and the girder according to any one control mode of the automatic control mode, the first manual control mode, and the second manual control mode accepted by the setting unit, where the automatic control mode controls at least one of the trolley and the girder by a predetermined control pattern for moving a suspended load from a conveyance start position to a conveyance end position, the first manual control mode controls at least one of the trolley and the girder according to a movement command from an operator via an operation unit, and the second manual control mode controls at least one of the trolley and the girder according to the movement command from the operator via the operation unit and to a supplement command to supplement the movement command for suppressing the vibration of the suspended load when the movement command satisfies the vibration condition of the suspended load.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a control device and a control method. [Background technology]

[0002] Patent Document 1 describes automatic operation control in which a load is hoisted, the crane travels laterally, and then the load is lowered and transported to a target position based on a crane travel plan created by the Input Shaping method. [Prior art document] [Patent documents] [Patent Document 1] JP 2007-161393 A Summary of the Invention [Problem to be solved by the invention]

[0003] It is desirable to be able to switch the crane's control mode on demand. [Means for solving the problem]

[0004] A control device according to one aspect of the present invention may be a control device that controls at least one of a trolley and a girder provided on a crane. The control device may include a setting unit that sets one of the following control modes: an automatic control mode in which at least one of the trolley and the girder is controlled using a predetermined control pattern to move a suspended load connected to the trolley via a wire from a transfer start position to a transfer end position; a first manual control mode in which at least one of the trolley and the girder is controlled in accordance with a movement command from an operator via an operation unit; and a second manual control mode in which at least one of the trolley and the girder is controlled in accordance with a movement command from the operator via the operation unit and a supplemental command that supplements the movement command to suppress vibration of the suspended load when the movement command satisfies a condition for vibration of the suspended load. The control device may include a control unit that controls at least one of the trolley and the girder in accordance with one of the automatic control mode, the first manual control mode, and the second manual control mode set by the setting unit.

[0005] When the second manual control mode is accepted as the control mode by the setting unit, the control unit may determine whether or not the movement command satisfies the condition for vibrating the suspended load based on the vibration period of the suspended load.

[0006] The control unit may derive the vibration period of the suspended load based on the wire length of the wire, and may successively update the vibration period in accordance with fluctuations in the wire length.

[0007] If there is a discrepancy between the timing at which the output of the movement command from the operator via the operating unit is stopped and the timing at which the swing amplitude of the load based on the vibration period of the load becomes zero, the control unit may control at least one of the trolley and the girder in accordance with a supplementary command to continue outputting the movement command until the swing amplitude of the load based on the vibration period of the load becomes zero.

[0008] If there is a discrepancy between the timing at which the output of the movement command from the operator via the operating unit is stopped and the timing at which the swing amplitude of the load based on the vibration period of the load becomes zero, the control unit may control at least one of the trolley and the girder in accordance with a supplementary command that complies with the input shaping method.

[0009] The control unit may control at least one of the trolley and the girder in accordance with movement commands and supplementary commands that conform to the ZV shaper method using a pulse signal with a width determined based on the vibration period of the suspended load.

[0010] The control unit may alternately output two first pulse signals of a first width determined based on the vibration period of the suspended load as a movement command from the worker via the operating unit, and if the timing to stop outputting the movement command from the worker via the operating unit is the timing when the first pulse signal has been output up to a second width smaller than the first width, may output, as a supplementary command, two second pulse signals consecutively each having a width half the difference between the first width and the second width, and then output one third pulse signal which is an inverse pulse of the second pulse signal at the timing of outputting the second second pulse signal, and further output a second third pulse signal after the first third pulse signal.

[0011] The control device may further include a notification unit that notifies the outside that control based on the supplementary command is being performed when the control unit controls at least one of the trolley and the girder in accordance with the supplementary command.

[0012] A control method according to one aspect of the present invention may be a control method for controlling at least one of a trolley and a girder provided in a crane. The control method may include a step of setting one of an automatic control mode in which at least one of the trolley and the girder is controlled using a predetermined control pattern to move a suspended load connected to the trolley via a wire from a transfer start position to a transfer end position; a first manual control mode in which at least one of the trolley and the girder is controlled in accordance with a movement command from an operator via an operation unit; and a second manual control mode in which at least one of the trolley and the girder is controlled in accordance with a movement command from the operator via the operation unit and a supplemental command that supplements the movement command to suppress vibration of the suspended load when the movement command satisfies a condition for vibration of the suspended load. The control method may include a step of controlling at least one of the trolley and the girder in accordance with the set control mode, which is any one of the automatic control mode, the first manual control mode, and the second manual control mode.

[0013] The above summary of the invention does not list all of the features of the present invention, and subcombinations of these features may also be inventions. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 1 is a diagram illustrating an example of the overall configuration of a crane system. [Figure 2] FIG. 2 is a diagram illustrating an example of functional blocks of a control device. [Figure 3] FIG. 1 is a diagram showing an outline of three-dimensional modeling of a trolley and a suspended load. [Figure 4] FIG. 1 is a diagram showing an example of a block diagram of a control system that embodies a control algorithm executed by a PLC. [Figure 5] FIG. 10 is a diagram showing activation of an assist function based on the vibration period (amplitude) of a suspended load. [Figure 6] FIG. 10 is a diagram showing the activation of an assist function according to the ZV shaper method. [Figure 7] 10 is a flowchart showing an example of a processing procedure of the control device in a second manual control mode. DETAILED DESCRIPTION OF THE INVENTION

[0015] The present invention will be described below through embodiments of the invention, but the following embodiments do not limit the scope of the invention according to the claims. Furthermore, not all of the combinations of features described in the embodiments are necessarily essential to the solution of the invention.

[0016] 1 is a diagram showing an example of the overall configuration of a crane system 10. The crane system 10 includes a control device 100 and a crane mechanism 200. The control device 100 controls the crane mechanism 200.

[0017] The crane mechanism 200 has a trolley 210, a girder 220, and a hoisting device 230. The trolley 210 moves on the girder 220 along a first direction (y-axis direction). The movement of the trolley 210 on the girder 220 is sometimes referred to as "traversing." The girder 220 moves along a rail extending in a second direction (x-axis direction, a direction perpendicular to the paper surface) that is perpendicular to the first direction. The movement of the girder 220 along the rail is sometimes referred to as "traveling."

[0018] The trolley 210 has wheels for traveling laterally on the girder 220 and a hoisting device 230 for winding up and down the wire 240. A hook 250 for attaching the load 300 is provided at the end of the wire 240. The hoisting device 230 moves the load 300 along a third direction (z-axis direction) perpendicular to the first and second directions. The girder 220 has wheels for traveling along rails extending in the second direction and rails extending in the first direction along which the trolley 210 travels laterally. The girder 220 travels along the rails extending in the second direction and the trolley 210 travels laterally along the rails extending in the first direction, thereby transporting the load 300 from a transfer start position to a transfer end position.

[0019] 2 is an example of functional blocks of the control device 100. The control device 100 includes a setting unit 110, an operation unit 120, a control unit 130, and a notification unit 112.

[0020] The control device 100 can operate in an automatic control mode in which the load 300 is automatically transported to the destination position, which is the end of transport, a first manual control mode in which the load 300 is manually transported to the destination position, which is the end of transport, and a second manual control mode in which the load 300 is manually transported to the destination position, which is the end of transport, and which has an assist function that assists in suppressing swinging of the load 300 during transport.

[0021] The setting unit 110 accepts a selection of one of the automatic control mode, the first manual control mode, and the second manual control mode as the control mode desired by the operator. The setting unit 110 may accept the setting from the operator via, for example, a mode selector switch, a touch panel display, or the like.

[0022] The operation unit 120 accepts movement commands from an operator to the crane system 10 when operating in the first manual control mode and the second manual control mode. The operation unit 120 has a plurality of pushbutton switches. The operation unit 120 includes a pair of traverse pushbuttons 121 and 122 for moving the load 300 in one and the other first directions, i.e., for moving the trolley 210 laterally. The operation unit 120 includes a pair of travel pushbuttons 123 and 124 for moving the load 300 in one and the other second directions, i.e., for traveling the girder 220. The operation unit 120 includes a pair of hoisting / lowering pushbuttons 125 and 126 for moving the load 300 in the vertical direction, which is a third direction perpendicular to the first and second directions, i.e., for hoisting and lowering the load 300 by the hoisting device 230.

[0023] The control unit 130 controls the trolley 210, the girder 220, and the hoisting device 230 in response to a movement command from the operation unit 120, and transports the suspended load 300 from the transport start position to the transport end position.

[0024] The control unit 130 includes a DSP (digital signal processor) 140 and a PLC (programmable logic controller) 150.

[0025] The DSP 140 calculates a control speed, which is a speed for controlling the trolley 210 or the girder 220, based on the command value u input from the operation unit 120, and outputs the control speed to the PLC 150. When the traverse push buttons 121 and 122 are pressed, the command value u in the y-axis direction is y is output from the operation unit 120. When the travel push buttons 123 and 124 are pressed, the command value u in the x-axis direction is x is output from the operation unit 120. When the hoisting / lowering push buttons 125 and 126 are pressed, the command value u in the z-axis direction is z is output from the operation unit 120.

[0026] The PLC 150 calculates a motor control value for the trolley 210 or the girder 220 so that the control speed is the one input from the DSP 140, and outputs it to an inverter that controls the drive motor provided in the trolley 210 or the girder 220. The inverter converts the motor control value input from the PLC 150 into an analog signal and outputs it to the drive motor of the trolley 210 or the girder 220. The drive motor of the trolley 210 or the girder 220 is driven in accordance with the analog signal input from the inverter, causing the trolley 210 to move laterally or the girder 220 to travel, thereby moving the suspended load 300.

[0027] The hoisting device 230 has a sensor that detects the hoisting speed of the load 300. The sensor may be a rotary encoder (pulse generator) that measures the rotational displacement of a hoisting motor of the hoisting device 230. The measurement results from the rotary encoder may be input to the DSP 140. The DSP 140 calculates the hoisting speed and lowering speed of the load 300 and the wire length indicating the length of the wire 240 based on the measurement results from the rotary encoder. The DSP 140 may calculate the wire length by multiplying the hoisting speed or lowering speed of the load 300 by the time the hoisting / lowering push buttons 125 and 126 are pressed.

[0028] In this embodiment, a push button will be described as an example of the operation unit with which the worker operates the crane system 10. However, the operation unit with which the worker operates the crane system 10 may have other configurations, such as an operation lever, in addition to the push button.

[0029] The PLC 150 may control the trolley 210 or the girder 220 according to a predetermined control algorithm to move the load 300.

[0030] FIG. 3 is a diagram showing an outline of three-dimensional modeling of the trolley 210 and the suspended load 300. Angle α indicates the angle when the swing width θ of the suspended load 300 is projected onto the XZ plane. Angle β indicates the angle when the swing width θ of the suspended load 300 is projected onto the YZ plane. Angle φ indicates the angle when the swing width θ of the suspended load 300 is projected onto the XY plane. The coordinates of the trolley 210 are indicated by (x, y, 0), and the coordinates of the suspended load 300 are indicated by (x ~,y ~ ,z ~ ) where x ~ is synonymous with the symbol (a) below. ~ is synonymous with symbol (b) below. ~ is synonymous with the symbol (c) below. Similarly, in figures, symbols written above letters such as x may be written in parallel to the right of the letters.

number

[0031] FIG. 4 shows an example block diagram of a control system that embodies the control algorithm executed by the PLC 150.

[0032] The control system includes a feedforward controller 151, a state feedback controller 152, a robust disturbance feedback controller 153, a control target 154, and a state observer 155. FF is the feedforward controller 151. K FB is a state feedback controller 152. L is a robust disturbance feedback controller 153. Gn is a nominal model and is part of a state observer 155.

[0033] When the control device 100 operates in the automatic control mode, the load 300 moves in accordance with the movement of the trolley 210 and the girder 220 by feedforward control or a combination of various feedback controls.

[0034] In the y-axis acceleration and constant velocity section 501, the control device 100 performs feedforward control of the trolley 210 according to a polynomial with time t as a variable in the following equation (1).

number

[0035] Here, accy is the acceleration in the y-axis direction, and a0, a1, a2, a3, and a4 are expressed by the following equation (2).

number

[0036] where V max is the maximum speed (m / s), T acc is the acceleration time (sec), w n is √g / l (rad / sec). After the acceleration is completed, the trolley 210 performs uniform motion. The uniform motion time is varied depending on the transfer end position of the suspended load 300.

[0037] In the y-axis deceleration and x-axis acceleration section 502, the control device 100 performs feedforward control of the trolley 210 and the girder 220 in accordance with a polynomial with time t as a variable, as shown in the following equation (3).

number

[0038] Here, accx is the acceleration in the x-axis direction, and accy is the acceleration in the y-axis direction.

[0039] In the constant velocity and deceleration section 503 on the x-axis, the control device 100 performs feedforward control of the girder 220 according to a polynomial with time t as a variable, as shown in the following equation (4).

number

[0040] Here, accx is the acceleration in the x-axis direction.

[0041] As described above, in the automatic control mode, the control device 100 moves the load 300 by feedforward control according to the transfer end position. Note that the transfer end position may be changed by changing the constant speed operation time in the x-axis or y-axis direction or the maximum speed in the x-axis or y-axis direction.

[0042] The control device 100 receives a command value u xThe control device 100 controls the drive motor of the girder 220 with an operation amount according to the command value u y The control device 100 controls the drive motor of the trolley 210 with an operation amount according to the command value u z The drive motor of the hoisting device 230 is controlled with an operation amount according to the value, and the load 300 is hoisted up or down in the z-axis direction.

[0043] When the control device 100 controls the trolley 210 and the girder 220 in accordance with the command value u, the following equation (5) holds.

number

[0044] Here, the trolley 210, the girder 220, and the hoisting device 230 have first-order lag characteristics. The gain K and time constant T of the drive motors of the trolley 210, the girder 220, and the hoisting device 230, respectively. That is, Kx is the gain of the drive motor of the girder 220, and Tx is the time constant of the drive motor of the girder 220. Ky is the gain of the drive motor of the trolley 210, and Ty is the time constant of the drive motor of the trolley 210. Kz is the gain of the drive motor of the hoisting device 230, and Tz is the time constant of the drive motor of the hoisting device 230.

[0045] The symbol "··" above x, y, and z on the left side of equation (5) indicates that x, y, and z are differentiated twice with respect to time t. The symbol "·" above x, y, and z on the right side indicates that x, y, and z are differentiated once with respect to time t.

[0046] By rearranging the equation of motion for the suspended load 300, and letting the mass of the suspended load 300 be m, the gravitational acceleration be g, the damping coefficient in the x-axis direction be Dα, and the damping coefficient in the y-axis direction be Dβ, the following equation (6) is established as the equation of motion for the suspended load 300.

number

[0047] Since equations (5) and (6) contain second-order differentials, they are converted into equations containing only first-order differentials to facilitate analysis of the crane system 10. Specifically, equations (5) and (6) are converted into the following equation (7):

number

[0048] where x1, y1, z1, x ~ 1, and y ~ 1 is a state variable temporarily used to avoid the second-order differential expression.

[0049] By arranging equation (7) into a state space model, the following equation (8) is obtained.

number

[0050] In equation (8), the state vector xp including 10 state variables in the state space model, the command value vector u, the matrix A, and the matrix B are as shown in the following equation (9).

number

[0051] Here, of the 10 state variables, x is the position of the trolley 210 in the x-axis direction, dx / dt is the speed of the trolley 210 in the x-axis direction, Δx is the swing amplitude of the load 300 in the x-axis direction, and dΔx / dt is the speed of the swing amplitude of the load 300. y is the position of the trolley 210 in the y-axis direction, dy / dt is the speed of the trolley 210 in the y-axis direction, Δy is the swing amplitude of the load 300 in the y-axis direction, and dΔy / dt is the speed of the swing amplitude of the load 300. z is the hoisting position of the load 300, and dz / dt is the hoisting speed of the load 300.

[0052] Here, the state equation of the crane system 10 is expressed by the above-mentioned equation (8), and the output equation of the crane system 10 is expressed by the following equation (10).

number

[0053] In FIG. 4, the control object 154, which is the crane system 10, includes blocks 154a, 154b, 154c, and 154d that embody equations (8) and (10), and an adder 154e.

[0054] Block 154a multiplies the input command value u by the matrix B of equation (8). Adder 154e adds the output from block 154a and the output from block 154c. Block 154b integrates the output from adder 154e to obtain a state vector x p Block 154c outputs the state vector x p Block 154d multiplies the state vector x by the matrix A in equation (8). p is multiplied by the matrix C in equation (10) to obtain the output y p Output.

[0055] The controller 160 includes a feedforward controller 151, a state feedback controller 152, an adder 161, and an adder 163. The controller 160 receives a command value u from the operation unit 120. FF and the state vector x^ estimated by the state observer 155 p Based on this, the controller 11 outputs a command value u for controlling the crane system 10.

[0056] The feedforward controller 151 is a block that models the crane system 10, and is a so-called real plant simulator that is a nominal model. The feedforward controller 151 is configured to include blocks that execute the equations (8) and (10), similar to the controlled object 154. The feedforward controller 151 calculates the command value u FF When input, x including the state variables is calculated according to equations (8) and (10). p_ref The state variable x is output. p_ref corresponds to the target value of the state variable when controlling the crane system 10.

[0057] The adder 161 calculates the state variable x output from the feedforward controller 151. p_ref and the state vector x^ output from the state observer 155 p The state feedback controller 152 is a block in which a gain, a first-order lag element, etc. for feedback control of the crane system 10 are set. The state feedback controller 152 outputs a command value u for feedback control of the crane system 10 based on the difference e and the set gain, etc. k The adder 163 outputs a command value u for feedforward control of the crane system 10. FF and a command value u for feedback control of the crane system 10. k and is added together to output the command value u.

[0058] The adder 165 calculates the command value u output from the controller 160 and the command value u output from the robust disturbance feedback controller 153. l The disturbance d and noise w are added together. Here, the command value u l is a command value mainly for canceling the disturbance d.

[0059] The adder 166 calculates the state vector y pt and noise v generated by rotary encoders, etc., to obtain the state vector y pk Output.

[0060] The state observer 155 receives the command value u from the controller 160 and the state vector y from the adder 166. pk The state observer 155 is a Kalman filter type observer that estimates the state variables based on the following: The state observer 155 includes a nominal plant 170, an adder 155f, and a block 155e.

[0061] The adder 155f receives the state vector y from the adder 166. pk and the state vector y^ from the nominal plant 170 p The difference between yBlock 155e outputs the difference ε y The adder 155f multiplies the difference ε y The magnitude of the gain of the Kalman filter is adjusted appropriately so that

[0062] State vector x^ p is output to the adder 161 and the adder 167.

[0063] The adder 167 and the robust disturbance feedback controller 153 are blocks for removing the disturbance d and the noise w. The adder 167 calculates the state vector x p and the state vector x^ from the state observer 155 p The robust disturbance feedback controller 153 adjusts the gain so that the difference ε becomes small, and outputs the command value u l is output to the adder 165.

[0064] The control device 100 configured as above operates in the first manual control mode and the second manual control mode in addition to the automatic control mode as a control mode desired by the operator, as described above.

[0065] When the setting unit 110 has set the second manual control mode as the control mode, the control unit 130 issues a movement command (command value u FF ) satisfies the condition for the suspended load 300 to vibrate. The control unit 130 sequentially updates the vibration period of the suspended load 300 based on the wire length (z) of the wire 240. The control unit 130 may derive the vibration period of the suspended load 300 from data on the actual measured values ​​or estimated values ​​of the state variable Δx and state variable Δy of the swing amplitude. If the vibration period of the suspended load 300 is T, the wire length of the wire 240 is l, and the gravitational acceleration is g, the vibration period of the suspended load 300 can be derived as T = 2π × √l / g.

[0066] If there is a discrepancy between the timing at which the output of the movement command from the operator via the operating unit 120 is stopped and the timing at which the swing amplitude of the load 300 based on the vibration period of the load 300 becomes zero, the control unit 130 may control at least one of the trolley 210 and the girder 220 in accordance with a supplementary command that essentially continues outputting the movement command until the timing at which the swing amplitude of the load 300 based on the vibration period of the load 300 becomes zero.

[0067] The control unit 130 may control at least one of the trolley 210 and the girder 220 in accordance with the supplementary command to delay the timing at which the output of the movement command from the operator via the operating unit 120 is stopped, i.e., the timing at which deceleration of the load 300 begins, until the swing amplitude Δx in the x-axis direction and the swing amplitude Δy in the y-axis direction of the load 300 become zero, if the swing amplitude Δx in the x-axis direction and the swing amplitude Δy in the y-axis direction of the load 300 are not zero.

[0068] 5 is a diagram showing how the control unit 130 activates the assist function based on the vibration period (swing amplitude) of the suspended load 300. The control unit 130 determines whether the swing amplitude of the suspended load 300 is zero or not when the operator turns off the push button (traverse push buttons 121 and 122 or travel push buttons 123 and 124). If the swing amplitude of the suspended load 300 is not zero, the control unit 130 outputs a supplementary command until the swing amplitude of the suspended load 300 becomes zero. This delays the timing of deceleration of the trolley 210 or girder 220 until the swing amplitude of the suspended load 300 becomes zero.

[0069] When there is a discrepancy between the timing at which the output of a movement command from the operator via the operation unit 120 is stopped and the timing at which the swing amplitude of the suspended load 300 based on the vibration period of the suspended load 300 becomes zero, the control unit 130 may control at least one of the trolley 210 and the girder 220 in accordance with a supplemental command that complies with an input shaping method, as an alternative to the method of outputting a supplemental command that essentially continues the output of the movement command until the swing amplitude of the suspended load 300 becomes zero as shown in Fig. 5. The input shaping method refers to control that applies vibrations in the opposite phase to the vibrations of the object, i.e., the suspended load 300, to minimize the vibration of the object when the object starts to move or stops.

[0070] If there is a discrepancy between the timing at which the output of the movement command from the operator via the operation unit 120 is stopped and the timing at which the swing amplitude of the suspended load 300 based on the 300 vibration cycles of the suspended load becomes zero, the control unit 130 may control at least one of the trolley 210 and the girder 220 in accordance with a supplemental command that complies with the Zero Vibration (ZV) shaper method. The ZV shaper method is a control method that performs swing prevention by superimposing residual signals generated by multiple impulse signals on the secondary system.

[0071] FIG. 6 is a diagram showing how the control unit 130 activates the assist function in accordance with the ZV shaper method. While the push button is on, the control unit 130 alternately and continuously outputs pulse signals P1 and P2, each having a width W that is half the vibration period 2W of the suspended load 300, as movement commands at the vibration period 2W of the suspended load 300. If the push button is not turned off at a time when the amplitude of the vibration period 2W does not become zero, that is, if the width α of the pulse signal P1' is shorter than the width W, the control unit 130 continuously outputs vibration suppression pulse signals p1a and p1b, each having a width α / 2, which is half the width α, as supplementary commands. Furthermore, in order to suppress vibration of the suspended load 300 due to the vibration suppression pulse signal p1a, the control unit 130 outputs a vibration suppression pulse signal p2a, which is the inverse pulse of the vibration suppression pulse signal p1a, as a supplementary command, simultaneously with the vibration suppression pulse signal p1b. Since the vibration suppression pulse signal p1a and the vibration suppression pulse signal p2a are pulse signals of the same width but opposite polarities, the signal is essentially 0. Next, in order to correct the overtravel of the load 300 caused by the vibration suppression pulse signal p1a, the control unit 130 further outputs a vibration suppression pulse signal p2b, which is an inverse pulse signal of the vibration suppression pulse signal p1a, as a supplementary command.

[0072] The oscillation period 2W varies depending on the wire length (z). Therefore, the control unit 130 may adjust the widths of the pulse signals P1 and P2 in accordance with the oscillation period 2W.

[0073] The control device 100 further includes a notification unit 112. When controlling at least one of the trolley 210 and the girder 220 in accordance with a supplemental command, the notification unit 112 notifies the outside that control based on the supplemental command is being performed. This allows the worker to immediately understand that if deceleration of the suspended load 300 does not begin even though the worker has turned off the push button, the cause is that the assist function has been activated. The notification unit 112 may notify the outside by turning on a lamp indicating that the assist function has been activated. The notification unit 112 may notify the outside by displaying a message indicating the activation of the assist function on a display unit such as a liquid crystal display.

[0074] FIG. 7 is a flowchart showing an example of a processing procedure of the control device 100 in the second manual control mode.

[0075] The control unit 130 outputs a movement command (command value u) while the operator is pressing the push button (traverse push buttons 121 and 122 or travel push buttons 123 and 124) for moving the trolley 210 or the girder 220 (S100). The control unit 130 determines whether to end the movement command by determining whether the operator has turned off the push button for moving the trolley 210 or the girder 220 (S102).

[0076] When the movement command is to be terminated, the control unit 130 determines whether to activate the assist function (S104). The control unit 130 determines whether to output a supplementary command to substantially continue the movement command. The control unit 130 determines whether to activate the assist function by determining whether the movement command satisfies the condition for vibrating the load 300 based on the vibration period of the load 300.

[0077] When the assist function is activated, the control unit 130 generates a supplemental command to suppress vibration of the suspended load 300 (S106). The notification unit 112 notifies the worker that the assist function is activated by turning on a lamp, displaying a message, etc. (S108). The control unit 130 outputs the generated correction command (S110).

[0078] As a result, even if the operator does not turn off the push button at the appropriate timing during manual control, the timing for decelerating the load 300 can be controlled appropriately, thereby suppressing vibration of the load 300.

[0079] Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications and improvements can be made to the above embodiments. It is clear from the claims that such modifications and improvements can also be included within the technical scope of the present invention.

[0080] It should be noted that the execution order of each process, such as operations, procedures, steps, and stages, in the devices, systems, programs, and methods shown in the claims, specifications, and drawings is not specifically stated as "before," "prior to," etc., and that the processes can be performed in any order unless the output of a previous process is used in a subsequent process. Even if the operational flow in the claims, specifications, and drawings is described using "first," "next," etc. for convenience, this does not mean that the processes must be performed in this order. [Explanation of symbols]

[0081] 10 Crane System 100 control device 110 Setting section 112 Notification Department 120 Operation section 121,122 Traverse push button 123,124 Travel push button 125,126 Push button for lifting / lowering 130 Control Unit 151 Feedforward Controller 152 State Feedback Controller 153 Robust Disturbance Feedback Controller 154 Control Target 155 State Observer 160 Controller 170 Nominal Plant 200 Crane mechanism 210 Trolley 220 Guarda 230 Hoisting device 240 wire 250 hooks 300 Hanging load

Claims

1. A control device that controls at least one of a trolley and a girder provided on a crane, In order to move the load connected to the trolley via a wire from the transport start position to the transport end position, a control unit is provided to control at least one of the trolley and the girder in accordance with a movement command from an operator via an operation unit and a supplementary command to supplement the movement command to suppress vibration of the load when the movement command satisfies the condition for vibrating the load. The control unit determines whether the movement command satisfies the conditions for vibrating the load based on the vibration period of the load, and if there is a difference between the timing at which the output of the movement command from the operator via the operating unit is stopped and the timing at which the swing amplitude of the load based on the vibration period of the load becomes zero, the control device controls at least one of the trolley and the girder in accordance with the supplementary command to continue outputting the movement command until the swing amplitude of the load becomes zero.

2. The control device according to claim 1 , wherein the control unit updates the vibration period of the suspended load based on the wire length of the wire.

3. A control device for controlling at least one of a trolley and a girder provided on a crane, In order to move the load connected to the trolley via a wire from the transport start position to the transport end position, a control unit is provided to control at least one of the trolley and the girder in accordance with a movement command from an operator via an operation unit and a supplementary command to supplement the movement command to suppress vibration of the load when the movement command satisfies the condition for vibrating the load. The control unit determines whether the movement command satisfies the conditions for vibrating the load based on the vibration period of the load, and if there is a difference between the timing at which the output of the movement command from the worker via the operating unit is stopped and the timing at which the swing width of the load based on the vibration period of the load becomes zero, the control device controls at least one of the trolley and the girder in accordance with the supplementary command that complies with an input shaping method.

4. The control unit controls at least one of the trolley and the girder in accordance with the movement command and the supplementary command according to the ZV shaper method using a pulse signal having a width determined based on the vibration period of the suspended load. The control device according to claim 3.

5. The control unit two first pulse signals having a first width determined based on a vibration period of the suspended load are alternately output as the movement command from the operator via the operation unit; 5. The control device according to claim 4, wherein, when the timing at which output of the movement command from the operator via the operation unit is stopped is the timing at which the first pulse signal has been output up to a second width smaller than the first width, the control device outputs, as the supplementary command, a second pulse signal having a width half the difference between the first width and the second width consecutively twice, and then outputs a third pulse signal which is an inverse pulse of the second pulse signal once at the timing at which the second second pulse signal is output, and further outputs a second third pulse signal after the first third pulse signal.

6. The device further comprises a setting unit for setting one of an automatic control mode in which at least one of the trolley and the girder is controlled in a predetermined control pattern to move the load from the transport start position to the transport end position, a first manual control mode in which at least one of the trolley and the girder is controlled in accordance with a movement command from an operator via the operating unit, and a second manual control mode in which at least one of the trolley and the girder is controlled in accordance with the movement command and the supplementary command, The control unit controls at least one of the trolley and the girder according to any one control mode of the automatic control mode, the first manual control mode, and the second manual control mode set by the setting unit. The control device according to any one of claims 1 to 5.

7. The control device according to claim 6, further comprising a notification unit that notifies an outside party that control based on the supplementary command is performed when the control unit controls at least one of the trolley and the girder according to the supplementary command.

8. A control method for controlling at least one of a trolley and a girder provided on a crane, In order to move the load connected to the trolley via a wire from the transport start position to the transport end position, a movement command from an operator via an operation unit and a supplementary command that supplements the movement command to suppress vibration of the load when the movement command satisfies the condition for vibrating the load. A step of controlling at least one of the trolley and the girder. The controlling step determines whether the movement command satisfies the conditions for vibrating the load based on the vibration period of the load, and if there is a discrepancy between the timing at which the output of the movement command from the operator via the operating unit is stopped and the timing at which the swing amplitude of the load based on the vibration period of the load becomes zero, the control method includes a step of controlling at least one of the trolley and the girder in accordance with the supplementary command to continue outputting the movement command until the swing amplitude of the load becomes zero.

9. A control method for controlling at least one of a trolley and a girder provided on a crane, In order to move the load connected to the trolley via a wire from the transport start position to the transport end position, a movement command from an operator via an operation unit and a supplementary command that supplements the movement command to suppress vibration of the load when the movement command satisfies the condition for vibrating the load. A step of controlling at least one of the trolley and the girder. The controlling step includes determining whether the movement command satisfies the conditions for vibrating the load based on the vibration period of the load, and if there is a discrepancy between the timing at which the output of the movement command from the worker via the operating unit is stopped and the timing at which the swing amplitude of the load based on the vibration period of the load becomes zero, controlling at least one of the trolley and the girder in accordance with the supplementary command according to an input shaping method.

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