CN113302144B - Motor control device - Google Patents
Motor control device Download PDFInfo
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- CN113302144B CN113302144B CN201980087693.3A CN201980087693A CN113302144B CN 113302144 B CN113302144 B CN 113302144B CN 201980087693 A CN201980087693 A CN 201980087693A CN 113302144 B CN113302144 B CN 113302144B
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- crane
- motor control
- conveying unit
- control device
- movement distance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The present invention is a motor control device (1) for controlling a motor (21) for moving a conveying part of a crane (2), the motor control device (1) comprising: a command generator (11) that generates a speed command for the motor (21) based on a 1 st operation for starting movement of the conveying unit and a 2 nd operation for stopping the conveying unit; and a stop position calculation unit (16) that calculates the movement distance of the transport unit from the start of movement of the transport unit by the 1 st operation on the crane (2) to the start of deceleration and stop of the transport unit by the 2 nd operation on the crane (2) based on the speed command before correction is performed, and displays the calculated movement distance on a monitor (4).
Description
Technical Field
The present invention relates to a motor control device for controlling a motor for moving a carriage of a crane.
Background
A crane device, such as a hoist crane or a winch crane, which suspends a load on a rope suspended from a carriage and moves in a lateral direction, travels, or the like, is called an overhead crane. The bridge crane has a carriage for carrying a hoist such as a hoist or a trolley.
Not limited to bridge cranes, the operating system of a crane typically performs speed control. The operator operates a lever or a button to which an acceleration/deceleration signal is assigned, thereby accelerating/decelerating the crane.
In the operation of the bridge crane for lateral travel and traveling, if the carriage is moved in accordance with a speed command having acceleration and deceleration, vibration is generated in the object along with the movement of the carriage. If vibration remains after the carriage stops, the tact increases, and this also poses a safety problem. Therefore, various vibration suppression control techniques have been proposed for the purpose of suppressing vibration remaining after the carriage stops.
For example, patent document 1 describes a container handling crane including a notch filter for suppressing vibration by removing a vibration component of a specific frequency band from an operation signal for a drum for feeding and rewinding a cable for lifting a container.
Patent document 1: japanese patent laid-open No. 2007-223745
Disclosure of Invention
However, when the notch filter is used to suppress the vibration, there is a problem that the operability is impaired depending on the operator. The speed command when the notch filter is applied is delayed in time (also referred to as a settling time) until reaching the target speed, compared to the case where the notch filter is not applied. That is, when the notch filter is applied, the change in the traveling speed of the carriage of the crane at the time of acceleration/deceleration becomes gentle as compared with the case where the notch filter is not applied. Therefore, the moving distance from the time when the operator performs the operation of stopping the carriage of the crane to the time when the carriage of the crane is actually stopped is longer in the case where the notch filter is applied than in the case where the notch filter is not applied. Therefore, if an operator who is accustomed to the operation before applying the notch filter operates the crane after applying the notch filter with a feeling experienced before, the trolley is stopped behind the stop position predicted by the operator.
The present invention has been made in view of the above problems, and an object of the present invention is to provide a motor control device capable of improving operability of an operator of a crane.
In order to solve the above problems and achieve the object, the present invention provides a motor control device for controlling a motor for moving a conveying unit of a crane, the motor control device including: a command generator that generates a speed command for the motor based on a 1 st operation for starting movement of the conveying unit and a 2 nd operation for stopping the conveying unit; and a stop position calculation unit that calculates a movement distance of the conveying unit from when the conveying unit starts to move by a 1 st operation on the crane to when the conveying unit starts to decelerate and stops by a 2 nd operation on the crane based on the speed command before the correction is performed, and displays the calculated movement distance on the display device.
ADVANTAGEOUS EFFECTS OF INVENTION
The motor control device according to the present invention achieves an effect of improving operability when an operator operates a crane.
Drawings
Fig. 1 is a diagram showing a configuration example of a motor control device according to embodiment 1 of the present invention.
Fig. 2 is a diagram for explaining a command stop distance used by the motor control device according to embodiment 1.
Fig. 3 is a view for explaining the process of generating the command stop distance by the command stop distance generating unit 1.
Fig. 4 is a view for explaining the process of generating the command stop distance by the command stop distance generating unit, fig. 2.
Fig. 5 is a diagram showing a configuration example of a motor control device according to embodiment 2 of the present invention.
Fig. 6 is a diagram showing a configuration example of a motor control device according to embodiment 3 of the present invention.
Fig. 7 is a diagram showing an example of a hardware configuration of the motor control device according to the present invention.
Detailed Description
Hereinafter, a motor control device according to an embodiment of the present invention will be described in detail with reference to the drawings. The present invention is not limited to this embodiment.
Fig. 1 is a diagram showing a configuration example of a motor control device according to embodiment 1 of the present invention. Motor control device 1 according to embodiment 1 includes command generator 11, notch filter 12, differentiator 13, subtractor 14, motor controller 15, and stop position calculation unit 16. The stop position calculating unit 16 includes an integrator 161, a command stop distance generating unit 162, an adder 163, and a translation converter 166.
The motor control device 1 is a device that controls a motor 21 constituting the crane 2. The crane 2 includes a position detector 22 for detecting the position of the motor 21 in addition to the motor 21. The crane 2 is a bridge crane and has a carriage that moves by driving a motor 21. Note that fig. 1 does not show a carriage of the crane 2.
Here, the operator operates the crane in a view of a position where the operator wants to move the cart of the crane by several m and stop it. When an operator is accustomed to the operation of a crane connected to a motor control device to which no notch filter is applied, if the crane connected to the motor control device to which the notch filter is applied is operated, the actual operation of the carriage is different from the operation memorized by the operator, and therefore, the carriage is difficult to stop at the target position. Therefore, as means for making the operator grasp the timing (timing) at which deceleration of the crane 2 is started, the motor control device 1 according to embodiment 1 calculates the total moving distance until the carriage stops when the carriage starts decelerating by performing the stopping operation at the current time, and notifies the operator of the total moving distance. The total moving distance here is a moving distance from the start of the movement of the carriage to the stop thereof, that is, a moving distance of the carriage from the start of the movement of the carriage by the 1 st operation of the operator to the start of the deceleration of the carriage by the 2 nd operation of the operator to the stop thereof. Thus, even an operator who is used to the operation of the crane connected to the motor control device to which the notch filter is not applied can stop the carriage at the target position. For example, when the operator wants to move the carriage by 10m, the operator may stop the carriage at a timing when the total movement distance notified from the motor control device 1 becomes 10m and start deceleration of the carriage.
Returning to the description of fig. 1, the operation unit 3 that receives the operation of the crane 2 by the operator is connected to the command generator 11 of the motor control device 1. The operation unit 3 is configured to have an operation lever or the like operated by an operator. The operation unit 3 outputs an acceleration/deceleration signal corresponding to the operation content if an operation is received. The acceleration/deceleration signal is a signal for instructing movement and stop of a carriage that is a conveying unit of the crane 2, and is, for example, '1' when the movement of the carriage is instructed and '0' when the stop of the carriage is instructed. In fig. 1, the operation unit 3 is provided outside the motor control device 1, but the motor control device 1 may have the operation unit 3. The operations received by the operation unit 3 from the operator include the 1 st operation for starting the movement of the carriage of the crane 2 and the 2 nd operation for stopping the carriage of the crane 2.
The command generator 11 generates a speed command x 'based on the acceleration/deceleration signal' ref And outputs the result to notch filter 12, integrator 161, and stop command distance generator 162.
The notch filter 12 corrects the speed command input from the command generator 11, and outputs a corrected speed command x 'as the corrected speed command to the subtractor 14' crr . The notch filter 12 sets the oscillation frequency of the crane 2 as a notch frequency, and removes the oscillation frequency component of the crane 2 from the input speed command, thereby correcting the speed command and generating a corrected speed command. That is, notch filter 12 is a correcting unit that corrects a speed command for motor 21 and generates a corrected speed command.
The motor controller 15 generates a motor voltage V that sets the speed deviation to 0 based on the speed deviation input from the subtractor 14, and applies the motor voltage V to the motor 21 of the crane 2. The motor controller 15 applies the motor voltage V to the motor 21 to move the not-shown carriage of the crane 2.
The position detector 22 of the crane 2 detects the position of the motor 21, that is, the position of the rotor of the motor 21, and determines the detection result as the actual motor position x real And outputs to the differentiator 13.
The differentiator 13 differentiates the actual position of the motor to obtain electricityActual engine speed x' real And outputs the result to the subtractor 14.
The stop position calculation unit 16 of the motor control device 1 calculates the moving distance of the carriage from the start of movement of the carriage of the crane 2 by the 1 st operation of the operator on the stopped crane 2 to the start of deceleration of the carriage of the crane 2 by the 2 nd operation of the operator on the moving crane 2, and then the stop of the carriage, based on the speed command input from the command generator 11, that is, the speed command before the correction is performed by the notch filter 12. The stop position calculation unit 16 outputs the calculated movement distance to the monitor 4. The monitor 4 is a display device such as a liquid crystal monitor or a display. In the present embodiment, the motor control device 1 and the monitor 4 are separately configured, but may be configured as an integrated type, that is, the motor control device 1 includes the monitor 4. The stop position calculation section 16 starts the calculation of the movement distance if the speed command input from the command generator 11 changes from 0 to a value other than 0, and the stop position calculation section 16 ends the calculation if the speed command changes to 0. The moving distance calculated by the stop position calculating unit 16 is a carriage stop position P described later refstop 。
In the stop position computing unit 16, the integrator 161 integrates the speed command input from the command generator 11 to obtain the position command x ref A position command x to be found ref And outputs to the adder 163.
The command stop distance generating unit 162 generates the command stop distance d based on the speed command input from the command generator 11 ref Stopping the generated instruction by a distance d ref And outputs to the adder 163.
Here, the distance d is stopped for the instruction ref The description is given. Fig. 2 is a diagram for explaining a command stop distance used by the motor control device 1 according to embodiment 1. In fig. 2, the solid line indicates the speed command output from the command generator 11 and indicates the speed command before correction by the notch filter 12. The broken line indicates a correction speed command output from notch filter 12. From right to lower slopeThe area of the triangular portion indicated by the line is the instruction stop distance d ref . That is, as shown in FIG. 2, the stopping distance d is commanded ref When the carriage of the crane 2 is stopped by controlling the motor 21 in accordance with the speed command before correction by the notch filter 12, the distance the carriage moves from the start of deceleration to the stop. In other words, the instruction stop distance d ref In the case of a configuration in which notch filter 12 is eliminated (a configuration in which notch filter 12 is not provided), motor control device 1 controls motor 21 to stop the carriage of crane 2, and the distance traveled by the carriage is from the start of deceleration to the stop.
In fig. 2, the area of the portion S1 indicated by the diagonal line on the side where the crane speed increases, represents the difference between the moving distance during acceleration when the truck of the crane accelerates in accordance with the speed command shown in fig. 2 and the moving distance during acceleration when the truck of the crane accelerates in accordance with the corrected speed command shown in fig. 2. The area of the portion S2 indicated by the diagonal lines on the side where the crane speed decreases, represents the difference between the travel distance during deceleration when the crane carriage decelerates in accordance with the speed command shown in fig. 2 and the travel distance during deceleration when the crane carriage decelerates in accordance with the corrected speed command shown in fig. 2.
Here, the area of the S1 portion depends on the difference between the increase amount of the speed command per unit time and the increase amount of the correction speed command, which is generated by removing a specific frequency component from the speed command to generate the correction speed command. That is, the area of the S1 portion is determined by the frequency component removed by notch filter 12. The area of the portion S2 depends on the difference between the decrease amount of the speed command per unit time and the decrease amount of the correction speed command, which is generated by removing a specific frequency component from the speed command to generate the correction speed command. That is, the area of the S2 portion is similarly determined by the frequency component removed by notch filter 12. As described above, the area of the portion S1 and the area of the portion S2 are determined by the frequency components removed by the notch filter 12. Further, since the frequency components removed from the speed command by notch filter 12 when the carriage of the crane is accelerating are the same as the frequency components removed from the speed command by notch filter 12 when the carriage of the crane is decelerating, the area of the portion S1 is the same as the area of the portion S2. This means that, in the case of the configuration having the notch filter 12, the time required from the start of movement of the carriage of the crane 2 until the movement speed reaches the upper limit value and the time required from the start of deceleration until the stop are each longer than in the case of the configuration not having the notch filter 12, but if the time from the start of movement of the carriage to the start of deceleration is the same, the movement distance of the carriage does not change regardless of the configuration having the notch filter 12 or the configuration not having the notch filter 12. That is, it means that when the operator who operates the motor control device 1 according to embodiment 1 having the notch filter 12 performs an operation of stopping the crane 2 at the present time, the position at which the carriage of the crane 2 is stopped (the moving distance from the start of movement of the carriage to the stop thereof) can be calculated based on the speed command before correction by the notch filter 12.
Note that, although fig. 2 shows that the area of the portion S1 and the area of the portion S2 are equal to each other when the vehicle starts decelerating while the acceleration section ends and reaches the maximum speed and the vehicle is moving at a constant speed, the area of the portion corresponding to the portion S1 and the area of the portion corresponding to the portion S2 in fig. 2 are the same even when the vehicle is shifted to the deceleration state by performing the stop operation during acceleration because the dc component of the notch filter 12 is 1. The area of the portion corresponding to the portion S1 in fig. 2 is the difference between the moving distance during acceleration when the carriage of the crane is accelerated in accordance with the speed command before correction by the notch filter and the moving distance during acceleration when the carriage of the crane is accelerated in accordance with the speed command (corrected speed command) after correction by the notch filter. The area of the portion corresponding to the portion S2 in fig. 2 is the difference between the moving distance during deceleration when the carriage of the crane decelerates in accordance with the speed command before correction by the notch filter and the moving distance during deceleration when the carriage of the crane decelerates in accordance with the speed command (corrected speed command) after correction by the notch filter.
The command stop distance becomes a constant value after the traveling speed of the carriage of the crane 2 reaches the upper limit value, but becomes a value corresponding to the traveling speed at the time when the carriage starts decelerating before the traveling speed of the carriage of the crane 2 reaches the upper limit value, that is, when the carriage is accelerating. Therefore, the command stop distance generating unit 162 generates the command stop distance in the following manner.
Fig. 3 is a view for explaining the process of generating the command stop distance by the command stop distance generating unit 162. The area of the hatched portion shown in fig. 3 shows the commanded stop distance after the moving speed of the carriage of the crane 2 reaches the upper limit value. T shown in FIG. 3 d A deceleration time is a time required for the carriage to start decelerating and stop in a state where the motor control device 1 controls the motor 21 and the traveling speed of the carriage of the crane 2 reaches the upper limit value when the configuration of the notch filter 12 is removed (the configuration without the notch filter 12). In addition, W max Represents the maximum speed of the carriage, i.e., the upper limit value of the moving speed of the carriage.
When the carriage of the crane 2 moves at the maximum speed, the commanded stopping distance generating unit 162 gives the commanded stopping distance d according to the following expression (1) ref And (6) performing calculation. The command stopping distance generating unit 162 calculates the moving speed of the carriage of the crane 2 based on the speed command, and determines whether or not the moving speed is the upper limit value. The command stopping distance generating unit 162 preliminarily compares the maximum speed W indicating the upper limit value of the moving speed max The data of (2) is stored.
[ mathematical formula 1]
Fig. 4 is a view for explaining the process of generating the command stop distance by the command stop distance generating unit 162. The area of the diagonal line part shown in FIG. 4 is shown inAnd a command stop distance in the case where deceleration is started in a state where the traveling speed of the carriage of the crane 2 is less than the upper limit value. T shown in FIG. 4 dx When the notch filter 12 is removed (the notch filter 12 is not provided), the motor control device 1 controls the motor 21 to control the deceleration time required from the start of deceleration of the carriage to the stop of the carriage before the moving speed of the carriage of the crane 2 reaches the upper limit value. In addition, the vehicle is assumed to be at the current time t c The deceleration is started. In addition, W (t) c ) Indicating the moving speed of the carriage at the current time. Same as in FIG. 3, t d A deceleration time is a time required from the start of deceleration of the carriage to the stop of the carriage in a state where the motor control device 1 controls the motor 21 and the traveling speed of the carriage of the crane 2 reaches the upper limit value in the case where the notch filter 12 is removed. W is the same as in FIG. 3 max Represents the maximum speed of the carriage, i.e., the upper limit value of the moving speed of the carriage.
The commanded stopping distance generating unit 162 sets the maximum speed W shown in fig. 3 and 4 on the carriage of the crane 2 max When the vehicle is moving at a speed other than the specified speed, the stop distance d is commanded according to the following equation (2) ref And (6) performing calculation. Furthermore, according to FIGS. 3 and 4, t dx ：t d ＝W(t)：W max If true, the equation (2) is derived from this relationship. In addition, the trolley of the crane 2 is at the highest speed W max The case of the other speed movement is a case in which the trolley of the crane 2 is accelerating.
[ mathematical formula 2]
In this way, the command stopping distance generating unit 162 applies the command stopping distance d to the equation (1) or (2) according to whether or not the carriage of the crane 2 is moving at the maximum speed ref Performs calculation and outputs the result to the adder 163. Note that, the commanded stopping distance generating unit 162 may be configured to store the crane 2 while the carriage is moving at the maximum speedCommand stopping distance d ref Stopping the stored command by a distance d when the carriage of the crane 2 is moving at the maximum speed ref And outputs to the adder 163.
The adder 163 adds the position command input from the integrator 161 and the command stopping distance input from the command stopping distance generating unit 162 to the stopping position x refstop The calculation is performed and output to the translation transformer 166. Stop position x refstop Showing the stop position of the rotor of the motor 21.
Returning to the explanation of fig. 1, the translation converter 166 refers to the carriage stop position P based on the stop position input from the adder 163 refstop Is calculated, the stop position P of the trolley refstop The stop position of the carriage of the crane 2 when the operator performs the stop operation at the current time, that is, the moving distance of the carriage during the period from when the motor control device 1 receives the operation to start the movement of the crane 2 and the carriage starts to move, to when the motor control device receives the operation to stop the crane 2 and the carriage starts to decelerate and stops. The translation converter 166 stops the carriage at the position P refstop Output to the monitor 4 and display the stop position of the carriage. The monitor 4 counts the carriage stop position P by a numerical value, for example refstop And displaying. In this case, the monitor 4 displays the moving distance from the start to the stop of the movement of the carriage of the crane 2 when the operation to stop the crane 2 is received at the present time, based on the contents such as "the moving distance from the start to the stop ≈ m". The operator of the crane 2 can stop the carriage at a desired position by checking the monitor 4 and performing a stop operation when the displayed moving distance is the distance in which the carriage is to be moved.
As described above, motor control device 1 according to the present embodiment controls motor 21 of crane 2 based on the speed command after correction by notch filter 12 to remove the vibration frequency component of crane 2, and calculates the carriage stop position based on the speed command before correction by notch filter 12 and outputs the calculated carriage stop position to monitor 4. Thus, even an operator who is accustomed to the operation of the crane 2 using the motor control device corresponding to the motor control device 1 having the configuration without the notch filter 12 can easily stop the carriage of the crane 2 using the motor control device 1 at the target position. Further, even a novice operator or the like who is not used to perform an operation can easily stop the carriage of the crane 2 at the target position. Therefore, the motor control device 1 can improve the operability when the operator operates the crane 2.
Embodiment 2.
Fig. 5 is a diagram showing a configuration example of a motor control device according to embodiment 2 of the present invention. The motor control device 1a according to embodiment 2 is similar to the motor control device 1 according to embodiment 1 in that it is configured to set a carriage stop position P indicating a moving distance from the start to the stop of the movement of the carriage of the crane 2 refstop The calculation is performed, and a trolley deceleration movement distance P indicating a distance that the trolley of the crane 2 moves during a period from the start of deceleration to the stop of the trolley when the operation of stopping the crane 2 is received is calculated realstop And (6) performing calculation. Speed reduction moving distance P of trolley realstop Corresponding to the deceleration moving distance of the conveying part. In the present embodiment, a description will be given of a portion different from the motor control device 1 according to embodiment 1.
The motor control device 1a according to embodiment 2 has a carriage stop position P refstop And the speed reduction moving distance P of the trolley realstop A stop position calculation unit 16a for performing the calculation. Since the components of the motor control device 1a other than the stop position calculating unit 16a are the same as those given the same reference numerals as those of the motor control device 1, the description thereof is omitted.
The stop position calculation unit 16a is configured by replacing the translation converter 166 of the stop position calculation unit 16 included in the motor control device 1 according to embodiment 1 with the translation converter 166a, and adding the integrator 164 and the subtractor 165.
The correction speed command output from the notch filter 12 is outputInput to an integrator 164. The integrator 164 integrates the correction speed command to obtain the correction position command x crr And outputs the result to the subtractor 165.
The stop position x is added from the adder 163 in addition to the correction position instruction from the integrator 164 refstop Is also input to subtractor 165. The subtractor 165 calculates the deceleration movement distance x by subtracting the correction position command from the stop position realstop And outputs the result to the translation transducer 166a.
The deceleration moving distance x is input from the subtractor 165 to the translation converter 166a realstop And the stop position x is inputted from the adder 163 refstop . The translation converter 166a, similarly to the translation converter 166, performs the operation of adjusting the carriage stop position P based on the stop position input from the adder 163 refstop And (6) performing calculation. The translation converter 166a further decelerates the carriage by the distance P based on the decelerated movement distance input from the subtractor 165 realstop And (6) performing calculation. The translation converter 166a stops the carriage at the position P refstop And the deceleration moving distance P of the trolley realstop Output to the monitor 4, and display the stop position of the carriage and the deceleration moving distance of the carriage. The monitor 4 is configured to count the carriage stop position P in the same manner as in embodiment 1, for example refstop And the speed reduction moving distance P of the trolley realstop And displaying.
As described above, the motor control device 1a according to the present embodiment calculates the carriage stop position based on the speed command before correction by the notch filter 12 and calculates the carriage deceleration movement distance based on the speed command after correction by the notch filter 12, and outputs the calculated carriage deceleration movement distance to the monitor 4, similarly to the motor control device 1 according to embodiment 1. Since the motor control device 1a outputs the carriage deceleration movement distance indicating the distance the carriage moves during the period from the start of deceleration to the stop of the carriage of the crane 2 to the monitor 4 in addition to the carriage stop position indicating the movement distance until the carriage of the crane 2 stops, and notifies the operator of the vehicle deceleration movement distance, the operator can grasp the timing at which the carriage stops several m after the current position when the deceleration is started at the current time and the stop is easily conceived.
Embodiment 3.
Fig. 6 is a diagram showing a configuration example of a motor control device according to embodiment 3 of the present invention. The motor control device 1b according to embodiment 3 is similar to the motor control device 1a according to embodiment 2 in that it is directed to the carriage stop position P refstop And the speed reduction moving distance P of the trolley realstop And (6) performing calculation. As described in embodiment 2, in motor control device 1a according to embodiment 2, the bogie is decelerated by a movement distance P based on the correction speed command output from notch filter 12 realstop And (6) performing calculation. In contrast, in the motor control device 1b according to the present embodiment, the actual motor position x detected by the position detector 22 provided in the crane 2 is based on real To the deceleration moving distance P of the trolley realstop And (4) performing calculation. In the present embodiment, a description will be given of a portion different from the motor control device 1a according to embodiment 2.
The motor control device 1b according to embodiment 3 has a carriage stop position P refstop And the speed reduction moving distance P of the trolley realstop A stop position calculation unit 16b for performing the calculation. Since the components of the motor control device 1b other than the stop position calculating unit 16b are the same as those given the same reference numerals as those of the motor control device 1a, the description thereof is omitted.
The stop position calculation unit 16b includes an integrator 161, an adder 163, a subtractor 165, and a translation converter 166a. The above-described components are the same as the integrator 161, the adder 163, the subtractor 165, and the translation converter 166a of the stop position calculation unit 16a included in the motor control device 1a according to embodiment 2. However, the stop position x output from the adder 163 is input to the subtractor 165 refstop Actual motor position x output by position detector 22 of crane 2 real 。
The subtractor 165 subtracts the actual motor position from the stop position to obtain the deceleration movement distance x realstop And outputs the result to the translation transformer 166a. The subtractor 165 of the stop position computing unit 16b is based on the crane2 actual position of rotor of motor 21 versus deceleration movement distance x realstop Since the calculation is performed, the distance P of deceleration and movement of the vehicle can be accurately calculated as compared with the stop position calculation unit 16a included in the motor control device 1a according to embodiment 2 realstop And (6) performing operation.
Next, a hardware configuration of the motor control device described in each of the above embodiments will be described. The components constituting the motor control device described in each embodiment are each realized by a dedicated processing circuit corresponding to the processing executed by each component. The dedicated processing Circuit is a single Circuit, a composite Circuit, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination thereof.
The components constituting the motor control device described in each embodiment may be realized by a processing circuit including the processor 101 and the memory 102 shown in fig. 7. The processor 101 shown in fig. 7 is a CPU (Central Processing Unit) or the like. The Memory 102 shown in fig. 7 is a nonvolatile or volatile semiconductor Memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), or a flash Memory, or a magnetic disk. Further, a part of the components constituting the motor control device described in each embodiment may be realized by the processor 101 and the memory 102 shown in fig. 7, and the remaining components may be realized by a dedicated processing circuit. For example, the stop position calculating units 16, 16a, and 16b may be realized by the processor 101 and the memory 102, and the other components may be realized by a dedicated processing circuit.
The configuration described in the above embodiment is an example of the contents of the present invention, and may be combined with other known techniques, and a part of the configuration may be omitted or modified without departing from the scope of the present invention.
For example, in embodiments 1 to 3, the description has been given assuming that the crane 2 is a bridge crane, but the present invention can also be applied to a case where the crane 2 is a slewing crane. When the crane 2 is a slewing crane, the operation of the crane 2 is slewing operation and lifting operation of a conveying unit that conveys a load. In the case of applying the present invention to a slewing crane, the above-described translation converters 166 and 166a are not required. In this case, the monitor connected to the motor control device according to embodiment 1 displays the stop position of the crane (the movement distance from the start of the movement of the transport unit of the slewing crane to the stop) when the stop operation is performed at the present time. In addition, in the monitor connected to the motor control device according to embodiments 2 and 3, the moving distance from the start of deceleration to the stop of the crane is displayed in addition to the stop position of the crane when the stopping operation is performed at the current time. The moving distance in this case is represented by a rotation amount, i.e., an angle.
Description of the reference numerals
1. 1a, 1b motor control device, 2 crane, 3 operation unit, 4 monitor, 11 command generator, 12 notch filter, 13 differentiator, 14, 165 subtracter, 15 motor controller, 16a, 16b stop position calculation unit, 21 motor, 22 position detector, 161, 164 integrator, 162 command stop distance generation unit, 163 adder, 166a translation converter.
Claims (9)
1. A motor control device for controlling a motor for moving a carrying part of a crane,
the motor control device is characterized by comprising:
a command generator that generates a speed command for the motor based on a 1 st operation for starting movement of the conveying unit and a 2 nd operation for stopping the conveying unit; and
and a stop position calculation unit that calculates, when the speed command is corrected, a movement distance of the transport unit from when the transport unit starts to move by the 1 st operation on the crane to when the transport unit starts to decelerate and stops by the 2 nd operation on the crane based on the speed command before correction, and displays the calculated movement distance on a display device.
2. The motor control apparatus according to claim 1,
the stop position calculation unit repeats the calculation of the movement distance in the case where the 2 nd operation is performed by the operator who operates the crane and moves the carrying unit until the 2 nd operation is performed, and updates the display on the display device every time the movement distance is calculated.
3. The motor control apparatus according to claim 1 or 2,
the crane control device is provided with a correction unit which subtracts the vibration frequency component of the crane from the speed command to generate a corrected speed command.
4. The motor control device of claim 3,
the correction unit is configured by a notch filter.
5. The motor control device according to claim 3,
the stop position calculation unit further calculates a conveying unit deceleration movement distance indicating a distance the conveying unit moves during a period from start of deceleration to stop of the conveying unit when the 2 nd operation is performed, and displays the movement distance and the conveying unit deceleration movement distance on the display device, based on the speed command before the correction and the corrected speed command.
6. The motor control device according to claim 4,
the stop position calculation unit further calculates a conveying unit decelerated movement distance indicating a distance the conveying unit moves during a period from start of deceleration to stop of the conveying unit in the case where the 2 nd operation is performed, based on the speed command before the correction and the corrected speed command, and displays the movement distance and the conveying unit decelerated movement distance on the display device.
7. The motor control apparatus according to claim 1 or 2,
the stop position calculation unit further calculates a conveying unit decelerated movement distance indicating a distance the conveying unit moves during a period from start of deceleration to stop of the conveying unit when the 2 nd operation is performed, and displays the movement distance and the conveying unit decelerated movement distance on the display device, based on the speed command before the correction and an actual motor position indicating a position of a rotor constituting the motor.
8. The motor control device of claim 3,
the stop position calculation unit further calculates a conveying unit decelerated movement distance indicating a distance the conveying unit moves during a period from start of deceleration to stop of the conveying unit when the 2 nd operation is performed, and displays the movement distance and the conveying unit decelerated movement distance on the display device, based on the speed command before the correction and an actual motor position indicating a position of a rotor constituting the motor.
9. The motor control device of claim 4,
the stop position calculation unit further calculates a conveying unit decelerated movement distance indicating a distance the conveying unit moves during a period from start of deceleration to stop of the conveying unit when the 2 nd operation is performed, and displays the movement distance and the conveying unit decelerated movement distance on the display device, based on the speed command before the correction and an actual motor position indicating a position of a rotor constituting the motor.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2019/000325 WO2020144762A1 (en) | 2019-01-09 | 2019-01-09 | Motor control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113302144A CN113302144A (en) | 2021-08-24 |
| CN113302144B true CN113302144B (en) | 2022-11-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201980087693.3A Active CN113302144B (en) | 2019-01-09 | 2019-01-09 | Motor control device |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP6580295B1 (en) |
| CN (1) | CN113302144B (en) |
| WO (1) | WO2020144762A1 (en) |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0826668A (en) * | 1994-07-14 | 1996-01-30 | Mitsubishi Electric Corp | Stop position control device |
| JPH08101011A (en) * | 1994-09-29 | 1996-04-16 | Asia Marine Kk | Device for positioning vehicle |
| JP3297313B2 (en) * | 1996-07-23 | 2002-07-02 | ティー・シー・エム株式会社 | Chassis position display equipment |
| JPH11193195A (en) * | 1998-01-05 | 1999-07-21 | Hitachi Plant Eng & Constr Co Ltd | Braking device for overhead crane |
| JP2007223745A (en) * | 2006-02-24 | 2007-09-06 | Mitsubishi Heavy Ind Ltd | Container carrying crane, controller for moving body and control method for container carrying crane |
| JP5367318B2 (en) * | 2008-07-09 | 2013-12-11 | 株式会社タダノ | Control device for work equipment |
| JP2013116774A (en) * | 2011-12-01 | 2013-06-13 | Shimizu Corp | Crane operation system |
| JP5971994B2 (en) * | 2012-03-19 | 2016-08-17 | 株式会社タダノ | Crane work monitoring device |
| JP6162481B2 (en) * | 2013-05-21 | 2017-07-12 | 株式会社タダノ | Work area line display device |
| CN104528531B (en) * | 2014-12-31 | 2016-06-01 | 北京国泰星云科技有限公司 | Under terminal of containers RTG, RMG, truck contraposition guides system and method |
| CN104876127B (en) * | 2015-05-29 | 2017-03-15 | 上海简奇数码科技有限公司 | The big dolly operating position appearance monitoring device of a kind of bridge, gantry crane and method |
| JP6796825B2 (en) * | 2016-09-28 | 2020-12-09 | 清水建設株式会社 | Concrete bucket control support system and concrete bucket control support method |
-
2019
- 2019-01-09 JP JP2019534982A patent/JP6580295B1/en active Active
- 2019-01-09 CN CN201980087693.3A patent/CN113302144B/en active Active
- 2019-01-09 WO PCT/JP2019/000325 patent/WO2020144762A1/en active Application Filing
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| Publication number | Publication date |
|---|---|
| JPWO2020144762A1 (en) | 2021-02-18 |
| JP6580295B1 (en) | 2019-09-25 |
| CN113302144A (en) | 2021-08-24 |
| WO2020144762A1 (en) | 2020-07-16 |
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