JP4897545B2 - Crane apparatus and engine rotation speed control method - Google Patents

Description

  The present invention relates to an engine power generation control technique, and more particularly to a fuel saving technique of an engine power generation apparatus that supplies generated power to an electric motor used in a crane apparatus or the like.

  In a crane device that loads and unloads cargo such as containers in a container yard at a port, a plurality of electric motors are used to perform operations such as lifting and lowering the load, as well as running and traversing a gantry. In order to supply operating electric power to these electric motors, the engine-driven power generation system is configured to supply necessary electric power to each electric motor using an engine power generator that drives the electric generator using a diesel engine.

  In such a crane apparatus, the maximum load is applied when the load is wound up, but the load fluctuation is large in some cases because little electric power is required when the load is lowered. Therefore, in order to supply the appropriate power from the generator at the maximum load, a large diesel engine or generator is required, but the facility scale exceeds the average load. It was inefficient.

  Conventionally, such a crane device is provided with a power storage device, and the engine power generator always generates power, and power is supplied in parallel from the power storage device at the time of maximum load, and surplus power generated during regeneration is supplied to the power storage device. An electric storage device has been proposed (see, for example, Patent Document 1). Thereby, since electric power is temporarily supplied from the power storage device to the electric motor, the scale of the diesel engine and the generator can be reduced, and the efficiency can be improved in terms of equipment cost and operation cost.

JP 2001-163574 A

  In such a crane apparatus, when a load is hoisted by an electric motor, energy required for the operation is divided into a hoisting acceleration period, a hoisting constant speed period, and a hoisting deceleration period as shown in FIG. FIG. 6 is an explanatory diagram showing energy required for winding a load. Among these, the power consumption of the engine power generator is determined so that the energy consumption during the winding acceleration period is the largest and the maximum energy consumption Pmax can be stably supplied.

Therefore, the power generation capacity of the engine power generation device can be reduced by supplementing a part of the maximum energy consumption Pmax, that is, the maximum power generation power necessary for this winding acceleration period with the power storage device, thereby realizing cost reduction and fuel saving of the engine power generation device. it can.
At this time, since the storage battery used in the power storage device is more expensive than the engine power generation device per unit supply power, it is necessary to minimize the storage capacity. For this reason, it is necessary to accurately obtain the power supplemented by the power storage device among the generated power necessary for the winding acceleration period, and to determine the reduction range of the power storage capacity of the power storage device and the power generation capacity of the engine power generation device.

  Here, when the maximum energy consumption Pmax is analyzed, the energy consumption Pmax is mainly composed of the kinetic energy PV of the load, the acceleration energy PC of the load, and the acceleration energy PE of the engine power generator. PV is the kinetic energy required only for lifting the load, and PC is the acceleration energy required for accelerating the lifting of the load. On the other hand, PE is acceleration energy necessary for accelerating the engine power generator itself. When changing the rotational speed, the engine power generator requires acceleration energy PE resulting from the moment of inertia of the engine or the generator, that is, acceleration power.

  However, in the conventional crane apparatus, the energy required for the crane apparatus itself is supplied by the engine power generation apparatus, and the difference up to Pmax required when hoisting the load is not only a relatively short acceleration period but also a relatively long constant speed period. In this case, it is assumed that the power storage device supplements. For this reason, when the power storage is insufficient, the winding operation cannot be performed in both the acceleration period and the constant speed period, so that a period for sufficiently storing power is required. In addition, since the power storage capacity is increased, a long period is required for sufficient power storage.

Therefore, when the crane operation is continued, there is a problem that stable power supply to the electric motor may not be continuously performed, for example, the crane operation is interrupted for power storage.
Moreover, in the conventional crane apparatus, only the work amount required at the time of winding up a load is included as the maximum energy consumption Pmax, and the acceleration energy of the engine power generator itself is not examined. For this reason, there is a problem that it is necessary to allow for more storage capacity than necessary, which causes a cost increase.

  The present invention is for solving such problems, and even when the load fluctuation of the motor is large, a stable power supply can be continuously performed from the engine power generator and the power storage device with a relatively inexpensive configuration. It is an object of the present invention to provide a crane apparatus and an engine rotation speed control method that can be used.

To achieve the above object, the crane apparatus according to the present invention, the supply to the motor engine generator apparatus for performing loading and unloading of cargo generated power obtained by driving a generator by the engine, the generator power or A power storage device that stores regenerative power from the motor and supplies the stored power to the motor in an auxiliary manner during operation of the motor, and a controller that controls the engine rotation speed of the engine power generator according to the operation status of the crane device. In addition, as the power storage device, a power storage capacity for storing the maximum acceleration power necessary for accelerating the engine rotation speed of the engine power generation device from the lowest speed capable of generating power to the highest speed is used.

  Another crane apparatus according to the present invention includes an engine power generator that supplies power generated by driving a power generator with an engine to an electric motor that loads and unloads luggage, and power generated or regenerative power from the motor. A power storage device that stores power and supplies the stored power to the motor in an auxiliary manner during operation of the motor; and a controller that controls the engine rotation speed of the engine power generation device according to the operation status of the crane device. Acceleration power is calculated from the difference between the rotation speed at the start of acceleration and the rotation speed at the end of acceleration and the moment of inertia of the engine power generation system for an arbitrary acceleration of the power generation system. The engine speed is controlled based on the comparison result.

  At this time, when the acceleration power is larger than the remaining amount of stored power by the controller, the rotation speed of the engine power generator is maintained at a predetermined storage rotation speed or more, and the acceleration power is less than or equal to the remaining amount of stored power. In that case, the engine rotation speed may be controlled in accordance with the operation status of the crane device.

  An engine rotation speed control method according to the present invention includes an engine power generation device that supplies generated electric power obtained by driving a generator by an engine to an electric motor, temporarily stores the generated electric power, and the stored electric power when the electric motor is operating. Is an engine rotation speed control method used in a power supply apparatus that includes a power storage device that supplementarily supplies the motor to a motor and a controller that controls the rotation speed of the engine power generation apparatus. The step of calculating the power for acceleration from the difference between the rotational speed at the start of acceleration and the rotational speed at the end of acceleration and the moment of inertia of the engine power generator and the comparison result between the acceleration power and the remaining amount of stored power by the controller And controlling the engine speed based on

  At this time, if the acceleration power is larger than the remaining amount of stored power by the controller, the step of maintaining the rotational speed of the engine power generator at a predetermined power storage speed or higher and the controller When the remaining amount is less than or equal to the remaining amount, a step of controlling the engine speed in accordance with the driving state of the electric motor may be further provided.

  According to the present invention, as the power storage device, the one having the power storage capacity for storing the electric power necessary for accelerating the engine rotation speed of the engine power generation device from the lowest speed capable of power generation to the highest speed is used. Electric power other than the maximum acceleration power required for acceleration is always supplied from the engine power generator, and stable power is continuously supplied to the motor from the engine power generator even when the load hoisting period is relatively long. can do.

In addition, the power storage device only needs to supply the motor with the power required for acceleration of the engine power generation device only during a relatively short acceleration period when the luggage is rolled up, and the storage capacity of the storage battery can be minimized. it can.
Therefore, even when the load fluctuation of the motor is large, stable power supply can be continuously performed from the engine power generation device and the power storage device with a relatively inexpensive configuration.

Next, embodiments of the present invention will be described with reference to the drawings.
[First Embodiment]
First, a crane apparatus according to a first embodiment of the present invention will be described with reference to FIG. FIG. 1 is a functional block diagram showing the configuration of the crane apparatus according to the first embodiment of the present invention.
This crane apparatus is an apparatus that drives electric motors connected to a common bus by supplying electric power generated by driving an engine to the common bus, and loads and unloads luggage. A main winding motor 31, a traveling motor 32, a traversing motor 33, inverters (INV) 41 to 44, a discharging device 5, a power storage device 6, a controller 7, and a common bus 9 are provided.

  In the present embodiment, the engine power generation device 1 supplies the generated power obtained by driving the generator by the engine to the motor that loads and unloads the load, and the power storage device 6 generates the generated power or the regenerative power from the motor. Is stored as power storage power, and the power storage power is supplementarily supplied to the motor during operation of the motor, and the controller 7 controls the engine rotation speed of the engine power generator in accordance with the operation status of the crane device. As described above, the engine power generation device has a storage capacity for storing power necessary for accelerating the engine rotation speed from the lowest speed at which power generation is possible to the highest speed.

Hereinafter, the structure of the crane apparatus concerning this Embodiment is demonstrated in detail.
The engine generator 1 is a device that has a diesel engine (DE) 11 and an alternator (G) 12, and generates alternating current power by driving the alternator 12 with the diesel engine 11. It has a function of controlling the engine rotation speed of the diesel engine 11 based on an operation instruction 10A from the controller 7 indicating the rotation speed.

The main winding motor 31 is an AC motor for lifting and lowering a load. The traveling motor 32 is an AC motor for traveling the gantry. The traverse motor 33 is an AC motor for traversing the gantry.
The inverter 41 is an AC / DC / AC converter that converts supply power on the common bus 9 into AC power and supplies the AC power to the main winding motor 31.
The inverter 42 is an AC / DC / AC converter that converts supply power on the common bus 9 into AC power and supplies it to the traveling motor 32.

The inverter 43 is an AC / DC / AC converter that converts supply power on the common bus 9 into AC power and supplies the AC power to the traverse motor 33.
The inverter 44 is an AC / DC / AC converter that converts the power supplied on the common bus 9 into AC power and supplies it as power for various auxiliary equipment including a lighting device, an air conditioner, or a controller such as the controller 7. is there.
The discharge device 5 is a circuit device that discharges surplus power generated on the common bus 9 at the time of regeneration such as when a load is lowered using a resistor or the like.

  The power storage device 6 is a circuit device that incorporates a storage battery such as a battery or a capacitor. The power storage device 6 stores the power output in the DC circuit section of the inverter 41 in the storage battery, and the stored power stored in the storage battery from the inverter 41. A function of supplying to the electric motor 31. As electric power output to the DC circuit section of the inverter 41, in addition to the electric power generated from the engine power generator 1, there is regenerative electric power generated when unloading the load from the main winding motor 31, and one or both of them are stored. The electricity is stored in the device 6.

  The controller 7 has a microprocessor such as a CPU and its peripheral circuits, and reads and executes the program from a memory provided in the microprocessor or the peripheral circuit, thereby causing the program and the hardware to cooperate with each other. It has various functions for controlling the entire apparatus.

  The main function of the controller 7 is to control the inverters 41 to 44 by exchanging various commands 4A on the basis of an operator command input 71 detected via an operation lever or an operation switch, Obtained from the crane operation function for controlling the operation of the gantry and the traversing, the power supply status confirmation function for confirming the power supply status from the engine power generator 1 to the common bus 9, and the input various commands and power supply status There is a rotation speed control function that calculates a new engine rotation speed based on the operation status of the crane apparatus and instructs the engine power generation apparatus 1 by the operation instruction 10A.

The power supply status from the engine power generator 1 to the common bus 9 can be grasped by monitoring the supply voltage of the common bus 9, for example. In the case of winding a baggage, traveling a frame, or traversing based on the command input 71, the supply voltage on the common bus 9 is used when the corresponding electric motors 31 to 33 are driven, so that the supply voltage decreases.
Thus storage, the power supply status check feature, for example, based on a detected value 15A from detector provided on the wiring from the engine generator 1 to the common base line 9 detects the supply voltage of the common bus 9, in advance in the memory By reading and comparing the lower and upper thresholds, the power supply status can be checked for excess or deficiency.

[Acceleration power for engine generators]
Next, with reference to FIG. 2, the acceleration electric power of the engine power generator in the crane apparatus according to the first embodiment of the present invention will be described. FIG. 2 is an acceleration power calculation processing flowchart of the engine power generator.
In such a crane apparatus, when a load is hoisted by an electric motor, the energy required for the operation is divided into a hoisting acceleration period, a hoisting constant speed period, and a hoisting deceleration period as shown in FIG.

  Among these, the maximum energy consumption Pmax during the winding acceleration period is mainly composed of the kinetic energy PV of the load, the acceleration energy PC of the load, and the acceleration energy PE of the engine power generator 1. PV is the kinetic energy required only for lifting the load, and PC is the acceleration energy required for accelerating the lifting of the load. On the other hand, PE is acceleration energy necessary for accelerating the engine power generator 1 itself. When changing the rotational speed, the engine power generation device 1 requires acceleration energy PE, that is, acceleration power resulting from the moment of inertia of the engine or the generator.

In general, as shown in FIG. 2, the energy required for the acceleration of the rotating body is obtained by calculating the rotational speed difference between the rotational speed 7A at the start of acceleration and the rotational speed 7B at the end of acceleration with an adder 200. By multiplying the moment of inertia 7C of the rotating body by the product-sum calculator 201, the acceleration energy required for accelerating the rotational speed of the rotating body from 7A to 7B can be calculated.
In the present embodiment, by using the acceleration power calculation process of the engine power generator, the maximum acceleration power of the engine power generator 1 itself is obtained, and the storage capacity for storing the maximum acceleration power is stored in the power storage apparatus. 6

  That is, when the difference in rotational speed between before and after acceleration of the engine power generation speed of the engine power generator 1 is maximized, for example, when the load of the maximum weight is taken up from the state where the engine rotational speed is the lowest, the rotation at the start of acceleration The adder 200 obtains the maximum rotation speed difference by setting the speed 7A as the minimum rotation speed and setting the rotation speed 7B at the end of acceleration as the engine rotation speed necessary for winding the baggage with the maximum weight. At this time, as the minimum rotation speed, for example, the engine rotation speed of the engine power generator 1 in an idling state in which no crane operation is performed by the crane apparatus may be used. In addition, since the maximum rotational speed difference can be calculated from the energy required to wind up the load of the maximum weight, that is, PV + PC, the engine rotational speed corresponding to this energy can be obtained from the operating characteristics of the engine power generator described later. it can.

  Next, the moment of inertia 7C of the engine power generator 1, here, the moment of inertia of the diesel engine 11 and the AC generator 12 is summed with the maximum rotational speed difference and the sum of products calculator 201, so that the engine power generator 1 itself Find the maximum acceleration power. Then, the power storage device 6 has a storage capacity for storing the maximum acceleration power, and the engine has a power generation capacity for supplying power other than the maximum acceleration power among the power necessary for acceleration at the maximum rotational speed difference. The power generator 1 is provided.

[Effect of the first embodiment]
As described above, the present embodiment has a storage capacity for storing power necessary for accelerating the engine rotation speed of the engine power generation device 1 from the lowest speed at which power generation is possible to the highest speed as the power storage device 6. Therefore, as shown in FIG. 6 described above, during the load hoisting acceleration period, the kinetic energy PV and acceleration energy PC of the load are supplied from the engine power generator 1, and the acceleration energy PE of the engine power generator 1 itself is the power storage device 6. Supplied from

  As a result, the electric power for acceleration necessary for accelerating the engine rotation speed, that is, the electric power other than PE, that is, PV + PC, is always supplied from the engine power generator 1, and even when the winding constant speed period is long, the electric motor On the other hand, stable electric power can be continuously supplied from the engine power generator 1. In addition, the maximum power generation capacity of the engine power generator 1 can be reduced from Pmax to P1, and the cost can be reduced by reducing the scale of the engine power generator 1.

Further, it is only necessary to supply from the power storage device 6 the acceleration power required for accelerating the engine power generation device 1 only during a relatively short acceleration period when the luggage is rolled up, and the storage capacity of the storage battery is minimized. be able to. In addition, since the storage capacity of the storage battery is relatively small, the time required for storage can be shortened. Moreover, when storing with the generated power from the engine power generation device 1 instead of the regenerative power, the operation period for power storage can be shortened, and the fuel efficiency of the engine power generation device 1 can be improved.
Therefore, according to the present embodiment, stable power supply can be continuously performed from the engine power generator and the power storage device with a relatively inexpensive configuration even when the load fluctuation of the motor is large.

[Second Embodiment]
Next, with reference to FIG. 3 and FIG. 4, the crane apparatus concerning the 2nd Embodiment of this invention is demonstrated. FIG. 3 is a flowchart showing an engine rotational speed control process of the crane apparatus according to the second embodiment of the present invention. FIG. 4 is an operational characteristic showing the relationship between the power generated by the engine power generator and the engine speed.

  In the first embodiment, the power storage device 6 stores the maximum acceleration power necessary for the maximum acceleration for accelerating the engine power generation device with the maximum rotational speed difference that maximizes the rotational speed difference before and after the acceleration of the engine rotational speed. The case of having a storage capacity for the above has been described. In the present embodiment, a case where the minimum electric power is stored by controlling the engine rotation speed of the engine power generation device 1 when the power storage device 6 stores power will be described in detail. In addition, about the structure of a crane apparatus, it is as substantially the same as 1st Embodiment (refer FIG. 1), and detailed description here is abbreviate | omitted.

  In the above-described conventional crane device, the maximum load power required when hoisting the load can be temporarily supplemented with the stored power of the power storage device. However, in order to stably supply such maximum load power, the engine is always used. The power generator is operated at a relatively high constant rotational speed. For this reason, at the time of low load when the crane operation such as the hoisting operation of the load is not performed, for example, the shortage of regenerative power can be stored in the power storage device with the generated power, but the fuel efficiency of the engine power generation device is poor. Become.

As a method of improving the fuel consumption of such an engine power generation device, a method of reducing the rotation speed of the engine power generation device at low load is conceivable. The lower the rotation speed, the more the fuel consumption of the engine power generation device can be reduced. It becomes possible.
However, in such a method, when the rotational speed of the engine power generator is reduced, the generated power of a predetermined voltage and frequency can be obtained. Therefore, when the regenerated power is insufficient or when the regenerated power is not used. Since all of this is stored in the power storage device, it is necessary to maintain the engine speed at a high speed, and there is a problem in that fuel consumption cannot be effectively reduced.

In the present embodiment, the controller 7 has an acceleration power calculation function and a storage engine rotation speed control function as the rotation speed control function.
The acceleration power calculation function is a function for calculating the acceleration power necessary for accelerating the engine power generator 1 to a desired rotational speed. The power storage engine rotation speed control function is a function of controlling the engine rotation speed based on a comparison result between the acceleration power and the remaining power storage amount of the power storage device 6. With these functions, it is possible to operate the engine power generator 1 at a predetermined power storage rotational speed by an amount corresponding to the stored power required for the next engine acceleration.

[Operation of Second Embodiment]
The controller 7 starts the engine rotational speed control process of FIG. 3 in response to the startup operation of the entire crane apparatus by the operator.
First, the controller 7 checks the presence / absence of a command input 71 indicating the start / end of crane operation from the operator using the engine speed control function (step 100), and if there is a command input 71 (step 100: YES). Then, an operation instruction 10A indicating the engine rotation speed N corresponding to the load and command speed input by the command input 71 is output to the engine power generator 1 (step 101), and the process returns to step 100.

  The engine power generator 1 has operational characteristics as shown in FIG. 4 with respect to the generated power P and the engine speed N. In general, this type of operating characteristic tends to attenuate after the generated power P monotonously increases as the engine speed N increases and reaches a predetermined maximum power value. Therefore, if such operation characteristics are stored in advance in the memory of the controller 7 in the form of a function or a table, the engine rotational speed N required to supply the desired generated power P, that is, the command generated power can be calculated.

Accordingly, since the command generated power (= load × command speed) can be calculated from the load and the command speed, the engine rotation speed corresponding to the command generated power is calculated with reference to the operation characteristics, and the engine power generator is determined by the operation instruction 10A. You only need to indicate to 1.
As a result, the diesel engine 11 of the engine generator 1 is operated at the engine speed N, and the command generated power corresponding to the load and command speed input by the operator is generated by the AC generator 12.

  On the other hand, when there is no command input 71 from the operator in Step 100 (Step 100: NO), the controller 7 executes the above-described acceleration power calculation process of FIG. 2 by the storage engine rotation speed control function. Then, the acceleration power of the engine power generator 1 is calculated (step 102). At this time, assuming the next acceleration of the engine rotational speed, the rotational speed 7A at the start of acceleration and the rotational speed 7B at the end of acceleration are determined.

For example, when there is a possibility of lowering the engine rotation speed to the minimum rotation speed as a schedule for the subsequent crane operation, the minimum rotation speed may be used as the rotation speed 7A at the start of acceleration, and the load is unwound. If it is determined to wind up with an empty load later, the minimum rotation speed until the start of winding up the empty load may be used as the rotation speed 7A at the start of acceleration.
In addition, if there is a possibility of lifting a load with the maximum load after controlling to the minimum rotation speed, the maximum rotation speed may be used as the rotation speed 7B at the end of acceleration. If it is determined to wind up, the maximum rotation speed at the time of winding up the empty load may be used as the rotation speed 7B at the end of acceleration.

  The controller 7 compares the acceleration power of the engine power generation device 1 calculated in this way with the power storage remaining amount of the power storage device 6 (step 103). At this time, for the remaining power amount, for example, a known technique such as accumulating the current of power supplied from the power storage device 6 and subtracting it from the storage capacity may be used.

If the accelerating power is greater than the remaining amount of power storage (step 103: YES), since power storage is required, the engine speed is maintained at a predetermined power storage speed Ns or higher (step 104). Return to.
The power storage rotation speed Ns is an engine rotation speed for generating electric power necessary for storing power in the power storage device 6 by the engine power generation device 1 and may be set in the memory of the controller 7 in advance.

In step 104, the engine rotation speed N corresponding to the previous command input stored in the memory is compared with the storage rotation speed Ns, and only when the engine rotation speed N is lower than the storage rotation speed Ns, the storage rotation speed. An operation instruction 10A indicating Ns is output to the engine power generator 1, and the engine rotation speed N is maintained when the engine rotation speed N is equal to or higher than the storage rotation speed Ns.
Usually, the electric power for power storage is smaller than the drive power of the electric motor. Therefore, when the engine speed N of the engine power generator 1 is maintained at the power storage speed Ns or higher, the power is stored at the engine speed N. It is possible to obtain the necessary power. For this reason, by performing the above-described determination process, it is possible to accurately execute an engine rotational speed command to the engine power generator 1.

  On the other hand, when the accelerating power is less than or equal to the remaining amount of power storage (step 103: NO), since power storage is not required, a driving instruction 10A indicating the engine speed N corresponding to the immediately preceding command input is sent to the engine power generator 1. Output (step 105) and return to step 100.

  In step 105, the engine rotational speed N corresponding to the previous command input stored in the memory is compared with the current engine rotational speed Nn, and only when the engine rotational speed N is lower than the current engine rotational speed Nn. An operation instruction 10A indicating the engine rotation speed Nn is output to the engine power generator 1, and when the engine rotation speed N is equal to or higher than the current engine rotation speed Nn, the current engine rotation speed Nn is maintained.

  Thereby, at the end of power storage, the engine speed of the engine power generator 1 can be reduced from the current engine speed Nn, that is, the power storage speed Ns, to a lower engine speed N commanded at the end of crane operation. Therefore, fuel efficiency can be greatly improved as compared with the case where the engine power generator 1 is maintained at a constant rotational speed. At this time, the lowest engine in the idling state in which no crane operation is performed by the crane device only when a predetermined standby period is waited after the end of power storage and no new command input 71 is input during this standby period. The driving instruction 10A indicating the change to the rotation speed may be output to the engine power generation device 1, and further fuel saving can be realized.

[Operation Example of Second Embodiment]
Next, with reference to FIG. 5, the operation example of the crane apparatus concerning the 2nd Embodiment of this invention is demonstrated. FIG. 5 is a timing chart showing an operation example of the crane apparatus according to the second embodiment of the present invention. Here, a case will be described as an example in which a bag is wound and then lowered.

  Prior to time T0, crane operation is not performed, and the diesel engine of the engine power generator 1 is operated at the engine rotation speed Na. At this time, the specified power generation PMa is output from the engine power generation device 1. Further, it is assumed that the stored power 61 of the power storage device 6 is in a PBa state equal to the storage capacity. At this time, since the stored electric power 61 is PBa, the electric power for acceleration of the engine power generation apparatus 1 necessary for the acceleration from Na to Nb is equal to or less than the remaining amount of electric storage, and therefore no electric storage is performed.

  Next, when a command input 71 indicating a package hoisting command is performed at time T0, the controller 7 outputs a driving instruction 10A indicating the engine rotation speed Nb corresponding to the operation command to the engine power generator 1. As a result, the engine rotation speed of the engine power generator 1 gradually increases from Na to Nb, the generated power 15 from the engine power generator 1 increases, and the generated power 15 and the stored power 61 from the power storage device 6 are converted into inverters 41, It is supplied to the main winding motor 31 via 42.

  Thereafter, at time T1, the engine rotation speed N reaches Nb and becomes constant, the maximum generated power PMb is output as the generated power 15, and the stored power decreases to PBa. At this time, in the period of time T0 to T1, the stored power is gradually discharged from the power storage device 6, but the acceleration power required for acceleration up to Nb at each time point is less than or equal to the remaining power storage amount at each time point. Therefore, power storage is not performed. On the other hand, during the period from time T1 to T2, the next crane operation is expected to unload the load, and no further acceleration is required, so the difference in rotational speed between before and after acceleration is zero, and the acceleration power is less than the stored power. Therefore, power storage is not performed.

  When a command input 71 indicating a package lowering command is performed at time T2, the controller 7 outputs a driving instruction 10A indicating the engine rotation speed Na corresponding to the operation command to the engine power generator 1. As a result, the engine rotation speed of the engine power generator 1 gradually decreases from Nb to Na, and the generated power 15 from the engine power generator 1 decreases. At this time, after time T2, since the next crane operation is expected to roll up the load, that is, accelerate from Na to Nb, the accelerating power becomes larger than the stored power. Therefore, the generated power 15 from the engine power generator 1 is supplied to the power storage device 6 via the inverter 41 to perform power storage.

  Thereafter, at time T3, the engine rotation speed N reaches the power storage rotation speed Ns and becomes constant, and the specified generated power PMa is output as the generated power 15. At this time, after time T3 as well, after time T2, the acceleration power becomes larger than the stored power, so that power is stored. In addition, during the period from time T2 to time T3, regenerative power is generated in the main winding motor 31 according to the lowering of the load, and is stored in the power storage device 6 from the inverter 41.

  On the other hand, at time T4, when the power storage proceeds and the stored power 61 reaches PBa and becomes equal to the accelerating power, and the power storage of the power storage device 6 is completed, the controller 7 responds to the load lowering command at time T2. An operation instruction 10 </ b> A indicating the engine rotation speed Na is output to the engine power generator 1. Thereby, in the engine power generation device 1, the rotational speed of the diesel engine 11 is reduced to the engine rotational speed Na, and the generated power 15 is also PMa.

[Effect of the second embodiment]
Thus, in the present embodiment, the controller 7 uses the controller 7 to determine the difference between the rotational speed 7A at the start of acceleration and the rotational speed 7B at the end of acceleration and the moment of inertia 7C of the engine power generator 1 in any acceleration. The acceleration power 7D is calculated from the above, and the engine rotation speed is controlled based on the comparison result between the acceleration power 7D and the remaining amount of power stored in the power storage device 6, so that the stored power required for the next engine acceleration is obtained. It is possible to operate the engine power generator 1 at a predetermined power storage rotation speed by the amount corresponding thereto.

  Thereby, in order to supply the electric power which can be stored, compared with the case where the engine power generator 1 is always operated at a predetermined power storage rotation speed, the fuel efficiency of the engine power generator 1 can be effectively reduced. Environmental impacts can also be reduced.

  In addition, although this Embodiment demonstrated as an example the case where the engine rotational speed control method was applied to the crane apparatus, it is not limited to this, While supplying the electric power generated with the engine power generation apparatus to an electric motor, The present embodiment can be applied in any case as long as it is a power supply device that supplementarily supplies the stored power to the motor by the power storage device.

[Extended embodiment]
In each of the above embodiments, the case where the engine power generator 1 generates AC power and supplies it to the common bus 9 has been described as an example. However, the present invention is not limited to this, and the engine power generator 1 generates DC power. Electric power may be generated and supplied to the common bus 9. In this case, since DC power is supplied to the common bus 9, DC / AC converters are used as the inverters 41 to 44.

  Further, when supplying DC power to the common bus 9, the power storage device 6 is connected to the common bus 9 to store the generated power 15 from the engine power generator 1 and the regenerative power from the main winding motor 31 via the inverter 41. You may make it do. Thereby, the stored power can be used not only as the main winding motor 31 but also as a power source for auxiliary equipment, for example.

It is a functional block diagram which shows the structure of the crane apparatus concerning the 1st Embodiment of this invention. It is an acceleration electric power calculation processing flowchart of an engine generator. It is a flowchart which shows the engine speed control process of the crane apparatus concerning the 2nd Embodiment of this invention. It is an operating characteristic which shows the relationship between the electric power generated by the engine power generator and the engine speed. It is a timing chart which shows the operation example of the crane apparatus concerning the 2nd Embodiment of this invention. It is explanatory drawing which shows the energy required at the time of package lifting.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Engine power generation apparatus, 10A ... Driving instruction, 11 ... Diesel engine, 12 ... Alternator, 15 ... Generated power, 31 ... Main winding motor, 32 ... Traveling motor, 33 ... Traverse motor, 41-44 ... Inverter, 5 ... Discharge device, 6 ... Power storage device, 7 ... Controller, 71 ... Command input, 9 ... Common bus.

Claims (5)

An engine generator for supplying generated electric power obtained by driving the generator with an engine to an electric motor for loading and unloading luggage;
A power storage device that stores the generated power or regenerative power from the motor, and supplies the stored power to the motor in an auxiliary manner during operation of the motor;
A controller for controlling the engine rotation speed of the engine power generator according to the operation status of the crane device,
The crane device, wherein the power storage device has a power storage capacity for storing electric power necessary to accelerate an engine rotation speed of the engine power generation device from a lowest speed capable of power generation to a maximum speed. An engine generator for supplying generated electric power obtained by driving the generator with an engine to an electric motor for loading and unloading luggage;
A power storage device that stores the generated power or regenerative power from the motor, and supplies the stored power to the motor in an auxiliary manner during operation of the motor;
A controller for controlling the engine rotation speed of the engine power generator according to the operation status of the crane device,
The controller calculates acceleration power from a difference between a rotation speed at the start of acceleration and a rotation speed at the end of acceleration in an arbitrary acceleration with respect to the engine power generation apparatus, and an inertia moment of the engine power generation apparatus. The crane apparatus that controls the engine rotation speed based on a comparison result with the remaining amount of the stored power. The crane apparatus according to claim 2,
When the acceleration power is greater than the remaining amount of the stored power, the controller maintains the rotational speed of the engine power generator at a predetermined stored power rotation speed or more, and the acceleration power is equal to or less than the remaining amount of the stored power In this case, the engine speed is controlled in accordance with the operation status of the crane apparatus. An engine power generation device that supplies generated electric power obtained by driving a generator with an engine to an electric motor, and a power storage device that temporarily stores the generated electric power and supplementally supplies the stored electric power to the electric motor during operation of the electric motor And an engine rotation speed control method used in a power supply device comprising a controller for controlling the rotation speed of the engine power generator,
The controller calculates acceleration power from the difference between the rotational speed at the start of acceleration and the rotational speed at the end of acceleration and the moment of inertia of the engine power generator in any acceleration with respect to the engine power generator;
And a step of controlling the engine speed based on a comparison result between the acceleration power and the remaining amount of the stored power by the controller. The engine rotation speed control method according to claim 4,
When the acceleration power is greater than the remaining amount of the stored power by the controller, maintaining the rotational speed of the engine power generation device at or above a predetermined stored power rotational speed;
The engine rotation speed control method further comprising the step of controlling the engine rotation speed in accordance with a driving situation of the electric motor when the controller uses the acceleration power to be equal to or less than the remaining amount of the stored power. .

Images