JP4856421B2 - Control system and control method for electrically driven construction tower crane - Google Patents

Control system and control method for electrically driven construction tower crane Download PDF

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JP4856421B2
JP4856421B2 JP2005359382A JP2005359382A JP4856421B2 JP 4856421 B2 JP4856421 B2 JP 4856421B2 JP 2005359382 A JP2005359382 A JP 2005359382A JP 2005359382 A JP2005359382 A JP 2005359382A JP 4856421 B2 JP4856421 B2 JP 4856421B2
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power
storage means
motor
crane
power storage
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JP2007166775A (en
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三浦拓
菊地秀治
高橋利八
坪田章
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Takenaka Corp
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Description

本発明は、電気駆動型建設用タワークレーンの制御システムおよびその制御方法に関し、特に商用電源の最大電力を一定以下に制御して不足電力を既存バッテリより供給し、つり荷の降下時に発生する回生電流をバッテリに蓄電して商用電源とバッテリのハイブリッド制御を行うことを特徴とする、電気駆動型建設用タワークレーンのクレーン制御システム及びその制御方法に関する。   TECHNICAL FIELD The present invention relates to a control system for an electrically driven construction tower crane and a control method thereof, and more particularly, to control the maximum power of a commercial power source to a certain level or less to supply insufficient power from an existing battery and to generate regenerative power generated when a suspended load drops. The present invention relates to a crane control system for an electrically driven construction tower crane and a control method thereof, characterized in that electric current is stored in a battery and hybrid control of a commercial power source and the battery is performed.

建築用のクレーンには、大別してエンジン駆動の移動式クレーンと、電気駆動の定置式クレーンが使用されており、どちらのクレーンを使用するかは、建築現場の規模、構造、工期などの条件により検討される。   Construction cranes are broadly divided into engine-driven mobile cranes and electric-driven stationary cranes. The type of crane used depends on the size, structure, construction period, etc. of the construction site. Be considered.

高さが３０ｍ以下の低・中層建物工事には、工事敷地の余裕度にもよるが、現場への搬入・搬出性、組立・解体性などの利便性の点から移動式クレーンが使用されるケースが多く、高さが６０ｍ程度までの高層建物工事にはタワークレーンが多く使用されるが諸条件によっては大型の移動式クレーンが使用され、超高層建物の工事には、揚程の高いタワークレーンが使用される場合が多い。   Mobile cranes are used for low / medium-rise building construction with a height of 30m or less, depending on the margin of the construction site, but from the viewpoint of convenience such as on-site loading / unloading and assembly / disassembly. Tower cranes are often used for high-rise building works with many cases and up to about 60m in height, but depending on various conditions, large mobile cranes are used, and tower cranes with high lift are used for construction of high-rise buildings. Is often used.

エンジン駆動の移動式クレーンは、ＣＯ2排出量が多いため、環境への影響が大きいこと、また、車両通行の規制が厳格になり、移動式クレーンであっても、分割して搬送しなければならないため、運行経費と解体・組立の手間がかかること、などの問題があることから、エンジン駆動の移動式クレーンから電気駆動の定置式クレーンへの代替の需要が高まっている。 Engine-driven mobile cranes have a large impact on the environment due to the large amount of CO 2 emissions, and regulations on vehicle traffic become strict, and even mobile cranes must be transported separately. Therefore, since there are problems such as operating costs and labor for dismantling / assembling, there is an increasing demand for replacement from engine-driven mobile cranes to electric-driven stationary cranes.

しかし、電気駆動の定置式クレーンを採用するにあたっては、以下の問題点があった。
＜１＞高層建物の建設に使用するクレーンは高圧受電が必要になり、受電設備が大型化する。
＜２＞クレーンや建物の解体時のクレーンの降下工程において、回生電流が発生するにも関わらず、当該回生電流を再利用できずに無駄にしていた。 However, there were the following problems in adopting an electric drive stationary crane.
<1> Cranes used for the construction of high-rise buildings require high-voltage power reception, which increases the size of power reception equipment.
<2> In the crane descent process at the time of dismantling the crane or the building, although the regenerative current is generated, the regenerative current cannot be reused and is wasted.

従って、本発明の目的は、小型の低圧受電設備で稼働でき、環境への影響が少なく、省エネ化が可能な、電気駆動型建設用タワークレーンの制御システム及びその制御方法を提供することにある。   Accordingly, an object of the present invention is to provide a control system and a control method for an electrically driven construction tower crane that can be operated with a small-sized low-voltage power receiving facility, have little environmental impact, and can save energy. .

そこで、上記目的を達成するためになされた本願の第１発明は、商用電源からの電力とクレーンのモータからの回生電力を蓄電する蓄電手段と、蓄電手段の蓄電量と商用電源の電力供給量を監視して蓄電手段への充放電のスイッチングと前記モータの最大速度とを制御する制御手段と、商用電源からの供給電力とモータからの回生電力を蓄電手段に蓄電可能に変換する変換手段と、変換手段によって直流に変換された電力を前記モータに供給し、前記モータからの回生電力を前記変換手段に供給する電力供給手段と、蓄電手段と変換手段の間に設けられ、蓄電手段の自然放電による変換手段への電圧の印可を防止する安全手段と、を少なくとも具備する電気駆動型建設用タワークレーン用の制御システムの制御方法において、クレーンの巻下時には、クレーンのモータから発生する回生電力を蓄電し、クレーンの待機時には、商用電源の電力を蓄電し、クレーンの起動、巻上、起伏、旋回時には、蓄電手段の蓄電量に応じて、（ａ）蓄電手段単体でのモータ駆動、（ｂ）商用電源と蓄電手段の併用によるモータ駆動、あるいは（ｃ）商用電源単体で最大速度を制限した限定的なモータ駆動、へと制御し、且つ、建物の建築時には、前記（ｂ）又は（ｃ）によるモータ駆動を行い、建物の解体時には、前記（ａ）又は（ｃ）によるモータ駆動を行う、ことを特徴とする、電気駆動型建設用タワークレーンの制御システムの制御方法を提供するものである。
In view of this, the first invention of the present application made to achieve the above object is the power storage means for storing the power from the commercial power source and the regenerative power from the motor of the crane, the power storage amount of the power storage means and the power supply amount of the commercial power source. Control means for controlling charge / discharge switching to the power storage means and the maximum speed of the motor, and conversion means for converting supply power from the commercial power source and regenerative power from the motor to the power storage means so as to be able to be stored. A power supply means for supplying electric power converted into direct current by the conversion means to the motor, and for supplying regenerative power from the motor to the conversion means; and between the power storage means and the conversion means. A safety means for preventing voltage from being applied to the conversion means by electric discharge, and a control method for a control system for an electrically driven construction tower crane, The regenerative power generated from the crane motor is stored, the power of the commercial power source is stored when the crane is on standby, and when the crane is started, hoisted, undulated and turned, control to a) motor drive with a single power storage means, (b) motor drive with a combination of commercial power supply and power storage means, or (c) limited motor drive with a maximum speed limited with a single commercial power supply, and An electrically driven construction tower characterized in that the motor drive according to (b) or (c) is performed during building construction, and the motor drive according to (a) or (c) is performed during building dismantling. A control method of a crane control system is provided.

本発明は、上記した課題を解決するための手段により、次のような効果を同時に達成することができる。
＜１＞商用電源を低圧電圧化することができ、省エネに寄与し経済性が高い。 The present invention can simultaneously achieve the following effects by means for solving the above-described problems.
<1> A commercial power supply can be made into a low voltage, contributing to energy saving and high in economic efficiency.

＜２＞受電設備を縮小することができ、システム全体の軽量化が可能となる。 <2> The power receiving facility can be reduced, and the entire system can be reduced in weight.

＜３＞エンジン駆動の移動式クレーンから電気駆動の定置式クレーンへの代替が可能となり、ＣＯ2排出量を削減できる。 <3> An engine-driven mobile crane can be replaced with an electric-driven stationary crane, and CO 2 emissions can be reduced.

以下、図面を参照しながら本発明の実施の形態について説明する。   Hereinafter, embodiments of the present invention will be described with reference to the drawings.

＜１＞全体構成
図１に本発明の電気駆動型建設用タワークレーンの制御システム１の構成図を示す。
図１に示すように、本発明の電気駆動型建設用タワークレーン用の制御システム１は、クレーン本体に実装可能であり、商用電源８からの電力とクレーンのモータ７からの回生電力を蓄電する蓄電手段２と、蓄電手段２の蓄電量と商用電源８の電力供給量を監視して蓄電手段２への充放電のスイッチングを制御する制御手段３と、商用電源８からの供給電力とモータ７からの回生電力を蓄電手段に蓄電可能に変換する変換手段４と、前記変換手段４によって変換された電力を前記モータ７に供給し、前記モータ７からの回生電力を前記変換手段に供給する電力供給手段５と、蓄電手段２と変換手段４の間に設けられ、蓄電手段２の自然放電による電圧の印可を防止する安全手段６と、を少なくとも具備して構成される。
以下に各構成手段を説明する。 <1> Overall Configuration FIG. 1 shows a configuration diagram of a control system 1 for an electrically driven construction tower crane according to the present invention.
As shown in FIG. 1, the control system 1 for an electrically driven construction tower crane according to the present invention can be mounted on a crane body, and stores electric power from a commercial power source 8 and regenerative electric power from a crane motor 7. Power storage means 2, control means 3 for controlling the charge / discharge switching to power storage means 2 by monitoring the amount of power stored in power storage means 2 and the amount of power supplied from commercial power supply 8, power supplied from commercial power supply 8 and motor 7 The conversion means 4 for converting the regenerative power from the power storage means into the power storage means, the power converted by the conversion means 4 supplied to the motor 7, and the regenerative power from the motor 7 supplied to the conversion means The power supply unit 5 is provided between the power storage unit 2 and the conversion unit 4 and includes at least a safety unit 6 that prevents voltage application due to natural discharge of the power storage unit 2.
Each constituent means will be described below.

＜２＞蓄電手段２
蓄電手段２は、リチウム電池などの従来周知のバッテリや電気２重層コンデンサを用いるものとする。 <2> Power storage means 2
The power storage unit 2 uses a conventionally known battery such as a lithium battery or an electric double layer capacitor.

＜３＞制御手段３
制御手段３は、蓄電手段２と商用電源８からの電力を検出する検出手段３１と、数個の蓄電量のしきい値が記憶される記憶手段３２と、蓄電手段の蓄電量の測定値と前記しきい値とを比較する比較手段３３と、を少なくとも具備する電気回路で構成され、蓄電手段２の蓄電量と商用電源８の電力供給量を監視して蓄電手段２への充放電のスイッチングを行う。
蓄電手段２の蓄電量が上限を超えた場合には、制御手段３から蓄電手段２に対して充電を停止させ、過充電を防止する。
また、蓄電手段２の蓄電量が下限を超えた場合、或いは蓄電手段２に何らかの異常が発生した場合には、クレーンの運転最大速度を自動制御し、商用電源８の電力が一定量を超えないように制御する。
商用電源８に何らかの異常が発生した場合は、速やかにクレーンを停止させる。 <3> Control means 3
The control means 3 includes a detection means 31 for detecting the power from the power storage means 2 and the commercial power supply 8, a storage means 32 for storing a threshold value of several power storage amounts, a measured value of the power storage amount of the power storage means, Comparing means 33 that compares the threshold value with at least an electric circuit, and switching the charging / discharging to the power storage means 2 by monitoring the power storage amount of the power storage means 2 and the power supply amount of the commercial power supply 8 I do.
When the power storage amount of the power storage means 2 exceeds the upper limit, the control means 3 stops charging the power storage means 2 to prevent overcharge.
Further, when the amount of electricity stored in the electricity storage means 2 exceeds the lower limit, or when some abnormality occurs in the electricity storage means 2, the maximum operation speed of the crane is automatically controlled, and the power of the commercial power supply 8 does not exceed a certain amount. To control.
If any abnormality occurs in the commercial power supply 8, the crane is immediately stopped.

＜４＞変換手段４
変換手段４は、例えばＤＣ−ＤＣコンバータからなり、商用電源８からの供給電力とモータ７からの供給電力を蓄電手段２に蓄電可能に変換するように構成される。 <4> Conversion means 4
The conversion unit 4 is composed of, for example, a DC-DC converter, and is configured to convert the supply power from the commercial power supply 8 and the supply power from the motor 7 so that the storage unit 2 can store power.

＜５＞電力供給手段５
電力供給手段５は、例えばコンバータ・インバータからなり、前記変換手段４によって変換された電力を前記モータ７に供給し、前記モータ７からの回生電流を変換手段４に供給するように構成される。 <5> Power supply means 5
The power supply means 5 is composed of, for example, a converter / inverter, and is configured to supply the electric power converted by the conversion means 4 to the motor 7 and supply the regenerative current from the motor 7 to the conversion means 4.

＜６＞安全手段６
安全手段６は、例えばコンタクタからなり、蓄電手段２と変換手段４の間に設けて、クレーンの不使用時に蓄電手段２の長時間の自然放電による電圧の印可を防止することができるように、電気的に回路の切り離しが可能なように構成する。 <6> Safety measures 6
The safety means 6 is composed of, for example, a contactor, and is provided between the power storage means 2 and the conversion means 4 so as to prevent application of voltage due to long-time natural discharge of the power storage means 2 when the crane is not used. It is configured so that the circuit can be electrically disconnected.

次に、本発明にかかる電気駆動型建設用タワークレーンの制御システムの制御方法について図２から図５を参照しながら説明する。   Next, a control method of the control system for the electrically driven construction tower crane according to the present invention will be described with reference to FIGS.

図２に、建築物の建設時における電気駆動型建設用タワークレーンの制御システムの制御方法の実施例を示すフロー図を示す。   FIG. 2 is a flowchart showing an embodiment of the control method of the control system for the electrically driven construction tower crane at the time of building construction.

（１）しきい値の設定
制御手段３の記憶手段３２に、蓄電手段２の蓄電量のしきい値を設定する。本実施例では、第１しきい値、第２しきい値、充電しきい値とする３つの値を設定しておく。
第１しきい値は、クレーンのモータ７を蓄電手段２単体によって駆動させる蓄電量の最低値を示すしきい値であり、第２しきい値は、クレーンのモータ７を蓄電手段２と商用電源８を併用して駆動させる蓄電量の最低値を示すしきい値であり、充電しきい値は、商用電源８から蓄電手段２に充電を行うか否かを判定するしきい値である。 (1) Setting of threshold value The threshold value of the charged amount of the power storage means 2 is set in the storage means 32 of the control means 3. In this embodiment, three values are set as a first threshold value, a second threshold value, and a charging threshold value.
The first threshold value is a threshold value that indicates the minimum value of the amount of power that drives the crane motor 7 by the power storage means 2 alone, and the second threshold value is the power supply means 2 and the commercial power supply for the crane motor 7. 8 is a threshold value that indicates the minimum value of the amount of power that is driven together, and the charging threshold value is a threshold value that determines whether or not the power storage means 2 is charged from the commercial power source 8.

各しきい値の最適値は、クレーンの動作パターンの割合や消費電力の傾向を考慮しながら変更することにより、より効果的に本発明を実施することができる。   The optimum value of each threshold value can be implemented more effectively by changing the crane operation pattern ratio and the power consumption tendency.

（２）クレーン制御方法
図２に、クレーンの駆動時における電力供給及び充放電の切り替えの制御を行うフロー図を示す。 (2) Crane Control Method FIG. 2 shows a flowchart for controlling switching between power supply and charge / discharge when the crane is driven.

始めに、手順１００において、クレーンが待機中であるかどうかを判定し、ＹＥＳの場合には手順１１０に進み、ＮＯの場合には手順２００に進む。
手順１１０において、当該蓄電量が充電しきい値以下であるかどうかを判定し、ＹＥＳの場合には、制御手段３によって充放電を切り替え、商用電源８から蓄電手段２に規定量になるまで蓄電を行う。蓄電中は、充電しきい値の判定は無視して蓄電を行う。ＮＯの場合には手順１００に戻る。 First, in step 100, it is determined whether or not the crane is on standby. If YES, the procedure proceeds to procedure 110, and if NO, the procedure proceeds to procedure 200.
In step 110, it is determined whether or not the amount of electricity stored is less than or equal to the charging threshold value. I do. During power storage, the charge threshold value is ignored and power storage is performed. If NO, return to procedure 100.

手順２００において、前記蓄電手段２の蓄電量が第１しきい値以上であるかどうかを判定し、ＹＥＳの場合には蓄電手段２からの電力のみでモータ７を駆動する。ＮＯの場合には、次の手順３００に進む。   In step 200, it is determined whether or not the amount of electricity stored in the electricity storage means 2 is greater than or equal to the first threshold value. If YES, the motor 7 is driven only by the electric power from the electricity storage means 2. In the case of NO, the process proceeds to the next procedure 300.

手順３００において、当該蓄電量が第２しきい値以上であるかどうかを判定し、ＹＥＳの場合には蓄電手段２からの電力と商用電源８の電力の併用によってモータ７を駆動する。ＮＯの場合には、商用電源８からの電力のみによってモータ７を限定的に駆動する。   In step 300, it is determined whether or not the amount of electricity stored is equal to or greater than the second threshold value. In the case of NO, the motor 7 is limitedly driven only by the electric power from the commercial power source 8.

（３）電力モデル図
図３に、建物の建築時における必要電力と、蓄電池の蓄電量の推移をシミュレーションしたモデル図を示す。
以下、クレーンの作動順序に併せて蓄電池の蓄電量の推移と制御方法を説明する。
（ａ）クレーンの起動・加速時（１回目）
１回目のクレーンの起動・加速時には、蓄電手段２の蓄電量が第１しきい値を上回っている間は、高圧領域・低圧領域共に蓄電手段２単体によってモータ７を駆動して、クレーンの起動・加速を行う。
（ｂ）定格荷重の巻上・起伏・旋回時（１回目）
１回目の定格荷重の巻上・起伏・旋回時の開始時には、未だに蓄電手段２の蓄電量が第１しきい値を上回っているため、高圧領域・低圧領域共に蓄電手段２単体によってモータ７を駆動する。
その後、蓄電手段２の蓄電量が第１しきい値を下回ったところで蓄電手段２からの電力と商用電源８の電力の併用によってモータ７を駆動する。
（ｃ）巻下時（1回目）
１回目のクレーンの巻下時には、モータ７の回生電力を蓄電手段２に蓄電する。
（ｄ）待機状態（1回目）
１回目のクレーン待機時には、未だ蓄電手段２の蓄電量が商用電源からの充電しきい値を下回っていないため、充電作業は行わずに現状で待機する。
（ｅ）クレーンの起動・加速時（２回目）
2回目のクレーンの起動・加速時には、１回目のクレーンの起動・加速時と同様に、高圧領域・低圧領域共に蓄電手段２単体によってモータ７を駆動して、クレーンの起動・加速を行う。
（ｆ）巻上・起伏・旋回時（２回目）
2回目の巻上・起伏・旋回時は、作業途中に蓄電手段２の蓄電量が第２しきい値を下回っるため、その時点から商用電源８からの電力のみによってモータ７を限定的に駆動する。
（ｇ）巻下時（２回目）
2回目のクレーンの巻下時には、モータ７の回生電力を蓄電手段２に蓄電する。
（ｈ）待機状態（２回目）
2回目のクレーンの待機時には、蓄電量と充電しきい値と判定を行い、蓄電手段２の蓄電量が商用電源からの充電しきい値を下回っているため、商用電源８から蓄電手段２に蓄電を行っている。 (3) Power Model Diagram FIG. 3 shows a model diagram that simulates the transition of the required power during building construction and the storage amount of the storage battery.
Hereinafter, the transition of the storage amount of the storage battery and the control method will be described in accordance with the operation sequence of the crane.
(A) When starting and accelerating the crane (first time)
During the first start-up / acceleration of the crane, while the amount of power stored in the power storage means 2 exceeds the first threshold, the motor 7 is driven by the power storage means 2 alone in both the high-pressure region and the low-pressure region to start the crane.・ Accelerate.
(B) During rated load hoisting / undulation / turning (first time)
At the start of the first rated load hoisting, undulating, or turning, the amount of power stored in the power storage means 2 still exceeds the first threshold value. To drive.
Thereafter, when the amount of electricity stored in the electricity storage means 2 falls below the first threshold value, the motor 7 is driven by the combined use of electric power from the electricity storage means 2 and electric power from the commercial power source 8.
(C) At the time of lowering (first time)
When the crane is unwound for the first time, the regenerative power of the motor 7 is stored in the power storage means 2.
(D) Standby state (first time)
At the first crane standby time, the power storage amount of the power storage means 2 has not yet fallen below the charging threshold value from the commercial power supply, so that the charging operation is not performed and the current standby state is maintained.
(E) When starting and accelerating the crane (second time)
When starting and accelerating the crane for the second time, as in the case of starting and accelerating the first crane, the motor 7 is driven by the power storage means 2 alone in both the high pressure region and the low pressure region to start and accelerate the crane.
(F) During hoisting / undulation / turning (second time)
During the second winding / undulation / turning, since the amount of electricity stored in the electricity storage means 2 falls below the second threshold value during the work, the motor 7 is limitedly driven only by the electric power from the commercial power source 8 from that point. To do.
(G) At the time of lowering (second time)
When the crane is unwound for the second time, the regenerative power of the motor 7 is stored in the power storage means 2.
(H) Standby state (second time)
When the crane is waiting for the second time, the storage amount and the charging threshold are determined, and the storage amount of the storage means 2 is below the charging threshold from the commercial power source. It is carried out.

このように、商用電源８の電力量を一定以下にコントロールし、不足分を蓄電手段２から供給することによって、従来高圧受電の必要なクレーンが低圧受電で使用可能になるほか、クレーン回生運転時の蓄電と、クレーン作業待機時（休止時）を利用して商用電源８から蓄電手段２に急速蓄電することによって、電力設備の簡素化および、省エネ化を図ることができる。   In this way, by controlling the amount of power of the commercial power supply 8 below a certain level and supplying the shortage from the power storage means 2, a crane that has conventionally required high-voltage power reception can be used for low-voltage power reception, and also during crane regenerative operation. Power storage and rapid storage of power from the commercial power supply 8 to the storage means 2 using the crane work standby time (resting time) makes it possible to simplify the power equipment and save energy.

なお、蓄電手段２の容量を十分に確保することで商用電源を省略し、完全なケーブルレス化を図ることもできる。   It should be noted that by securing a sufficient capacity of the power storage means 2, the commercial power supply can be omitted and a complete cable-less operation can be achieved.

図４に本発明の電気駆動型建設用タワークレーンの制御システムの制御方法のもう一つの実施例によるモデル図を示す。
建物の建築時ではクレーンの上昇時につり荷が存在し、エネルギー消費が大きいため、上述の手順２００を省略、すなわち第１しきい値による判定を省略して、蓄電手段２単体によるモータ駆動を行わず、商用電源８と蓄電手段２を併用する割合を増やしてもよい。 FIG. 4 shows a model diagram according to another embodiment of the control method of the control system for the electrically driven construction tower crane of the present invention.
When building a building, there is a suspended load when the crane is raised, and energy consumption is large. Therefore, the above-described procedure 200 is omitted, that is, determination by the first threshold value is omitted, and the motor is driven by the power storage means 2 alone. Instead, the ratio of using the commercial power supply 8 and the power storage means 2 may be increased.

図５に本発明の電気駆動型建設用タワークレーンの制御システムの制御方法の更にもう一つの実施例によるモデル図を示す。
建物の解体時にはクレーンの下降時につり荷が存在するため、クレーンの下降作業中の回生電流の発生量の増加が期待できる。図５に示すように、上述の手順３００を省略して商用電源と蓄電手段との併用によるモータ駆動を行わず、蓄電手段単体による駆動の割合を増やしてもよい。 FIG. 5 shows a model diagram according to still another embodiment of the control method of the control system for the electrically driven construction tower crane of the present invention.
When the building is demolished, there is a suspended load when the crane is lowered, so an increase in the amount of regenerative current generated during the crane lowering operation can be expected. As shown in FIG. 5, the above-described procedure 300 may be omitted, and the motor drive by the combined use of the commercial power supply and the power storage means may not be performed, and the drive ratio of the power storage means alone may be increased.

なお、本発明は、上記する実施例に限定されるものではなく、しきい値の設定数や判定方法などは、従来知られる多種多様な技術を適用することができる。   Note that the present invention is not limited to the above-described embodiments, and various conventionally known techniques can be applied to the number of threshold values set and the determination method.

本発明の電気駆動型建設用タワークレーンの制御システム１の構成図。The block diagram of the control system 1 of the electrically driven construction tower crane of this invention. 本発明の実施例１の制御方法を示すフロー図。The flowchart which shows the control method of Example 1 of this invention. 本発明の実施例１の電力モデル図。The electric power model figure of Example 1 of this invention. 本発明の実施例２の電力モデル図。The electric power model figure of Example 2 of this invention. 本発明の実施例３の電力モデル図。The electric power model figure of Example 3 of this invention.

符号の説明Explanation of symbols

１・・・制御システム
２・・・蓄電手段
３・・・制御手段
３１・・検出手段
３２・・記憶手段
３３・・比較手段
４・・・変換手段
５・・・電力供給手段
６・・・安全手段
７・・・モータ
８・・・商用電源 DESCRIPTION OF SYMBOLS 1 ... Control system 2 ... Power storage means 3 ... Control means 31 ... Detection means 32 ... Storage means 33 ... Comparison means 4 ... Conversion means 5 ... Electric power supply means 6 ... Safety means 7 ... Motor 8 ... Commercial power supply

Claims (1)

商用電源からの電力とクレーンのモータからの回生電力を蓄電する蓄電手段と、
蓄電手段の蓄電量と商用電源の電力供給量を監視して蓄電手段への充放電のスイッチングと前記モータの最大速度とを制御する制御手段と、
商用電源からの供給電力とモータからの回生電力を蓄電手段に蓄電可能に変換する変換手段と、
変換手段によって直流に変換された電力を前記モータに供給し、前記モータからの回生電力を前記変換手段に供給する電力供給手段と、
蓄電手段と変換手段の間に設けられ、蓄電手段の自然放電による変換手段への電圧の印可を防止する安全手段と、
を少なくとも具備する電気駆動型建設用タワークレーン用の制御システムの制御方法において、
クレーンの巻下時には、クレーンのモータから発生する回生電力を蓄電し、
クレーンの待機時には、商用電源の電力を蓄電し、
クレーンの起動、巻上、起伏、旋回時には、蓄電手段の蓄電量に応じて、
（ａ）蓄電手段単体でのモータ駆動、
（ｂ）商用電源と蓄電手段の併用によるモータ駆動、あるいは
（ｃ）商用電源単体で最大速度を制限した限定的なモータ駆動、へと制御し、
且つ、
建物の建築時には、前記（ｂ）又は（ｃ）によるモータ駆動を行い、
建物の解体時には、前記（ａ）又は（ｃ）によるモータ駆動を行う、
ことを特徴とする、電気駆動型建設用タワークレーンの制御システムの制御方法。 Power storage means for storing electric power from a commercial power source and regenerative power from a crane motor;
Control means for monitoring the amount of electricity stored in the electricity storage means and the amount of electric power supplied from the commercial power source to control charging / discharging to the electricity storage means and the maximum speed of the motor;
Conversion means for converting supply power from a commercial power supply and regenerative power from the motor into the storage means so as to be able to be stored;
Power supply means for supplying power converted into direct current by the conversion means to the motor, and supplying regenerative power from the motor to the conversion means;
A safety means that is provided between the power storage means and the conversion means, and prevents the application of voltage to the conversion means by natural discharge of the power storage means;
In a control method of a control system for an electrically driven construction tower crane comprising at least
When the crane is unwound, it stores regenerative power generated by the crane motor,
When the crane is on standby, it stores the power from the commercial power source,
At the time of starting, hoisting, undulating and turning the crane, depending on the amount of electricity stored in the electricity storage means,
(A) Motor drive with single power storage means,
(B) Motor drive by combined use of commercial power source and power storage means, or
(C) Control to a limited motor drive that limits the maximum speed with a commercial power supply alone,
and,
When building a building, drive the motor according to (b) or (c),
When the building is demolished, the motor is driven according to (a) or (c).
The control method of the control system of the electrically driven construction tower crane characterized by the above-mentioned.
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