Invention name: Crane and crane control system
Technical field
[0001]
　The present invention relates to a crane and a crane control system.
Background technology
[0002]
　Conventionally, in mobile cranes and the like, cranes in which each actuator is operated by an operation terminal or the like have been proposed. Since such a crane is operated by an operation command signal based on a load from an operation terminal, it can be operated intuitively without being conscious of the operation speed, the operation amount, the operation timing, and the like of each actuator. For example, as in Patent Document 1.
[0003]
　The crane described in Patent Document 1 transmits a speed signal relating to the operating speed of the operating tool and a directional signal relating to the operating direction from the operating terminal to the crane. For this reason, the crane may sway the load due to discontinuous acceleration at the start or stop of movement in which the speed signal from the operation terminal is input in the form of a step function. Therefore, by applying the optimum control with the feedback amount of the crane speed, position, load swing angular velocity and swing angle, and compensating for the delay by the foresight gain, the crane can be positioned at the target position and the load swing angle can be adjusted. A technique of controlling by the minimum speed signal is known. For example, as in Patent Document 2.
[0004]
　The crane described in Patent Document 2 is controlled to improve the positioning accuracy of the crane and minimize the runout of the load based on a predetermined mathematical model of the crane. Therefore, when the error of the mathematical model is large, the error of the future predicted value is also large, the positioning accuracy of the crane is lowered, and the runout of the load is increased, which is disadvantageous.
Prior art literature
Patent documents
[0005]
Patent Document 1: Japanese Patent Application Laid-Open No. 2010-228905
Patent Document 2: Japanese Patent Application Laid-Open No. 7-81876
Outline of the invention
Problems to be solved by the invention
[0006]
　An object of the present invention is to learn the dynamic characteristics of a crane from the movement of a load when controlling an actuator with reference to the load, thereby moving the load in a manner according to the intention of the operator while suppressing the shaking of the load. The purpose is to provide a crane and a crane control system that can be operated.
Means to solve problems
[0007]
　The problem to be solved by the present invention is as described above, and next, the means for solving this problem will be described.
[0008]
　The crane of the present invention is a crane that controls an actuator based on a target speed signal regarding the moving direction and speed of a load suspended from a boom by a wire rope, and the acceleration time and speed of the load in the target speed signal. An operating tool for inputting a signal and a moving direction, a turning angle detecting means for the boom, an undulating angle detecting means for the boom, an expansion / contraction length detecting means for the boom, and a luggage for detecting the current position of the luggage with respect to a reference position. The position detecting means, the feedback control unit that calculates the target trajectory signal of the luggage by integration from the target speed signal, and corrects the target trajectory signal based on the difference between the current position of the luggage with respect to the target trajectory signal, and the correction. A control device having a feed forward control unit that adjusts a weighting coefficient of a transmission function representing the characteristics of the crane based on the target trajectory signal, and the control device from the luggage position detecting means to the reference position. The current position of the load is acquired, the target trajectory signal corrected by the feedback control unit is corrected by a transmission function whose weight coefficient is adjusted by the feed forward control unit, and the turning angle detecting means detects the turning. The current position of the tip of the boom with respect to the reference position is calculated from the angle, the undulation angle detected by the undulation angle detecting means, and the expansion / contraction length detected by the expansion / contraction length detecting means, and the current position of the luggage and the boom The wire rope feeding amount is calculated from the current position of the tip, the direction vector of the wire rope is calculated from the current position of the luggage and the target position of the luggage, and the wire rope feeding amount and the wire are calculated. It is preferable to calculate the target position of the tip of the boom at the target position of the load from the direction vector of the rope and generate an operation signal of the actuator based on the target position of the tip of the boom.
[0009]
　In the crane of the present invention, the control device has a plurality of feedforward control units, decomposes the transfer function into one or more primary models, provides the weighting coefficient for each model, and provides the feedforward control unit. The weighting coefficient to be adjusted for each is assigned.
[0010]
　In the crane of the present invention, the transfer function is represented by the equation (1) including a low-pass filter that suppresses a predetermined frequency component.
[

　Equation 1] A, B, C: Coefficient, wα1, wα2, wα3, wα4: Weight coefficient, s: Derivative element
[0011]
　The crane control system of the present invention is a crane control system that controls an actuator based on a target speed signal related to a load moving direction and speed, and calculates a load target trajectory signal by integration from the target speed signal. Then, the target orbit signal is corrected based on the difference between the current position of the luggage with respect to the target orbit signal of the luggage, and the feedback control unit that calculates the target position of the luggage from the corrected target orbit signal is corrected. A feedback control unit that adjusts the weighting coefficient of the transmission function representing the characteristics of the crane based on the target trajectory signal and corrects the corrected target trajectory signal by the transmission function adjusted for the weighting coefficient. Then, every time the target trajectory signal is corrected by the feedback control unit, the weight coefficient of the transmission function is adjusted by the feed forward control unit.
[0012]
　The crane control system of the present invention has a plurality of the feedforward control units, decomposes the transfer function into one or more primary models, provides the weighting coefficient for each model, and provides each of the feedforward control units. The weighting coefficient to be adjusted is assigned.
[0013]
　In the crane control system of the present invention, the transfer function is represented by the equation (1) including a low-pass filter that suppresses a predetermined frequency component.
[

　Equation 1] A, B, C: Coefficient, wα1, wα2, wα3, wα4: Weight coefficient, s: Derivative element
Effect of the invention
[0014]
　The present invention has the following effects.
[0015]
　According to the crane and the crane control system of the present invention, feedback control is performed so that the load moves to the target position based on the difference between the current position and the target position, and the weight coefficient of the transfer function is changed according to the difference. As it is adjusted, the transfer function of the crane is adjusted to that applied to the characteristics of the crane during operation of the crane. As a result, when controlling the actuator with reference to the luggage, by learning the dynamic characteristics of the crane from the movement of the luggage, it is possible to move the luggage in a manner according to the operator's intention while suppressing the shaking of the luggage. it can.
[0016]
　According to the crane and the crane control system of the present invention, the higher-order transfer function is adjusted for each primary model, so that it can flexibly respond to changes in dynamic characteristics. As a result, when controlling the actuator with reference to the luggage, by learning the dynamic characteristics of the crane from the movement of the luggage, it is possible to move the luggage in a manner according to the operator's intention while suppressing the shaking of the luggage. it can.
[0017]
　According to the crane and the crane control system of the present invention, the coefficient of the low-pass filter can be identified according to the dynamic characteristics of the crane. As a result, when controlling the actuator with reference to the luggage, by learning the dynamic characteristics of the crane from the movement of the luggage, it is possible to move the luggage in a manner according to the operator's intention while suppressing the shaking of the luggage. it can.
A brief description of the drawing
[0018]
[Fig. 1] A side view showing the overall configuration of a crane.
[Fig. 2] A block diagram showing a control configuration of a crane.
FIG. 3 is a plan view showing a schematic configuration of an operation terminal.
[Fig. 4] A block diagram showing a control configuration of an operation terminal.
FIG. 5 is a diagram showing the direction in which a load is transported when the suspended load moving operation tool is operated.
FIG. 6 is a block diagram showing a control configuration of a control device according to the present embodiment.
[Fig. 7] A diagram showing a reverse dynamics model of a crane.
FIG. 8 is a block diagram showing a control configuration of a control system according to the present embodiment.
FIG. 9 is a diagram showing a flowchart showing a control process of a crane control method.
FIG. 10 is a diagram showing a flowchart showing a target trajectory calculation process.
FIG. 11 is a diagram showing a flowchart showing a boom position calculation process.
FIG. 12 is a diagram showing a flowchart showing an operation signal generation process.
Mode for carrying out the invention
[0019]
　Hereinafter, a crane 1 which is a mobile crane (rough terrain crane) will be described as a work vehicle according to an embodiment of the present invention with reference to FIGS. 1 and 2. In the present embodiment, the crane 1 (rough terrain crane) will be described as the work vehicle, but an all-terrain crane, a truck crane, a loaded truck crane, an aerial work platform, or the like may be used.
[0020]
　As shown in FIG. 1, the crane 1 is a mobile crane that can move to an unspecified place. The crane 1 has a vehicle 2, a crane device 6 which is a working device, and an operation terminal 32 (see FIG. 2) capable of operating the crane device 6.
[0021]
　The vehicle 2 is a traveling body that conveys the crane device 6. The vehicle 2 has a plurality of wheels 3 and runs on the engine 4 as a power source. The vehicle 2 is provided with an outrigger 5. The outrigger 5 is composed of an overhang beam that can be extended by flood control on both sides of the vehicle 2 in the width direction and a hydraulic jack cylinder that can be extended in a direction perpendicular to the ground. The vehicle 2 can expand the workable range of the crane 1 by extending the outrigger 5 in the width direction of the vehicle 2 and grounding the jack cylinder.
[0022]
　The crane device 6 is a work device for lifting the luggage W with a wire rope. The crane device 6 includes a swivel 7, a boom 9, a jib 9a, a main hook block 10, a sub hook block 11, an undulating hydraulic cylinder 12, a main winch 13, a main wire rope 14, a sub winch 15, a sub wire rope 16, and a cabin. It is equipped with 17 and the like.
[0023]
　The swivel base 7 is a drive device that makes the crane device 6 swivelable. The swivel base 7 is provided on the frame of the vehicle 2 via an annular bearing. The swivel base 7 is rotatably configured with the center of the annular bearing as the center of rotation. The swivel base 7 is provided with a hydraulic swivel motor 8 which is an actuator. The swivel base 7 is configured to be swivelable in one direction and the other direction by a swivel hydraulic motor 8.
[0024]
　The swivel camera 7b, which is a luggage position detecting means, is a monitoring device that photographs obstacles, people, and the like around the swivel 7. The swivel camera 7b is provided on both the left and right sides in front of the swivel 7 and on the left and right sides behind the swivel 7. Each swivel camera 7b covers the entire circumference of the swivel 7 as a monitoring range by photographing the periphery of each installation location. Further, the swivel camera 7b arranged on the left and right sides in front of the swivel 7 is configured to be usable as a set of stereo cameras. That is, the swivel camera 7b in front of the swivel 7 can be configured as a luggage position detecting means for detecting the position information of the suspended luggage W by using it as a set of stereo cameras. The luggage position detecting means (swivel camera 7b) may also be configured as a boom camera 9b, which will be described later. Further, the luggage position detecting means may be any one capable of detecting the position information of the luggage W such as a millimeter wave radar, an acceleration sensor, and a GNSS.
[0025]
　The swivel hydraulic motor 8 is an actuator that is rotationally operated by a swivel valve 23 (see FIG. 2), which is an electromagnetic proportional switching valve. The swivel valve 23 can control the flow rate of the hydraulic oil supplied to the swivel hydraulic motor 8 to an arbitrary flow rate. That is, the swivel base 7 is configured to be controllable to an arbitrary swivel speed via the swivel hydraulic motor 8 that is rotationally operated by the swivel valve 23. The swivel base 7 is provided with a swivel sensor 27 (see FIG. 2) that detects the swivel angle θz (angle) and the swivel speed of the swivel base 7.
[0026]
　The boom 9 is a movable support column that supports the wire rope so that the luggage W can be lifted. The boom 9 is composed of a plurality of boom members. The boom 9 is provided so that the base end of the base boom member can swing at substantially the center of the swivel base 7. The boom 9 is configured to be able to expand and contract in the axial direction by moving each boom member by an expansion / contraction hydraulic cylinder (not shown) which is an actuator. Further, the boom 9 is provided with a jib 9a.
[0027]
　The expansion / contraction hydraulic cylinder (not shown) is an actuator that is expanded / contracted by the expansion / contraction valve 24 (see FIG. 2), which is an electromagnetic proportional switching valve. The expansion / contraction valve 24 can control the flow rate of the hydraulic oil supplied to the expansion / contraction hydraulic cylinder to an arbitrary flow rate. The boom 9 is provided with a telescopic sensor 28 for detecting the length of the boom 9 and an orientation sensor 29 for detecting the orientation centered on the tip of the boom 9.
[0028]
　The boom camera 9b (see FIG. 2) is a detection device that photographs the luggage W and the features around the luggage W. The boom camera 9b is provided at the tip of the boom 9. The boom camera 9b is configured to be capable of photographing the features and terrain around the luggage W and the crane 1 from vertically above the luggage W.
[0029]
　The main hook block 10 and the sub hook block 11 are hanging tools for hanging the luggage W. The main hook block 10 is provided with a plurality of hook sheaves around which the main wire rope 14 is wound and a main hook 10a for suspending the luggage W. The sub-hook block 11 is provided with a sub-hook 11a for suspending the luggage W.
[0030]
　The undulating hydraulic cylinder 12 is an actuator that raises and lays down the boom 9 and holds the posture of the boom 9. In the undulating hydraulic cylinder 12, the end of the cylinder portion is swingably connected to the swivel base 7, and the end of the rod portion is swingably connected to the base boom member of the boom 9. The undulating hydraulic cylinder 12 is expanded and contracted by the undulating valve 25 (see FIG. 2), which is an electromagnetic proportional switching valve. The undulation valve 25 can control the flow rate of the hydraulic oil supplied to the undulation hydraulic cylinder 12 to an arbitrary flow rate. The boom 9 is provided with an undulation sensor 30 (see FIG. 2) that detects the undulation angle θx.
[0031]
　The main winch 13 and the sub winch 15 are winding devices that carry out (winding up) and unwinding (winding down) the main wire rope 14 and the sub wire rope 16. The main winch 13 is rotated by a main hydraulic motor (not shown) in which the main drum around which the main wire rope 14 is wound is an actuator, and the sub winch 15 is a sub (not shown) in which the sub drum around which the sub wire rope 16 is wound is an actuator. It is configured to be rotated by a hydraulic motor.
[0032]
　The main hydraulic motor is rotated by a main valve 26 m (see FIG. 2), which is an electromagnetic proportional switching valve. The main winch 13 is configured to control a main hydraulic motor by a main valve 26 m so that it can be operated at an arbitrary feeding and feeding speed. Similarly, the sub winch 15 is configured to control the sub hydraulic motor by the sub valve 26s (see FIG. 2), which is an electromagnetic proportional switching valve, so that the sub winch 15 can be operated at an arbitrary feeding and feeding speed. The main winch 13 and the sub winch 15 are provided with a winding sensor 43 (see FIG. 2) for detecting the feeding amount l of the main wire rope 14 and the sub wire rope 16, respectively.
[0033]
　The cabin 17 is a cockpit covered with a housing. The cabin 17 is mounted on the swivel base 7. A cockpit (not shown) is provided. In the driver's seat, an operating tool for operating the vehicle 2 and a turning operating tool 18 for operating the crane device 6, an undulating operating tool 19, a telescopic operating tool 20, a main drum operating tool 21m, a sub-drum operating tool 21s, etc. Is provided (see FIG. 2). The swivel operating tool 18 can operate the swivel hydraulic motor 8. The undulation operation tool 19 can operate the undulation hydraulic cylinder 12. The telescopic operating tool 20 can operate the telescopic hydraulic cylinder. The main drum operating tool 21m can operate the main hydraulic motor. The sub drum operating tool 21s can operate the sub hydraulic motor.
[0034]
　As shown in FIG. 2, the control device 31 is a control device 31 that controls the actuator of the crane device 6 via each operation valve. The control device 31 is provided in the cabin 17. The control device 31 may substantially have a configuration in which a CPU, ROM, RAM, HDD, etc. are connected by a bus, or may have a configuration including a one-chip LSI or the like. The control device 31 stores various programs and data for controlling the operation of each actuator, switching valve, sensor, and the like.
[0035]
　The control device 31 is connected to the swivel camera 7b, the boom camera 9b, the swivel operation tool 18, the undulation operation tool 19, the telescopic operation tool 20, the main drum operation tool 21m, and the sub-drum operation tool 21s, and the image from the swivel camera 7b. The i1 and the image i2 from the boom camera 9b can be acquired, and the operation amounts of the swivel operation tool 18, the undulation operation tool 19, the main drum operation tool 21m, and the sub-drum operation tool 21s can be acquired.
[0036]
　The control device 31 is connected to the terminal side control device 41 of the operation terminal 32, and can acquire a control signal from the operation terminal 32.
[0037]
　The control device 31 is connected to the swivel valve 23, the telescopic valve 24, the undulation valve 25, the main valve 26m and the sub valve 26s, and is connected to the swivel valve 23, the undulation valve 25, the main valve 26m and the sub valve. The operation signal Md can be transmitted to the valve 26s.
[0038]
　The control device 31 is connected to the swivel sensor 27, the telescopic sensor 28, the orientation sensor 29, the undulation sensor 30, and the winding sensor 43, and has a swivel angle θz, a telescopic length Lb, and an undulation angle θx. The feeding amount l (n) and the orientation of the main wire rope 14 or the sub wire rope 16 (hereinafter, simply referred to as “wire rope”) can be obtained.
[0039]
　The control device 31 generates an operation signal Md corresponding to each operation tool based on the operation amounts of the turning operation tool 18, the undulation operation tool 19, the main drum operation tool 21m, and the sub-drum operation tool 21s.
[0040]
　The crane 1 configured in this way can move the crane device 6 to an arbitrary position by traveling the vehicle 2. Further, the crane 1 erects the boom 9 at an arbitrary undulation angle θx by the undulating hydraulic cylinder 12 by operating the undulating operation tool 19, and extends the boom 9 to an arbitrary boom 9 length by operating the expansion / contraction operation tool 20. The lift and working radius of the crane device 6 can be expanded by making the crane device 6 work. Further, the crane 1 can convey the luggage W by lifting the luggage W by the sub-drum operating tool 21s or the like and turning the swivel base 7 by operating the swivel operating tool 18.
[0041]
　As shown in FIGS. 3 and 4, the operation terminal 32 is a terminal for inputting a target speed signal Vd regarding the direction and speed at which the luggage W is moved. The operation terminal 32 includes a housing 33, a suspended load moving operation tool 35 provided on the operation surface of the housing 33, a terminal-side turning operation tool 36, a terminal-side expansion / contraction operation tool 37, a terminal-side main drum operation tool 38m, and a terminal-side sub-drum. It includes an operating tool 38s, a terminal-side undulating operating tool 39, a terminal-side display device 40, a terminal-side control device 41 (see FIGS. 3 and 5), and the like. The operation terminal 32 transmits the target speed signal Vd of the load W generated by the operation of the suspended load moving operation tool 35 or various operation tools to the control device 31 of the crane 1 (crane device 6).
[0042]
　The suspended load moving operation tool 35 is an operating tool for inputting instructions regarding the moving direction and speed of the load W on a horizontal surface. The suspended load moving operation tool 35 includes an operation stick that stands substantially vertically from the operation surface of the housing 33, and a sensor (not shown) that detects the tilt direction and tilt amount of the operation stick. The suspended load moving operating tool 35 is configured so that the operating stick can be tilted in any direction. The suspended load moving operation tool 35 relates to the tilting direction of the operating stick and the tilting amount thereof detected by a sensor (not shown) as the extending direction of the boom 9 in the upward direction (hereinafter, simply referred to as “upward direction”) toward the operating surface. The operation signal is configured to be transmitted to the terminal side control device 41 (see FIG. 2).
[0043]
　The terminal-side turning operation tool 36 is an operating tool into which instructions regarding the turning direction and speed of the crane device 6 are input. The terminal-side telescopic operation tool 37 is an operation tool for inputting instructions regarding expansion and contraction and speed of the boom 9. The terminal-side main drum operating tool 38m (terminal-side sub-drum operating tool 38s) is an operating tool for inputting instructions regarding the rotation direction and speed of the main winch 13. The terminal-side undulation operation tool 39 is an operation tool for inputting an instruction regarding the undulation and speed of the boom 9. Each operating tool is composed of an operating stick that stands substantially vertically from the operating surface of the housing 33 and a sensor (not shown) that detects the tilting direction and tilting amount of the operating stick. Each operating tool is configured to be tiltable to one side and the other side.
[0044]
　The terminal side display device 40 displays various information such as the attitude information of the crane 1 and the information of the luggage W. The terminal-side display device 40 is composed of an image display device such as a liquid crystal screen. The terminal-side display device 40 is provided on the operation surface of the housing 33. On the terminal-side display device 40, the extension direction of the boom 9 is set upward toward the terminal-side display device 40, and the direction thereof is displayed.
[0045]
　As shown in FIG. 4, the terminal-side control device 41, which is a control unit, controls the operation terminal 32. The terminal-side control device 41 is provided in the housing 33 of the operation terminal 32. The terminal-side control device 41 may substantially have a configuration in which a CPU, ROM, RAM, HDD, etc. are connected by a bus, or may have a configuration including a one-chip LSI or the like. The terminal-side control device 41 includes a suspended load moving operation tool 35, a terminal-side turning operation tool 36, a terminal-side expansion / contraction operation tool 37, a terminal-side main drum operation tool 38m, a terminal-side sub-drum operation tool 38s, a terminal-side undulation operation tool 39, and a terminal-side undulation operation tool 39. Various programs and data are stored in order to control the operation of the terminal-side display device 40 and the like.
[0046]
　The terminal side control device 41 includes a suspended load moving operation tool 35, a terminal side turning operation tool 36, a terminal side expansion / contraction operation tool 37, a terminal side main drum operation tool 38m, a terminal side sub drum operation tool 38s, and a terminal side undulation operation tool 39. It is connected and can acquire an operation signal consisting of the tilt direction and the tilt amount of the operation stick of each operation tool.
[0047]
　The terminal side control device 41 is an operation acquired from each sensor of the terminal side turning operation tool 36, the terminal side expansion / contraction operation tool 37, the terminal side main drum operation tool 38m, the terminal side sub drum operation tool 38s, and the terminal side undulation operation tool 39. The target speed signal Vd of the luggage W can be generated from the operation signal of the stick. Further, the terminal-side control device 41 is connected to the control device 31 of the crane device 6 by wire or wirelessly, and can transmit the generated target speed signal Vd of the luggage W to the control device 31 of the crane device 6.
[0048]
　Next, the control of the crane device 6 by the operation terminal 32 will be described with reference to FIG.
[0049]
　As shown in FIG. 5, when the tip of the boom 9 is facing north, the suspended load moving operation tool 35 of the operation terminal 32 is tilted to the left with respect to the upward direction, and is arbitrarily tilted in the direction of the tilt angle θ2 = 45 °. When the tilt operation is performed by the amount, the terminal side control device 41 suspends and moves the operation signal regarding the tilt direction and the tilt amount from the north, which is the extension direction of the boom 9, to the northwest, which is the direction of the tilt angle θ2 = 45 °. Obtained from a sensor (not shown) of the operating tool 35. Further, the terminal-side control device 41 calculates a target speed signal Vd for moving the luggage W toward the northwest at a speed corresponding to the amount of tilt from the acquired operation signal every unit time t. The operation terminal 32 transmits the calculated target speed signal Vd to the control device 31 of the crane device 6 every unit time t (see FIG. 4).
[0050]
　When the control device 31 receives the target speed signal Vd from the operation terminal 32 every unit time t, the control device 31 calculates the target trajectory signal Pd of the luggage W based on the direction of the tip of the boom 9 acquired by the direction sensor 29. Further, the control device 31 calculates the target position coordinate p (n + 1) of the luggage W, which is the target position of the luggage W, from the target trajectory signal Pd. The control device 31 generates an operation signal Md of the turning valve 23, the expansion / contraction valve 24, the undulating valve 25, the main valve 26m, and the sub valve 26s that move the luggage W to the target position coordinate p (n + 1) ( (See FIG. 7). The crane 1 moves the load W toward the northwest, which is the tilt direction of the suspended load moving operation tool 35, at a speed corresponding to the tilt amount. At this time, the crane 1 controls the swivel hydraulic motor 8, the contraction hydraulic cylinder, the undulating hydraulic cylinder 12, the main hydraulic motor, and the like by the operation signal Md.
[0051]
　With this configuration, the crane 1 sets the target speed signal Vd of the moving direction and speed based on the operating direction of the suspended load moving operating tool 35 as a unit time based on the extending direction of the boom 9 from the operating terminal 32. Since it is acquired every t and the target position coordinate p (n + 1) of the luggage W is determined, the operator does not lose the recognition of the operating direction of the crane device 6 with respect to the operating direction of the suspended load moving operation tool 35. That is, the operation direction of the suspended load moving operation tool 35 and the moving direction of the load W are calculated based on the extension direction of the boom 9, which is a common reference. As a result, the crane device 6 can be easily and easily operated. In the present embodiment, the operation terminal 32 is provided inside the cabin 17, but it may be configured as a remote control terminal that can be remotely controlled from the outside of the cabin 17 by providing a terminal-side radio.
[0052]
　Next, using FIGS. 6 to 12, the target trajectory signal Pd of the luggage W for generating the operation signal Md in the control device 31 of the crane device 6 and the target position coordinates q (n + 1) at the tip of the boom 9 are set. An embodiment of the control process to be calculated will be described. The control device 31 has a target trajectory calculation unit 31a, a boom position calculation unit 31b, and an operation signal generation unit 31c. Further, the control device 31 is configured to be able to acquire the current position information of the luggage W by using a set of the swivel camera 7b on the left and right sides in front of the swivel 7 as a stereo camera as a luggage position detecting means (FIG. FIG. 2).
[0053]
　As shown in FIG. 6, the target trajectory calculation unit 31a is a part of the control device 31 and converts the target speed signal Vd of the luggage W into the target trajectory signal Pdα of the luggage W. The target trajectory calculation unit 31a can acquire the target speed signal Vd of the luggage W, which is composed of the moving direction and the speed of the luggage W, from the operation terminal 32 every unit time t. Further, the target trajectory calculation unit 31a can integrate the acquired target velocity signal Vd to calculate the target trajectory signal Pdα in the x-axis direction, the y-axis direction, and the z-axis direction of the luggage W for each unit time t. Here, the subscript α is a code representing any of the x-axis direction, the y-axis direction, and the z-axis direction.
[0054]
　The boom position calculation unit 31b is a part of the control device 31, and calculates the position coordinates of the tip of the boom 9 from the attitude information of the boom 9 and the target trajectory signal Pdα of the luggage W. The boom position calculation unit 31b can acquire the target trajectory signal Pdα from the target trajectory calculation unit 31a. The boom position calculation unit 31b acquires the turning angle θz (n) of the turning table 7 from the turning sensor 27, obtains the expansion / contraction length lb (n) from the expansion / contraction sensor 28, and the undulation angle θx from the undulation sensor 30. (N) is acquired, and the feeding amount l (n) of the main wire rope 14 or the sub wire rope 16 (hereinafter, simply referred to as “wire rope”) is acquired from the winding sensor 43, and the amount l (n) in front of the swivel base 7 is acquired. The current position information of the luggage W can be acquired from the images of the luggage W taken by a set of swivel cameras 7b arranged on both the left and right sides (see FIG. 2).
[0055]
　The boom position calculation unit 31b calculates the current position coordinates p (n) of the luggage W from the acquired current position information of the luggage W, and obtains the swivel angle θz (n), the expansion / contraction length lb (n), and the undulation angle θx. The current position coordinates q (n) of the tip of the boom 9 (the feeding position of the wire rope), which is the current position of the tip of the boom 9 from (n) (hereinafter, simply referred to as “current position coordinates q (n) of the boom 9”. ) Can be calculated. Further, the boom position calculation unit 31b can calculate the wire rope feeding amount l (n) from the current position coordinates p (n) of the luggage W and the current position coordinates q (n) of the boom 9. Further, the boom position calculation unit 31b can calculate the target position coordinate p (n + 1) of the luggage W, which is the position of the luggage W after the lapse of the unit time t, from the target trajectory signal Pd. Further, the boom position calculation unit 31b determines the direction of the wire rope from which the luggage W is suspended from the current position coordinate p (n) of the luggage W and the target position coordinate p (n + 1) of the luggage W which is the position of the luggage W. The vector e (n + 1) can be calculated. The boom position calculation unit 31b is the position of the tip of the boom 9 after a unit time t elapses from the target position coordinate p (n + 1) of the luggage W and the direction vector e (n + 1) of the wire rope using inverse dynamics. It is configured to calculate the target position coordinates q (n + 1) of the boom 9.
[0056]
　The operation signal generation unit 31c is a part of the control device 31, and generates an operation signal Md of each actuator from the target position coordinates q (n + 1) of the boom 9 after the lapse of a unit time t. The operation signal generation unit 31c can acquire the target position coordinates q (n + 1) of the boom 9 after the lapse of the unit time t from the boom position calculation unit 31b. The operation signal generation unit 31c is configured to generate an operation signal Md of the swivel valve 23, the expansion / contraction valve 24, the undulation valve 25, the main valve 26 m, or the sub valve 26s.
[0057]
　Next, as shown in FIG. 7, the control device 31 defines a reverse dynamics model of the crane 1 for calculating the target position coordinates q (n + 1) at the tip of the boom 9. The inverse dynamics model is defined in the XYZ coordinate system and the reference position O is the turning center of the crane 1. The control device 31 defines q, p, lb, θx, θz, l, f and e in the inverse dynamics model, respectively. For example, q indicates the current position coordinate q (n) of the tip of the boom 9, and p indicates, for example, the current position coordinate p (n) of the luggage W. lb indicates, for example, the expansion / contraction length lb (n) of the boom 9, θx indicates, for example, the undulation angle θx (n), and θz indicates, for example, the turning angle θz (n). l indicates, for example, the wire rope feeding amount l (n), f indicates the wire rope tension f, and e indicates, for example, the wire rope direction vector e (n).
[0058]
　In the inverse dynamics model determined in this way, the relationship between the target position q at the tip of the boom 9 and the target position p of the luggage W is derived from the target position p of the luggage W, the mass m of the luggage W, and the spring constant kf of the wire rope. It is expressed by the equation (2), and the target position q of the tip of the boom 9 is calculated by the equation (3) which is a function of the time of the luggage W.
[ 　Equation 2]

[

Equation 3] f: Wire rope tension, kf: Spring constant, m: Mass of luggage W, q: Current position or target position of the tip of boom 9, p: Current position or target position of luggage W , L: Wire rope extension amount, e: Direction vector, g: Gravity acceleration
[0059]
　The wire rope feeding amount l (n) is calculated from the following equation (4).
　The wire rope feeding amount l (n) is defined by the distance between the current position coordinate q (n) of the boom 9 which is the tip position of the boom 9 and the current position coordinate p (n) of the luggage W which is the position of the luggage W. The rope.
[0060]
[Number 4]

[0061]
　The direction vector e (n) of the wire rope is calculated from the following equation (5).
　The wire rope direction vector e (n) is a vector of the unit length of the wire rope tension f (see equation (2)). The tension f of the wire rope is calculated by subtracting the gravitational acceleration from the acceleration of the luggage W calculated from the current position coordinate p (n) of the luggage W and the target position coordinate p (n + 1) of the luggage W after the lapse of the unit time t. Will be done.
[0062]
[Number 5]

[0063]
　The target position coordinate q (n + 1) of the boom 9, which is the target position of the tip of the boom 9 after the lapse of the unit time t, is calculated from the equation (6) expressing the equation (2) as a function of n. Here, α indicates the turning angle θz (n) of the boom 9.
　The target position coordinate q (n + 1) of the boom 9 is calculated from the wire rope feeding amount l (n), the target position coordinate p (n + 1) of the luggage W, and the direction vector e (n + 1) using inverse dynamics. ..
[0064]
[Number 6]

[0065]
　Next, a method of adjusting wα1, wα2, wα3 and wα4 (see equation (1)), which are weighting coefficients of the transfer function G (s) of the low-pass filter Lp, will be described with reference to FIG. As a control system 42, the crane 1 constitutes a feedback control unit 42a and a feedforward control unit 42b by the cooperation of the target trajectory calculation unit 31a, the boom position calculation unit 31b, and the operation signal generation unit 31c of the control device 31. doing.
[0066]
　The low-pass filter Lp attenuates frequencies above a predetermined frequency. The low-pass filter Lp suppresses the occurrence of a singular point (rapid position change) due to a differential operation by applying it to the target velocity signal Vd of the cargo W. The low-pass filter Lp includes the transfer function G (s) of the equation (1). The transfer function G (s) is expressed in the form of partial fraction decomposition with A, B and C as coefficients, wα1, wα2, wα3 and wα4 as weighting coefficients and s as derivative elements. Here, the subscript α is a code representing any of the x-axis, the y-axis, and the z-axis. That is, the transfer function G (s) of the equation (1) is set for each of the x-axis, y-axis, and z-axis. In this way, the transfer function G (s) can be expressed as a superposition of the transfer functions of the first-order lag. The target velocity signal Vd of the luggage W is converted into the target trajectory signal Pd2α described later by multiplying the transfer function G (s) of the low-pass filter Lp. From the target trajectory signal Pd2α, the target position coordinate p (n + 1) of the luggage W is calculated.
[0067]
[Number 1]

[0068]
　As shown in FIG. 8, the feedback control unit 42a controls based on the difference between the current position of the cargo and the target position. In the feedback control unit 42a, the target trajectory calculation unit 31a, the boom position calculation unit 31b, and the operation signal generation unit 31c are joined in series (see connection symbol D), and the current position coordinates p (n) of the luggage W are loaded. It is configured to feed back to the target orbit signal Pdα of W.
[0069]
　When the feedback control unit 42a acquires the target speed signal Vd of the luggage W, the target trajectory calculation unit 31a calculates the target trajectory signals Pdα in the x-axis direction, the y-axis direction, and the z-axis direction of the luggage W. Next, the feedback control unit 42a calculates the current position coordinates p (n) of the luggage W from the current position information of the luggage W acquired from the swivel camera 7b, and feeds back (negative feedback) to the target trajectory signal Pdα. The feedback control unit 42a corrects the target trajectory signal Pdα based on the difference between the current position coordinates p (n) of the load W with respect to the target trajectory signal Pdα, and calculates the target trajectory signal Pd1α.
[0070]
　Next, the feedback control unit 42a receives the target trajectory signal Pd2α, which will be described later, corrected on the upstream side in the boom position calculation unit 31b, and the attitude information (turning angle θz (n), expansion / contraction length of the crane 1 acquired from each sensor. Boom 9 after a unit time t elapses using inverse dynamics from the lb (n), the undulation angle θx (n), the feeding amount l (n)) and the current position information of the luggage W acquired from the swing table camera 7b. The target position coordinate q (n + 1) of is calculated. Next, the feedback control unit 42a generates an operation signal Md of each actuator from the target position coordinates q (n + 1) of the boom 9 calculated by the boom position calculation unit 31b in the operation signal generation unit 31c. The feedback control unit 42a operates each actuator of the crane 1 by the operation signal Md to move the load W.
[0071]
　The feedforward control unit 42b controls to apply the low-pass filter Lp to the target speed signal Vd of the cargo W. For example, the feed forward control unit 42b uses the transfer function G (s) of the fourth-order low-pass filter Lp as the first model G1 (s), the second model G2 (s), the third model G3 (s), and the fourth model G4. It is a transfer function consisting of the four primary models of (s), and each primary model is connected in series as one subsystem. The feedforward control unit 42b applies a low-pass filter Lp to the target orbit signal Pd1α of the luggage W corrected by the feedback control unit 42a to calculate the target orbit signal Pd2α in which a predetermined frequency component is suppressed.
[0072]
　The feed forward control unit 42b is a first model G1 (s), a second model G2 (s), and a first model G1 (s), which are first-order lag transfer functions obtained by partially decomposing the transfer function G (s) of the fourth-order low-pass filter Lp. The 3 model G3 (s) and the 4th model G4 (s) are superposed. Further, the feed forward control unit 42b uses the gain of the transfer function G (s) as a weighting coefficient, the weighting coefficient wα1 for the first model G1 (s), the weighting coefficient wα2 for the second model G2 (s), and the third model G3. A weighting coefficient wα3 is assigned to (s), and a weighting coefficient wα4 is assigned to the fourth model G4 (s). The feedforward control unit 42b adjusts the weighting coefficients wα1, wα2, wα3 and wα4 of each model based on the target trajectory signal Pd1α of the luggage W corrected by the feedback control unit 42a.
[0073]
　When the feedforward control unit 42b acquires the target speed signal Vd of the cargo W, the feedforward control unit 42b applies the first model G1 (s) having a weighting coefficient wα1 to the target speed signal Vd. In the present embodiment, since the first model G1 (s) is an integrating element, the target trajectory signal Pdα of the luggage W is calculated from the target speed signal Vd of the luggage W. Next, the feedforward control unit 42b applies the second model G2 (s) having the weighting coefficient wα2 to the output from the first model G1 (s). Next, the feedforward control unit 42b applies the third model G3 (s) having the weighting coefficient wα3 to the output from the second model G2 (s). Next, the feedforward control unit 42b applies the fourth model G4 (s) having the weighting coefficient wα4 to the output from the third model G3 (s). Finally, the feedforward control unit 42b adds the outputs of each primary model, further corrects the target trajectory signal Pd1α of the luggage W corrected by the feedback control unit 42a, and calculates the target trajectory signal Pd2α. That is, the control system 42 of the crane 1 further corrects the target trajectory signal Pd1α of the load W corrected by the feedback control unit 42a by the feedforward control unit 42b. Then, the control system 42 of the crane 1 calculates the target position coordinates q (n + 1) of the boom 9 from the target trajectory signal Pd2α.
[0074]
　Next, using FIGS. 9 to 12, the target trajectory signal Pd of the luggage W for generating the operation signal Md in the control system 42 of the crane 1 is calculated, and the target position coordinates q (n + 1) at the tip of the boom 9 are calculated. The control process of the above will be described in detail.
[0075]
　As shown in FIG. 9, in step S100, the control system 42 starts the target trajectory calculation step A and shifts the step to step S110 (see FIG. 10). Then, when the target trajectory calculation step A is completed, the step is shifted to step S200 (see FIG. 9).
[0076]
　In step 200, the control system 42 starts the boom position calculation step B and shifts the step to step S210 (see FIG. 11). Then, when the boom position calculation step B is completed, the step is shifted to step S300 (see FIG. 9).
[0077]
　In step 300, the control system 42 starts the operation signal generation step C and shifts the step to step S310 (see FIG. 12). Then, when the operation signal generation step C is completed, the step is shifted to step S100 (see FIG. 9).
[0078]
　As shown in FIG. 10, in step S110, the control system 42 determines whether or not the target speed signal Vd of the luggage W has been acquired by the target trajectory calculation unit 31a of the control device 31.
　As a result, when the target speed signal Vd of the luggage W is acquired, the control system 42 shifts the step to S120.
　On the other hand, when the target speed signal Vd of the luggage W has not been acquired, the control system 42 shifts the step to S110.
[0079]
　In step S120, the control system 42 photographs the luggage W with a set of swivel cameras 7b, and the current position coordinates p of the luggage W with an arbitrarily determined reference position O (for example, the turning center of the boom 9) as the origin. n) is calculated and the step is shifted to step S130.
[0080]
　In step S130, the control system 42 integrates the target speed signal Vd of the luggage W acquired by the target trajectory calculation unit 31a to calculate the target trajectory signal Pdα of the luggage W, and shifts the step to step S140.
[0081]
　In step S140, the control system 42 corrects the target orbit signal Pdα based on the difference between the current position coordinates p (n) of the luggage W and the target orbit signal Pdα by the feedback control unit 42a, and calculates the target orbit signal Pd1α. Then, the step is shifted to step S150.
[0082]
　In step S150, the control system 42 uses the feedforward control unit 42b to set the weighting coefficients wα1, wα2, wα3 and wα4 of each primary model (see FIG. 8) of the transfer function G (s) of the low-pass filter Lp as the target orbit signals Pd1α. The step is shifted to step S160.
[0083]
　In step S160, the control system 42 applies the low-pass filter Lp adjusted with the weighting coefficients wα1, wα2, wα3 and wα4 of each model to the target trajectory signal Pd1α to calculate the target trajectory signal Pd2α, and calculates the target trajectory signal Pd2α. A is completed and the step is shifted to step S200 (see FIG. 9).
[0084]
　As shown in FIG. 11, in step S210, the control system 42 acquired the swivel angle θz (n) of the swivel table 7, the expansion / contraction length lb (n), and the undulation angle θx of the boom 9 by the boom position calculation unit 31b. The current position coordinate q (n) of the tip of the boom 9 is calculated from (n), and the step is shifted to step S220.
[0085]
　In step S220, the control system 42 uses the above equation (4) from the current position coordinates p (n) of the luggage W and the current position coordinates q (n) of the boom 9 by the boom position calculation unit 31b to obtain the wire rope. The payout amount l (n) is calculated, and the step is shifted to step S230.
[0086]
　In step S230, the control system 42 uses the boom position calculation unit 31b to refer to the current position coordinate p (n) of the luggage W, and the luggage W, which is the target position of the luggage W after a unit time t has elapsed from the target trajectory signal Pd2α. The target position coordinate p (n + 1) of is calculated, and the step is shifted to step S240.
[0087]
　In step S240, the control system 42 calculates the acceleration of the luggage W from the current position coordinate p (n) of the luggage W and the target position coordinate p (n + 1) of the luggage W by the boom position calculation unit 31b, and calculates the gravitational acceleration. The direction vector e (n + 1) of the wire rope is calculated using the above equation (5), and the step is shifted to step S250.
[0088]
　In step S250, the control system 42 uses the above equation (6) from the wire rope feeding amount l (n) calculated by the boom position calculation unit 31b and the wire rope direction vector e (n + 1) to make the boom 9 The target position coordinates q (n + 1) of the above are calculated, the boom position calculation step B is completed, and the step is shifted to step S300 (see FIG. 9).
[0089]
　As shown in FIG. 12, in step S310, the control system 42 uses the operation signal generation unit 31c to set the turning angle θz (n + 1) of the swivel table 7 after a unit time t has elapsed from the target position coordinates q (n + 1) of the boom 9. , The expansion / contraction length Lb (n + 1), the undulation angle θx (n + 1), and the wire rope extension amount l (n + 1) are calculated, and the step is shifted to step S320.
[0090]
　In step S320, the control system 42 calculates the turning angle θz (n + 1) of the turning table 7, the expansion / contraction length Lb (n + 1), the undulation angle θx (n + 1), and the wire rope feeding amount l calculated by the operation signal generation unit 31c. From (n + 1), the operation signal Md of the swivel valve 23, the expansion / contraction valve 24, the undulation valve 25, the main valve 26 m or the sub valve 26s is generated, respectively, and the operation signal generation step C is completed to complete the step S100. (See FIG. 9).
[0091]
　The control system 42 of the crane 1 calculates the target position coordinates q (n + 1) of the boom 9 by repeating the target trajectory calculation step A, the boom position calculation step B, and the operation signal generation step C, and after the unit time t elapses. , The wire rope direction vector e (n + 2) is calculated from the wire rope feeding amount l (n + 1), the current position coordinate p (n + 1) of the luggage W, and the target position coordinate p (n + 1) p (n + 2) of the luggage W. From the wire rope feeding amount l (n + 1) and the wire rope direction vector e (n + 2), the target position coordinates p (n + 1) q (n + 2) of the boom 9 after the lapse of the unit time t is further calculated. That is, the control system 42 calculates the direction vector e (n) of the wire rope, and uses the inverse kinetics to obtain the current position coordinate p (n + 1) of the luggage W, the target position coordinate p (n + 1) of the luggage W, and the wire rope. The target position coordinates q (n + 1) of the boom 9 after the unit time t are sequentially calculated from the direction vector e (n) of. The control system 42 generates an operation signal Md based on the target position coordinates q (n + 1) of the boom 9 and controls each actuator.
[0092]
　In this way, the crane 1 and the control system 42 of the crane 1 use a model with clear physical characteristics as a plurality of subsystems, and multiply the outputs from the plurality of subsystems by weighting coefficients to form a one-layer neural network. Can be regarded. The control system 42 of the crane 1 controls each actuator based on the difference between the current position coordinate p (n) of the load W and the target trajectory signal Pdα by the feedback control unit 42a, and the load forward control unit 42b controls each actuator. Each primary model constituting the low-pass filter Lp is used as a subsystem based on the difference between the current position coordinate p (n) of W and the target orbit signal Pd1α, and the respective weight coefficients are adjusted independently. That is, the control system 42 of the crane 1 identifies the coefficient of the low-pass filter Lp while flexibly responding to the change in the dynamic characteristics of the crane 1 during operation. That is, the higher-order transfer function is adjusted for each first-order model. As a result, when controlling the actuator with reference to the luggage, by learning the dynamic characteristics of the crane 1 from the movement of the luggage, the luggage can be moved in a manner in accordance with the intention of the operator while suppressing the shaking of the luggage. Can be done. In the present embodiment, the control system 42 uses the primary model of the low-pass filter Lp as a subsystem, but other models with clear physical characteristics may be used.
[0093]
　The above-described embodiment only shows a typical embodiment, and can be variously modified and implemented within a range that does not deviate from the gist of one embodiment. It goes without saying that it can be carried out in various forms, and the scope of the present invention is indicated by the description of the claims, and further, the equal meaning described in the claims, and all within the scope. Including changes.
Industrial applicability
[0094]
　The present invention can be used for cranes and crane control systems.
Code description
[0095]
　　　　1 Crane
　　　　6 Crane device
　　　　9 Boom
　　　31 Control device
　　　　O Reference position
　　　　W Luggage
　　　　Vd Target speed signal
　　　　Pdα Target orbit signal
　　　　wα1, wα2, wα3, wα4 Weight coefficient
　　　G (s) Transfer function
The scope of the claims
[Claim 1]
　A crane that controls an actuator based on a target speed signal for the movement direction and speed of a load suspended from a boom by a wire rope,
　and inputs the acceleration time, speed, and movement direction of the load in the target speed signal. The operating tool, the
　boom turning angle detecting means, the
　boom undulation angle detecting means, the
　boom expansion / contraction length detecting means,
　the luggage position detecting means for detecting the current position of the luggage with respect to the reference position , and the
　target. Based on the feedback control unit that calculates the target orbit signal of the load by integration from the speed signal and corrects the target orbit signal based on the difference in the current position of the load with respect to the target orbit signal, and the corrected target orbit signal. The control device includes a control device having a feed forward control unit that adjusts a weighting coefficient of a transmission function representing the characteristics of the crane, and the
　control device
　acquires the current position of the load with respect to the reference position from the load position detecting means. Then, the target trajectory signal corrected by the feedback control unit is corrected by a transmission function whose weight coefficient is adjusted by the feed forward control unit,
　and the turning angle detected by the turning angle detecting means and the undulation angle detecting means. The current position of the tip of the boom with respect to the reference position is calculated from the undulation angle detected by the above and the extension / contraction length detected by the expansion / contraction length detecting means,
　and the current position of the luggage and the current position of the tip of the boom are used. Calculate the feeding amount of the wire rope,
　The direction vector of the wire rope is calculated from the current position of the luggage and the target position of the luggage, and
　the tip of the boom at the target position of the luggage is calculated from the feeding amount of the wire rope and the direction vector of the wire rope. A
　crane that calculates the target position of the rope and generates an operation signal of the actuator based on the target position of the tip of the boom.
[Claim 2]
　The control device has a
　plurality of the feedforward control units
　, decomposes the transfer function into one or more primary models, provides the weighting coefficient for each model, and adjusts the weighting coefficient for each feedforward control unit. The crane according to claim 1, to which is assigned.
[Claim 3]
　The crane according to claim 1 or 2, wherein the transfer function is represented by the formula (1) including a low-pass filter that suppresses a predetermined frequency component.
[

　Equation 1] A, B, C: Coefficient, wα1, wα2, wα3, wα4: Weight coefficient, s: Derivative element
[Claim 4]
　It is a crane control system that controls an actuator based on a target speed signal relating to a moving direction and speed
　of a load, calculates a target trajectory signal of the load by integrating from the target speed signal , and obtains the target trajectory signal of the load with respect to the target trajectory signal of the load. A feedback control unit that corrects the target orbit signal based on the difference in the current position of the luggage and calculates the target position of the luggage from the
　corrected target orbit signal, and the crane based on the corrected target orbit signal. A feed-forward control unit that adjusts the weight coefficient of the transmission function representing the characteristics of the above and corrects the corrected target trajectory signal by the transmission function adjusted with the weight coefficient, and the
　feedback control unit provides the target trajectory. A crane control system in which the weighting coefficient of the transmission function is adjusted by the feedback control unit each time a signal is corrected.
[Claim 5]
　It has a plurality of the feedforward control units
　, decomposes the transfer function into one or more primary models, provides the weighting coefficient for each model, and assigns the weighting coefficient to be adjusted for each feedforward control unit. The crane control system according to claim 4.
[Claim 6]
　The crane control system according to claim 4 or 5, wherein the transfer function is represented by the formula (1) including a low-pass filter that suppresses a predetermined frequency component.
[

　Equation 1] A, B, C: Coefficient, wα1, wα2, wα3, wα4: Weight coefficient, s: Derivative element