JP3242633B2 - How to set operation pattern of suspended load suspended by cable crane - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to relates luck row pattern setting process of the suspended load in the case of so as to transport while preventing deflection of the load hung from cables crane.

[0002]

2. Description of the Related Art In particular, in the construction of dams and bridges in mountainous areas, cable cranes are used exclusively for transporting concrete or transporting construction equipment and materials.

[0003] This cable crane equipment is a traverse that is movable along the main rope by a main rope stretched over a construction area to be constructed and a transverse rope suspended from the main rope and connected to front and rear ends. The crane equipment mainly includes a trolley, a hanging hook held by a hoisting rope hung from the traversing trolley and capable of ascending and descending, and a winch installed for each rope member.

[0004] In recent years, especially in dam construction work, automation has been promoted in order to improve efficiency of frequently repeated concrete transportation work.

[0005] As regards automation of a cable crane, for example, Japanese Patent Application Laid-Open No. 6-115878 (No. 1)
Prior example), JP-A-6-115875 (second prior example), JP-A-6-115876 (third prior example),
JP-A-6-115877 (fourth prior example) can be cited. In automation of the cable crane, the two most important control items are bucket positioning control at start coordinates and target coordinates, and steadying control for suppressing bucket swing.

In the latter example, the first prior art example calculates a feedback control amount and a timing for canceling a shake corresponding to a shake angle and an angular velocity at a specific timing of acceleration / deceleration, and calculates the feedback control amount at a specific timing of acceleration / deceleration. It also discloses that feedback control for steadying is performed during deceleration. Specifically, after starting the operation of the traverse trolley (hereinafter, also simply referred to as trolley), at the time when the trolley is accelerated, the position, the speed of the trolley, the swing angle and the angular velocity of the bucket are input, and these values are input. The control voltage for steadying is calculated by applying to a predetermined equation of motion for steadying, the control start time is calculated, and the control waits until the start. As shown in FIG. 16 (a), this state corresponds to the time when the speed of the trolley has reached the constant speed v1 from the start of operation.
When t1, the bucket oscillates due to the response delay, and becomes a pendulum-shaped sinusoidal curve that swings to the left and right as shown by the swing width v2, and its cycle becomes constant if the length of the sling is constant, and the maximum amplitude . Therefore, after time t1, v2
The point time t2 at which = 0 is obtained, and v2
By applying an acceleration corresponding to = max for a predetermined period of time, the shake is canceled. When the start time is t2,
The primary feedback control is started, a control voltage for acceleration is applied to the trolley to the drive device, and a response calculation is performed from the swing.

A state in which the primary feedback control has been performed until time t3 is shown in FIG. During this time (time t2 to t3
If v2 = max <permissible value in (interval), the feedback control ends. On the other hand, if it exceeds the allowable value, the secondary feedback start time t4 is calculated in the same procedure as described above, and when the start time comes, the control voltage obtained from the response calculation is added for a predetermined time. At the same time, the response is measured and the shake is calculated. FIG. 16C shows a state in which the secondary feedback control has been performed. If v2 = max <permissible value during this period (between times t3 and t4), the feedback control is terminated. If the value exceeds the permissible value, the same feedback control is repeated again until the value converges to the permissible value. To do. Control during deceleration is performed in the same manner.

Next, in the second prior example, the degree of bending of the main rope, the length of the transverse cable extended from the trolley, and the length of the suspended rope are defined as calculation elements in accordance with the transfer start position and the transfer end position. The behavior of the main rope, the trolley and the bucket is analyzed in advance to model an operation pattern, and when the cable crane is operated, the modeled operation pattern is selected according to set conditions, and the operation pattern is selected. The cable crane is automatically controlled in accordance with the following, and the bucket is controlled from the start coordinates to the target coordinates in accordance with the modeled acceleration-constant speed-deceleration and steadying foot pattern for traversing and ascending / descending, thereby controlling the swing. There is disclosed a method of automatically transporting to a target position while preventing it. Specifically, as shown in FIG. 17 (a), the target area of the dam is divided into several small blocks, and the operating speed of the trolley and the elevating speed of the bucket are determined in consideration of the steady rest for each block. Calculate the driving pattern in the shortest time. The driving pattern of the trolley is shown in FIG.
As shown in FIG. 7 (b), an operation pattern is set in which acceleration is performed stepwise from the start coordinates, then becomes a constant speed, and then becomes zero at the target coordinates by stepwise deceleration.

Further, in the third prior example, as shown in FIG. 18, during acceleration and deceleration, the actual movement of the trolley along the main rope and the actual movement of the bucket suspended from the trolley are detected. Also, there is disclosed a steadying suppression method for performing feedback control for canceling a shake corresponding to a shake angle and an angular velocity by fuzzy inference based on the detection result. Specifically, as shown in FIG. 19 showing the relationship between the speed at the time of departure and the swing of the bucket, as the traversing speed increases from the time of departure, the bucket swings toward the delay side (-) due to the response delay of the bucket. Assuming that the swing is stopped by, for example, a two-stage speed control, if the speed is returned to a constant speed during a predetermined period Delta T during the acceleration period, the bucket moves forward (+) to the position in the figure by its foot. Is turned back to some extent.

At the time of the re-acceleration, the starting leg and the acceleration are synchronized with each other, and when a constant speed state is reached after the re-acceleration, the bucket stops at the neutral position as shown in FIG. Detecting the direction and trolley speed, fuzzy inference based on the relationship between the swing angle and the trolley speed, that is, whether or not the set swing width has been reached, and if it becomes, if it accelerates again with a numerical value based on it, At the end of acceleration, the bucket stops at the neutral position. Although the speed is linear in FIG. 18, actually, a stair-like locus is drawn during acceleration / deceleration by feedback control.

In the fourth prior example, when the trolley is accelerating and decelerating, the position and speed of the trolley along the main rope and the swing angle and angular velocity of the bucket are detected and the swing of the bucket is controlled by feedback control. Is disclosed.

As described above, with respect to the first to fourth examples,
Each of the driving methods of the traversing trolley related to the steady rest control has been described in detail. However, although these driving methods are different in their specific methods, the acceleration (deceleration)- It is common in that stepwise speed control of constant speed-acceleration (deceleration) is performed.

[0013]

According to the steady rest control method described above, the crane operator and the signaling person communicate with each other by radio or the like as in the prior art, and the crane operator manually operates according to the instruction of the signaling person. Compared with the conventional method that performed steady rest control, there was no human operation error, the steady rest control of the bucket could be performed effectively, and the crane operator was released from the tension state for a long time. For example, various effects are provided.

However, after grasping (measuring) the position and speed of the traversing trolley and the swing angle and angular velocity of the bucket, the control amount is calculated by various methods based on these measured amounts, and the step-like shape is obtained by feedback control. Speed control, it takes time for the vibration to converge, and there are problems such as a complicated control system or control method as understood from the above description.

Accordingly, a main object of the present invention is to make it possible to stop the swing of a suspended load such as a bucket suspended from a cable crane at the time of acceleration / deceleration in a minimum time and to operate the suspended load based on this. It is to provide a setting method.

[0016]

According to the present invention, there is provided a method for setting an operation pattern of a suspended load, comprising: a horizontal body and a hoisting rope suspended from the horizontal body so as to be able to be extended and wound up. In the crane equipment having, the operation section of the traversing body is divided into an acceleration traversing section, a constant speed traversing section, and a deceleration traversing section, and the traversing body is continuously moved at a constant acceleration / deceleration along a quadratic function curve with respect to a moving distance. While accelerating or decelerating, the traversing body and the suspended load are subjected to the condition that the acceleration or deceleration is completed in accordance with one cycle time of the pendulum motion of the suspended load generated at the start of acceleration and deceleration of the traversing body. Apply each equation of motion,
Acceleration / deceleration and pendulum length are given as conditions to determine the respective section distances of the acceleration traversing section, constant speed traversing section and deceleration traversing section, and at least the feeding amount or winding amount of the hoisting rope in the constant speed traversing section. By deciding, the operation pattern of the horizontal body and the suspended load is set.

In this case, it is desirable to determine an adjustment distance in addition to the above-described acceleration traversing section, constant-speed traversing section, and deceleration traversing section so as to secure an adjustment allowance on site.

[0018]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a diagram showing the arrangement of cable cranes 1 in dam construction, and FIG.

As shown in FIG. 1, in the construction of a dam in a mountainous area, a cable is laid over the dam construction site in order to transport concrete, construction machinery, materials and the like for dam construction. A crane 1 is provided. In the illustrated example, a batcher plant 2 is provided on the right bank side, where concrete used for dam construction is manufactured. The concrete produced in the batcher plant 2 is mounted on a transfer car 3 which is movable along a bunker line, and is transported to a predetermined transport start position. At the transfer start position, a bucket landing table 4 is provided for transferring concrete mounted on the transfer car 3 to a transfer bucket (hereinafter simply referred to as a bucket) suspended by a cable crane.

The transfer car 3 arrives at the transport start position, and the bucket 18 waiting on the bucket landing table 4
Is transferred to the relay hopper 5 placed on the concrete placing work surface by the cable crane 1.

As shown in FIG. 2, the cable crane 1 is provided with traveling devices 6L and 6R that are movable along the river direction on the left bank and the right bank, respectively, and between the traveling devices 6L and 6R. The main rope 7 is stretched. The main rope 7 is for supporting a lifting load of a cable crane and a load of a later-described traversing trolley 8 and a hanger device 9 and the like. Is provided with a tension adjusting device 24.

The main rope 7 is provided with a trolley 8 supported in a suspended state and traversable along the main rope 7, and a hanger device for preventing the hanging rope and the hoisting rope from hanging down. 9 are provided at predetermined intervals in the direction of the main rope 7.

The traversing trolley 8 has a plurality of wheels 8a, 8a,.
.. Traverse on the main rope 7. The trolley 8 has a forward cable 10L at its front end and a rear end, respectively.
10R are connected, and these transverse cords 10L, 1L,
The other end of 0R is wound on the transverse winch 11 of the transverse drive unit X _U, the transverse trolley 8 is in the forward and backward freely by rotating the transverse winch 11 in forward and reverse directions. Incidentally, the transverse driving unit X _U, reference numeral 12 is reduction gear, reference numeral 13 denotes a brake device, reference numeral 14 denotes a driving motor, numeral 15 is a driving control device. Described later hoisting drive _{Z U} and the traveling drive unit _Y L, the _{Y R,}
The same reference numerals indicate the same components.

The position detecting mechanism of the traverse trolley 8 attaches a high-precision magnetic scale to the outer surface of the drum of the traverse winch 11 and reads the change in the magnetic sine wave polarity on the magnetic scale with a non-contact detector. Do.
The magnetic scale is formed by bonding a ferromagnetic film obtained by mixing a value ferrite powder with a resin to a base of a magnetic material,
Since the poles and the S poles are alternately perpendicularly magnetized and have a ribbon-like shape, it can be easily attached to the drum curved surface of the transverse winch 11. Ideally, if it is provided at the same height as the cores of the transverse cables 10L and 10R, it is possible to eliminate measurement errors and calculation errors generated during the conversion process.

The transverse cable 10 wound on the transverse winch 11
The determination of the winding or unwinding of L or 10R or the advance or retreat is made based on the direction of the change in the magnetic polarity. Also,
The result of reading by the detector is converted into control data in real time, the amount of magnetic change is pulsed, and the distance is calculated by multiplying the amount of movement per pulse by the number of pulses. further,
The actual speed is calculated from the amount of winding or feeding per unit time, or the amount of advance or retreat. That is, if the detected magnetic sine wave-like polarity change is converted into a square pulse, and the number of pulses per unit time is counted and calculated, the actual speed can be accurately obtained. It is desirable that the number of executions of the speed calculation be about four times per second. The accuracy of the distance measurement is preferably within ± (1 + 0.5 L) mm, where L (m) is the measurement length (drum circumference).

The hoisting rope 16 is provided on the traversing trolley 8 along the direction of the main rope 7. This hoisting cable 16
The one side end is fixed to the traveling device 6L side similarly to the main rope 7, and hangs downward through the sheaves 19, 19 provided on the traversing trolley 8, and the lower end of the hanging part is A device 17 is provided for suspending a bucket 18. The other end of the winding rope 16 is wound onto the winding winch 20 of the drive unit Z _U winding through a predetermined sieve, the load block 17 by feeding the control and winding control of the hoisting winch 20, i.e. the bucket 18 is operated to move up and down. The position detecting mechanism of the bucket 18 suspended by the hoisting rope 16 is provided with a high-precision magnetic scale on the drum of the hoisting winch 20 as in the case of the traversing trolley 8, and the magnetic sinusoidal polarity change on the magnetic scale is provided. Is read by a non-contact type detector. The details thereof have been described in the section of the traversing trolley 8, and therefore the description thereof is omitted.

On the other hand, the traveling devices 6L and 6R move the traveling platforms 20L and 20R, the traveling trolleys 21L and 21R that are movable along the traveling platforms 20L and 20R, and the traveling trolleys 21L and 21R. Running cable 22 for
L, 22R, and traveling drive devices Y _L , Y _R for feeding and winding the traveling ropes 22L, 22R. The traveling trolleys 21L and 21R move along the river direction by moving forward and backward while synchronizing the traveling devices 6L and 6R installed on the left and right banks, respectively. Reference numeral 23 is a crane cab, transverse drive unit X _U, hoisting drive Z _U, travel drive device Y _L, the controller controls the Y _R are facilities described above.

Hereinafter, an operation control method of the trolley 8 in the cable crane 1 will be described in detail.

In FIG. 3, when a predetermined amount of concrete is loaded from the batcher plant 2 to the transfer car 3, the transfer car 3 moves along the bunker line to the position of the bucket landing table 4. Bucket 1 waiting on transfer floor 3 from transfer car 3
When the concrete has been transferred to the transfer car 8, a signal of “loading completed” is transmitted from the transfer car 3, and the transfer car control computer 25 that has received the signal is received.
Sends this signal to the communication system computer 26 which controls the communication system,
Further transmits this signal to the crane control computer 27.
Send to

The transfer car 3 includes a bucket 1
8 is returned to the position of the batcher plant 2 when the transfer to the bucket 18 is completed, but when it is determined that the bucket 18 has moved away from the bucket 18 to a preset distance, a signal of “winding permission” is transmitted,
Similarly, it is sent to a crane control computer 27 via a transfer car control computer 25 and a communication system computer 26. The crane control computer 27 performs the hoisting operation of the cable crane 1 after confirming the signals of “loading completed” and “hoisting permitted”. The crane control is performed by a winch control computer 28 under the control of the crane control computer 27. That is, the winch control computer 28 converts the control value into a necessary control value (control voltage) based on a command from the crane control computer 27 and outputs the control value to the drive control device 15 for the hoist winch 20 and the traverse winch 11. The winch control computer 28 reads a change value of the magnetic scale provided on the winch drum through a detector dedicated to the magnetic scale, and performs predetermined filtering (removal of noise) and a two-phase pulse as a detection result. Is subjected to a primary conversion process such as converting the sign of the rotation direction and the number of pulses into the number of spindle rotations, and calculating the winch drum speed from the change value of the magnetic scale. Further, it is determined whether or not the electric motor 14 is operated based on the command value, and if it is necessary to change the control amount, the control amount is made to match the target value by feedback control.

The lifting operation of the bucket 18 is performed by first performing a "ground-cutting" operation in which the bucket 18 is slightly lifted from the bucket landing table 4.
Next, a lifting operation is performed to a height position where an obstacle such as a structure existing near the bucket landing table 4 does not obstruct the operation. After confirming that the bottom surface of the bucket 18 is higher than all the obstacles, the traversing operation of the traversing trolley 8 (hereinafter, also referred to as forward operation or forward operation to be a transport process with an actual load) is started. .

Even when the trolley 8 starts moving forward, the bucket 18 does not move in synchronization with the trolley 8, and a relative speed difference is generated between the two, so that the bucket 18 starts to swing. . This swing of the bucket 18 can be regarded as a pendulum motion. That is, at the start of the trolley 8, the trolley 8 and the bucket 18 are stationary on the vertical line, and there is naturally no positional deviation or speed difference in the traverse direction. Once the trolley 8 is moved forward by acceleration,
It starts to move after a while and starts pendulum movement.

In the present invention, in order to converge the deflection of the bucket 18 in a minimum time, the traveling speed of the traversing trolley is controlled continuously at a constant acceleration along a quadratic function curve with respect to the traveling distance. The resulting load swing is 1
At the end of the periodic pendulum motion, the vehicle moves to the constant speed traverse. The bucket 18 starts a pendulum motion rearward (starting side) slightly behind the start of the movement of the traversing trolley 8, and then increases its speed from the point where the delay width becomes maximum (at the time of maximum amplitude). It catches up faster than Trolley 8. During this time, the transverse trolley 8 is continuously accelerated at a constant acceleration along the quadratic function curve with respect to the moving distance, but the bucket 18 has just finished one cycle of the pendulum motion and has the maximum amplitude point on the opposite side. The moment the vehicle is located, the acceleration is set to 0 and the vehicle moves to the constant speed traverse. In addition, from the viewpoint of transportation efficiency, it is possible to detect the moment when the pendulum motion of one cycle is completed with the acceleration being arbitrary, and shift to the constant speed traverse. However, the speed at the time of the constant speed traverse is set to the target speed set in advance. It is desirable to set the acceleration in advance so that The acceleration / deceleration calculation method will be described later.

[0034] The target speed, hoisting drive Z _U, and below the rated speed of the transverse drive unit X _U, the winding-up drive Z _U, the speed variation ratio of the transverse drive unit X _U, the velocity response characteristics and control accuracy, etc. Decide in consideration. For example, if the speed fluctuation rate is ± 10%, the target speed is 8 times the rated speed.
It may be set to about 5%.

On the other hand, the bucket 18 is located immediately below the vertical line of the transverse trolley 8 at the moment when the transverse
In addition, the speed as the pendulum motion is also zero. That is, when only the pendulum motion is focused on, the vehicle is stopped and the speed difference between the traversing trolley 8 and the bucket 18 is eliminated.

Hereinafter, the steady rest control principle of the present invention will be described in detail with reference to the drawings. As shown in FIGS. 4 and 5, when there is a relative speed difference between the transverse trolley 8 and the bucket 18, The bucket 18 starts to swing by receiving an inertial force corresponding to the relative speed difference.

Now, assuming that the transverse trolley 8 is accelerating at a constant acceleration α, the central axes of the pendulum motion at this time are the horizontal component force α and the vertical component force the gravity acceleration G. The direction is the direction opposite to the acceleration α. Note that the fulcrum of the pendulum is connected to the bucket 18 via a pulley.
Is suspended above the main rope 7 (hereinafter, this point is referred to as a virtual fulcrum). The position of the virtual fulcrum can be obtained by back calculation if the pendulum cycle of the bucket 18 is measured. As shown in FIG. 4, if the length S ′ of the virtual pendulum is determined, the length S of the pendulum is known by detecting the position of the hoisting rope 16, and thus the addition length dS is determined as an eigenvalue.

When the trolley 8 is traversing at a certain acceleration, the center axis of the pendulum is O ', the center point of the pendulum is A, and the center axis of the pendulum is O'A .
It is represented by the following equation (1).

G ′ = O′A = (α ² + G ² ) ^1/2 (1) Here, G ′ is virtual gravity, and O′A is an actual pendulum center axis.

The actual inclination θ ₀ of the central axis O′A of the pendulum is expressed by the following equation (2).

Θ ₀ = tan ⁻¹ (α / G) (2) Here, focusing only on the movement of the bucket 18, the bucket 18 is stationary at the moment when the trolley 8 starts to traverse. Is below the virtual fulcrum O ′, but receives the acceleration α from the time when the traversing trolley 8 starts to move.
A pendulum motion is performed with a virtual gravity axis O′A having a minute inclination as a central axis. As shown in FIG. 8, the virtual gravity axis O ′
If A is taken as the vertical axis, the pendulum starts to move from the maximum amplitude point (start point) on the right, and then the virtual gravity axis
It passes through O'A and turns at the opposite maximum amplitude point. The speed as a pendulum at this turning point is zero.

Thereafter, a return pendulum motion is performed, and
When the trolley 8 is set to have an acceleration of 0 at the moment when the cycle returns to the start point after the end of the cyclic movement of the cycle, that is, when the trolley 8 is shifted to the constant speed traverse, θ ₀ corresponding to the acceleration at this moment is obtained.
The line connecting the trolley 8 and the bucket 18 becomes the central axis of the pendulum motion. Also, at this moment,
Since the pendulum is also located at the point of maximum amplitude, the speed is also 0, and the moment the vehicle shifts to the constant speed traverse, the inclination of θ ₀ is lost and the vehicle passes the trolley 8 in the most stable state (stop state). Since the bucket 18 is located on the gravitational line, the bucket 18 does not swing and the pendulum motion is stopped. If the pendulum motion is stopped, there is no relative speed difference between the two, so that the pendulum moves along with the trolley 8 at a constant speed without swinging.

The motion cycle of the pendulum is given by the following equation (3), and is uniquely determined by the pendulum length S regardless of the bucket weight.

T = 2π (S ′ / (G ² + α ² ) ^1/2 ) ^1/2 (3) where S ′ is a virtual pendulum length, a virtual fulcrum is O ′, and a pendulum center point A And the distance.

On the other hand, a motion equation for controlling the speed of the transverse trolley 8 can be derived by using the Newton's motion equation and modifying the motion equation while paying attention to the moving distance X and the acceleration α. As a result, the equation of motion of the traversing trolley 8 becomes a constant acceleration equation of motion having no initial velocity, and is expressed by the following equations (4) and (5). X _a = １ ／ · α · t ² (4) V _a = α · t (5) By substituting equation (5) into equation (4), the following equation (6) is obtained. X _a = V _a ² / 2α (6)

Focusing on the speed V, the equation (6) is given by the following equation (7)
Can be transformed into V _a = (2α · X _a ) ^1/2 (7)

Here, assuming that a control function (hereinafter, acceleration control function) is k, k = 2α ^1/2 , and
The equation (7) becomes the following equation (8). V _a = k · X _a ^1/2 (8)

[0048] Thus, the velocity _{V a} rampant trolley 8 is a secondary function of the moving distance _{X a} rampant trolley 8. Here, the speed V _a of the transverse trolley 8 and the secondary function of the moving distance X _a is due to reasons of control. That is, in order to perform the feedback control, it is necessary to form a closed loop. If the moving distance Xa is used as _a control function, the position of the traversing trolley 8 can be grasped regardless of the time element, and the speed is controlled with respect to the moving distance. become able to. If the time T is plotted on the horizontal axis, the position of the traverse trolley 8 is not directly related to the control amount, and the position of the traverse trolley 8 cannot be grasped. Therefore, the control system becomes an open loop and cannot perform feedback control. I will.

The velocity trajectory of the transverse trolley 8 during this acceleration, velocity trajectory and both relative distances P _b of the bucket 18
FIG. 7 schematically shows the locus of.

As described above, in order to eliminate the swing of the bucket 18, the trolley 8 is continuously accelerated at a constant acceleration along the quadratic curve with respect to the moving distance from the start of the traverse trolley 8, and the bucket 18 is moved by one cycle of the pendulum. At the moment when the exercise is completed, the vehicle may shift to the constant speed traverse. The bucket 18 is swayed only by one cycle of the pendulum motion, and thereafter moves at a constant speed together with the trolley 8 without swaying. In other words, the traversing trolley 8 starts from the speed 0, accelerates at a constant acceleration, and makes the time to reach the target speed coincide with the time of one cycle of the pendulum. 18 can be converged. The speed at the time of acceleration is increased by a predetermined acceleration. However, the actual speed is monitored, and if there is a difference from the set speed, the speed is corrected by feedback control.

Once the swing of the bucket 18 is converged, the bucket 18 does not swing even if the lowering is performed while traversing at the target speed. Therefore, the lowering is performed in parallel with the constant speed traversing.

During the constant speed traverse, the trolley 8 and the bucket 1
When a relative speed difference occurs between the first and second motors, a pendulum phenomenon occurs. If the bucket swings during the constant speed traverse, the below-described deceleration control cannot be performed. That is, in order to prevent the bucket 18 from swinging in the deceleration control, the condition is that the bucket 18 does not swing at the end of the constant speed traverse. In that sense, the constant speed traverse control of the trolley 8 during the constant speed traverse is important. The speed control of the traversing trolley 8
More specifically, the speed of the traverse trolley 8 is sampled at regular time intervals, and the data is subjected to calculations and converted into mathematical formulas using statistically processed data to obtain difference data between the speed detection data and the target speed. Feedback control of the traverse winch is performed via a fixed control function so that the difference in the speeds is eliminated. Control functions for the feedback control is set in accordance with the mechanical properties of the transverse drive unit X _U to be applied. And the mechanical properties, the gradient of GD 2 ^(flywheel effect or flywheel effect) capabilities and operating characteristics of the or brake, a main rope 7 for generating the terrain where it is installed as a cable crane traversing drive X _U's It refers to characteristics, such as a gradient due to the tension of the main rope 7 and a change in the amount of deflection of the main rope 7 due to the weight of the bucket 18.

Thereafter, when the vehicle traverses from the arrival target point to a position just before the deceleration distance, the lowering operation is immediately stopped.
The deceleration of the traversing trolley 8 is started.

When the trolley 8 is decelerated, the anti-sway control can be performed in the same manner as the principle of acceleration. That is, when the vehicle enters the deceleration at a constant deceleration (negative acceleration) continuously from the constant speed traverse along the quadratic curve with respect to the moving distance, the bucket 18 advances forward of the traverse trolley 8 due to the inertial force and performs a pendulum motion. Start. Bucket 18
Receives the acceleration α in the direction opposite to the acceleration, and performs a pendulum motion centered on the virtual gravity axis O′A having an inclination of θ. After that, at the moment when the cycle motion of just one cycle is completed and the vehicle returns to the start point, the speed of the traversing trolley 8 is reduced to 0 (stop). At this moment, the inclination of θ ₀ minute corresponding to the deceleration amount is obtained. The line connecting the trolley 8 and the bucket 18 becomes the central axis of the pendulum motion. At this moment, since the pendulum is also located at the maximum amplitude point, the speed is also 0. At the moment when the pendulum is stopped, the inclination of θ ₀ is lost and the traversing trolley 8 which is in the most stable state (stop state). Since the bucket 18 is located on the line of gravity passing through the bucket 18, the swing of the bucket 18 is eliminated, and the pendulum motion is stopped. At the time of deceleration, the period of the pendulum becomes longer by the amount of lowering the bucket 18, so that the deceleration time becomes longer, and the deceleration distance becomes longer than the acceleration distance.

As described above, if the trolley 8 is decelerated in accordance with the above conditions, the bucket 18 can be stopped accurately without swinging directly above the target point, and positioning with high accuracy is possible. Become. afterwards,
When the traversing trolley 8 stops, the lowering operation is started to the height of the concrete discharge point (immediately above the relay hopper 5). The height of the bucket stopped at the arrival point is
If the height from the surface that receives concrete (the concrete input surface of the relay hopper 5) is within 1 m, there is no need to correct the lowering operation. However, if it is 2 m or more, the set height position is further increased. Roll it down. Then, when the height from the concrete receiving surface becomes within 1 m, the concrete is started to be discharged. At this time, the load on the main rope 7 decreases with the release of concrete,
The amount of deflection of the main rope 7 decreases, and the main rope 7 tends to jump up to a no-load state. For this reason, many correction lowering operations are performed during the concrete discharge, particularly immediately after the concrete discharge. These lowering and hoisting operations are performed based on signals from a communication system disposed in the relay hopper 5 shown in FIG.

The operation procedure from the bucket landing table 4 to the arrival target point and the method of controlling the speed of the traversing trolley 8 have been described in detail above. The speed (Vt) of the traversing trolley 8 between the bucket landing table 4 and the arrival target point is described in detail. FIG. 9 shows the trajectory, the velocity (Vb) trajectory of the bucket 18, and the relative distance (Pb) trajectory of both. FIG. 10 shows the hoisting locus and the lowering locus in the acceleration section, the constant speed section, and the deceleration section together with the speed of the traversing trolley 8.

When all the concrete mounted on the bucket 18 has been discharged, the return process from the target point to the starting position is started with an empty load. Also in this return path process, the same speed control of the traversing trolley 8 as in the forward path is performed to prevent the bucket 18 from swinging.

First, the winding operation is started, the length of the pendulum is shortened, and the cycle time of the pendulum is shortened. When the pendulum length is reduced to some extent, the movement of the traversing trolley 8 is started. When the bucket 18 reaches just above the departure position, the bucket 18 is lowered to land on the bucket landing table 4.

The method for controlling the speed of the trolley 8 in the forward path from the concrete landing stage 4 to the relay hopper 5 installed on the concrete placing surface and the return step as the return step has been described in detail. , This speed control and operation pattern setting, at the planning stage, etc.,
It is considered in advance based on a shake amount prediction calculation for obtaining the shake amount of the suspended load and a method of setting the operation pattern of the suspended load.

First, the speed control function shown in the above equation (8) is corrected to the following equation (9) to give an initial speed.

V _a = k ₀ · X _a ^1/2 + k ₁ (9) where k ₀ is an acceleration control function, and k ₁ is a count for giving an initial speed, which is converted into a starting speed. Then, the control is started. In this example, k ₁ = 0.1 m / s. FIG. 11 shows the corrected control function for reference.

In controlling the speed, the bucket 18
Air resistance, the slope of the main rope 7, extrinsic factors, such as friction and delay in response of the mechanical system, as shown in FIG. 12, and so treated as adjustment distance X ₀ and collectively. With these exogenous factors is independent of the transverse distance X _t, because it contains elements that can not be taken into account only by local corresponding is convenient to handle as a certain distance,
In addition, it is not necessary to include it as a calculation factor. Therefore, the calculated deceleration end point _Xd is set as in the following equation (10). According to the test of _{X d = X t -X 0 ......} (10) The present inventors have been found to be a range of about _{X 0} = _0.45~0.25m. Among these numerical values, it has been found that mainly the gradient element of the main rope 7 is large, and the air resistance of the bucket 18 may be treated as a substantially constant numerical value.

Next, the trolley 8 and the bucket 18
Are given by the following equations.

[0064] The position _{X a} rampant trolley 8, velocity _V a (=
V ₀ + α _a · t) the following equation since it is a value obtained by integrating by time t is (11). _{X a (t) = ∫ (} V 0 + α a · t) dt ...... (11)

[0065] On the other hand, movement of the bucket 18, as shown in FIG. 13, starting from the vertical center position P _0, becomes a pendulum movement back and forth between the maximum amplitude point P _m, the displacement generally of the pendulum motion Since the equation is expressed as a displacement from the pendulum center axis, as shown in FIG. 13, a pseudo point between the maximum amplitude point P _m and the virtual maximum amplitude point P ′ _m starting from the vertical point P ₀ is shown. Is treated as a reciprocating pendulum motion.
Therefore, the eccentric distance X _b (x) of the bucket 18 is given by the following equation (1)
2). _{X b (t) = A ·} sin (k · ωt) ... (12) Here, A: the maximum amplitude distance is A = S '· sin2θ _0. ω: angular velocity, represented by ω = Δθ / Δt = 4θ ₀ / T. k: a conversion constant for fitting the actual angle to the sine curve of the simple harmonic motion, indicated by k = π / 4θ _0. Therefore, the position _{Xb of the} bucket 18 is given by the following expression (13). _{X b (t) = X a} (t) + X b (t) = ∫ (V 0 + α a · t) dt + A · sin (k · ωt) ...... (13)

As described above, the trolley 8 and the bucket 1
Since the equations of motion 8 are set, the distance X of the traversing trolley 8 and the bucket 18 with respect to the time t can be sequentially determined on a computer based on these equations of motion, and the calculation is performed in the following manner. The calculation is performed by setting the target speed as a set value and inputting the acceleration / deceleration α as a trial. When all the steps have been completed, the traversing trolley 8, the bucket 1
8 to output the speed trajectory and the relative difference trajectory Pb.

[Calculation During Acceleration] Calculation during acceleration of the traversing trolley 8 is performed according to the following procedure (see FIG. 14).

[0068]

(3) Calculation Step An arbitrary acceleration α is input, and the traversing trolley 8 is subjected to the differential time t.
Increase speed every time. Under the condition that the bucket 18 does not pass directly below the traversing trolley 8, the speed increase is repeated every derivative time until the traversing trolley 8 reaches the target speed. That is calculated again (i) determining if X _a ≦ X _b of whether the bucket 18 passes directly below the transverse trolley 8, the initial condition of the increasing rate + to. If _Xa ≦ _Xb does not hold, the process proceeds to the next (ii) step. (ii) or transverse trolley 8 has reached the target speed, if the determination V _a ≧ Vm or not yet reached, go to the next step. V _a ≧ Vm
Is not satisfied, the speed of the trolley 8 is increased every derivative time. Whether the bucket 18 has reached just below the trolley 8
If the determination _Xa > _Xb , the acceleration is increased and the calculation is performed again from the initial condition. If _Xa > _Xb does not hold (
For the determination of (i) the bucket 18 will not be preceded, in effect becomes a X _{a =} X _b. ), Go to the next step. Judgment as to whether or not the bucket 18 has reached the target speed If _Vb = Vm, go to the next step. If _Vb ≠ Vm, the acceleration is decremented and the calculation is performed again from the initial condition. The acceleration, the acceleration distance, and the time required for acceleration are displayed. Rampant every derivative time trolley velocity _{V a,} the bucket speed _{V b,} the relative difference Pb _(X a -X _b) draw.
(See FIG. 9) The calculation at the time of acceleration is completed, and the routine proceeds to the calculation routine for deceleration.

[Calculation at the time of deceleration] The calculation at the time of acceleration of the transverse trolley 8 is performed according to the following procedure (see FIG. 15).

[0071] (1) Initial setting condition initial lowering position Zb (m) target minimum speed Vq = 0.1 (m / s) derivative time t = 10 (ms) (2) initial condition initial transverse trolley position X _a = 0.0 (m) (position of the deceleration start fulcrum) initial transverse trolley velocity _{V 0 = Vm (m / s} ) the initial bucket position _{X b = Xa = 0.0 (m} ) initial bucket velocity V _b = Vm = 0. 0 (m / s)

(3) Calculation Step An arbitrary deceleration α is input, and the traversing trolley 8 is set to the derivative time t.
Slow down every time. Under the condition that the bucket 18 does not return immediately below the traversing trolley 8, the traversing trolley 8 is repeatedly decelerated for each derivative time until the target minimum speed is reached. That, (i) or if whether the determination X _a ≧ X _b bucket 18 has returned to just below the transverse trolley 8, a deceleration - calculating again to the initial conditions. If _Xa ≧ _Xb does not hold, the process proceeds to the next (ii) step. (ii) or transverse trolley 8 has reached the target minimum speed, if yet or not yet reached the determination V _a ≦ Vq, go to the next step. V _a ≦ Vq
Is not established, the transverse trolley 8 is decelerated for each derivative time. Whether the bucket 18 has reached just below the trolley 8
If it is determined _Xa < _Xb , the deceleration is added and the calculation is performed again from the initial condition. If _Xa < _Xb does not hold (
For the determination of (i) the bucket 18 does not pass through, substantially the X _{a =} X _b. ), Go to the next step. Judgment Whether Bucket 18 Has Reached Target Minimum Speed If V _b = Vq, go to next step. If V _b ≠ Vq, the deceleration is added and the calculation is performed again from the initial condition. The deceleration, deceleration distance and time required for deceleration are displayed. Rampant every derivative time trolley velocity _{V a,} the bucket speed _{V b,} the relative difference Pb _(X a -X _b) draw.
(See FIG. 9) The calculation at the time of deceleration ends.

In the present embodiment, the trolley 8 is accelerated while keeping the pendulum length constant on the outward path, the lowering operation is stopped before the deceleration operation is started, and the hoisting operation is terminated on the return path. The trolley 8 starts moving after a while, but when these are lowered (or accelerated) while being lowered (or hoisted), the period of the pendulum changes to change in the amount of lowering (hoisting). The calculation on the program for finding the acceleration / deceleration that changes proportionally and makes it possible to match the time of one cycle of the pendulum with the deceleration time required for stopping the traversing trolley 8 (the acceleration time for increasing the speed to the target speed) becomes complicated. This is because the control delay is caused by the calculation time. Therefore, if this point is taken into account in the acceleration / deceleration calculation program, the lowering operation (winding operation) and the deceleration operation (acceleration operation) can be performed in parallel.

Although the present invention is suitably applied to cable crane equipment, it can be applied to mobile cranes in general.

[0075]

As described in detail above, according to the present invention, an optimal operation pattern can be obtained under the condition that the swing of a suspended load such as a bucket suspended from a cable crane can be stopped in a minimum time during acceleration / deceleration. so wear in settings.

[Brief description of the drawings]

FIG. 1 is a diagram showing an arrangement state of a cable crane 1 in dam construction.

FIG. 2 is an overall view of the equipment of the cable crane 1;

FIG. 3 is a communication and control system diagram.

FIG. 4 is an explanatory diagram (part 1) of a steady rest control method according to the present invention.

FIG. 5 is an explanatory view (part 2) of the steady rest control method according to the present invention.

FIG. 6 is an explanatory view (No. 3) of the steady rest control method according to the present invention.

FIG. 7 is an explanatory view (No. 4) of the steady rest control method according to the present invention.

FIG. 8 is an explanatory view (No. 5) of the steady rest control method according to the present invention.

FIG. 9 is a velocity trajectory of the traversing trolley 8, a velocity trajectory of the bucket 18, and a relative distance trajectory between the two.

FIG. 10 is a hoisting locus and a lowering locus diagram in an acceleration section, a constant speed section, and a deceleration section.

FIG. 11 is a speed control function diagram after correction.

FIG. 12 is a diagram of a lowering operation pattern.

FIG. 13 is a diagram showing a motion locus of a pendulum.

FIG. 14 is a flowchart of acceleration calculation.

FIG. 15 is a calculation flowchart of deceleration.

FIG. 16 is an explanatory view of a conventional steady rest control method (part 1).
It is.

FIG. 17 is an explanatory view of a conventional steady rest control method (part 2).
It is.

FIG. 18 is an explanatory view of a conventional steady rest control method (part 3).
It is.

FIG. 19 is an explanatory view of a conventional steady rest control method (part 4).
It is.

[Explanation of symbols]

1. Cable crane, 2. Batcher plant, 3.
Transfer car, 4 ... Bucket landing table, 5 ... Relay hopper, 6L / 6R ... Traveling device, 7 ... Main rope, 8 ... Traversing trolley, 9 ... Hanger device, 10L / 10R ... Traversing rope, 11 ...
Traversing winch, 12: reducer, 13: brake device, 1
4 ... driving electric motor, 15 ... control devices, 16 ... winding rope, 18 ... bucket, X U _... transverse drive, Z U _... hoisting drive, _{Y L} · Y R _... travel drive device

──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Kimio Yata 3-21-25 Marunouchi, Naka-ku, Nagoya City, Aichi Prefecture Inside Nagoya Branch of Sato Industry Co., Ltd. (72) Katsuo Hiromoto Marunouchi 3, Naka-ku, Nagoya City, Aichi Prefecture Nagoya Branch, Sato Kogyo Co., Ltd. (72) Inventor Jingo Hase 2-26-10 Fujimi, Chiyoda-ku, Tokyo Inside Maeda Construction Kogyo Co., Ltd. (72) Inventor Hidenori Morikawa 2, Yatacho, Shinjuku-ku, Tokyo No. 35, Dainichi Main Public Works Co., Ltd., Tokyo Headquarters, Engineering and Technology Headquarters (72) Inventor Susumu Iwakura 2-3-10, Jonanjima, Ota-ku, Tokyo Daito Electric Co., Ltd. (56) References 115878 (JP, A) JP-A-6-305686 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B66C 13/22 B66C 21/00

Claims (2)

(57) [Claims] 1. A crane facility having a traversing body and a hoisting rope suspended from the traversing body so that the traversing body can be extended and retracted from the traversing body. The traversing body is accelerated or decelerated at a constant acceleration / deceleration continuously along a quadratic function curve with respect to the moving distance, and the pendulum motion of a suspended load generated at the start of acceleration and deceleration of the traversing body Under the condition that the acceleration or deceleration is completed in accordance with one cycle time of the above, the respective equations of motion are applied to the traversing body and the suspended load, and the acceleration traversing section and the constant speed are set under the conditions of acceleration / deceleration and pendulum length. Determining each section distance of a traversing section and a deceleration traversing section, and determining at least an amount of winding or winding of the hoisting rope in the constant speed traversing section. It allows the transverse body and hung been suspended load method operation pattern setting a cable crane and sets the operating pattern of the suspended load. Wherein said acceleration transverse section defines the other to adjust the distance of each leg distance constant speed transverse section and the deceleration transverse section, the cable crane manner that claim 1, wherein securing the adjustment amount of the local How to set the operation pattern of the suspended load.