The present invention provides a control device for a suspended crane and an inverter device, which can enable anti-swing control through a simple simulation without using an optical sensor, and in which a suspended object (4) suspended from a trolley (1) by a rope (3) is transported by driving the trolley or a girder (2). The control device comprises: a crane simulator unit (11A) that simulates a swing angle estimation value of a suspended object and a speed estimation value of a trolley using a speed command of the trolley, a length of a rope, a speed response time constant, and gravitational acceleration; a swing stop control unit (12) for generating a speed correction signal for suppressing the swing of the suspended object by using a speed command to the trolley, the swing angle estimation value, the speed estimation value, the inherent angular frequency of the suspended object, and the damping coefficient; and an addition means (13) that adds the speed correction signal to the speed command and drives the trolley using the corrected speed command.
本发明提供一种悬挂式起重机的控制装置以及逆变器装置,其不使用光学式传感器而通过简单的模拟就能够使止摆控制成为可能,在将自小车(1)由绳索(3)悬挂的悬吊物(4)通过驱动小车或者大梁(2)来进行搬运的悬挂式起重机的控制装置中,包括:起重机模拟器部(11A),其使用小车的速度指令、绳索的长度、速度响应时间常数以及重力加速度对悬吊物的摆角推定値和小车的速度推定値进行模擬;止摆控制部(12),其使用对小车的速度指令、摆角推定値、速度推定値、悬吊物的固有角频率、以及阻尼系数,生成抑制悬吊物的摆动的速度校正信号;以及加法单元(13),其使速度校正信号与速度指令相加,利用校正后的速度指令驱动小车。
Control device for suspended crane and inverter device
悬挂式起重机的控制装置以及逆变器装置
2021-06-25
Patent
Elektronische Ressource
Chinesisch
IPC: | B66C Krane , CRANES |
CONTROL DEVICE OF SUSPENSION-TYPE CRANE AND INVERTER DEVICE
Europäisches Patentamt | 2021
|