Device for preventing sway of suspended load
First Claim
1. A device for preventing sway of a suspended load for a trolley carriage equipped with a hoisting motor for hoisting a rope having one end to which a bucket is attached and a driving motor, the device comprising:
- a speed pattern creation circuit (11) for creating a speed command, a speed control device (14) for outputting a torque command based on the speed command, a torque command filter (16) for outputting a torque command by a first-order lag circuit by inputting the torque command, a load torque observer (4) for estimating and outputting a load torque on the trolley carriage by inputting the torque command which is an output of the speed control device (14), the device being configured to output a value obtained by adding a load torque estimation signal which is an output of the load torque observer (4) to an output of the torque command filter (16), characterized in thatthe device is further equipped with a high-pass filter (32) for outputting a signal TRFLHPF obtained by eliminating a fixed or a low frequency component corresponding to frictional resistance from the load torque estimation signal, and a sway angle calculator (33) for outputting a sway angle estimation calculated value θ
e obtained by multiplying a sway angle calculator factor by an output signal TRFLHPF from the high-pass filter (32), wherein a value obtained by subtracting a damping compensation signal NRFDP obtained by damping-compensating the sway angle estimation calculated value θ
e from a speed command created by the speed pattern creation circuit (11) is inputted to the speed control device (14).
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Abstract
This invention provides a device for preventing sway of a suspended load, which does not require complex calculation for eliminating frictional resistance components. The device is equipped with a speed control device (14) for outputting a torque command based on a speed command, a torque command filter (16), and a load torque observer (4) for estimating the load torque, and configured to output a value obtained by adding a load torque estimation signal to an output of the torque command filter (16). The device is further equipped with a high-pass filter (32) for outputting a signal TRFLHPF in which a frictional resistance component is eliminated from the load torque estimation signal and a sway angle calculator (33) for outputting a sway angle estimation calculated value θe obtained by multiplying a sway angle calculator factor by the output signal TRFLHPF. A value obtained by subtracting a damping compensation signal NRFDP obtained by damping-compensating the sway angle estimation calculated value θe from a speed command created by a speed pattern creation circuit (11) is inputted to the speed control device (14).
32 Citations
4 Claims
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1. A device for preventing sway of a suspended load for a trolley carriage equipped with a hoisting motor for hoisting a rope having one end to which a bucket is attached and a driving motor, the device comprising:
- a speed pattern creation circuit (11) for creating a speed command, a speed control device (14) for outputting a torque command based on the speed command, a torque command filter (16) for outputting a torque command by a first-order lag circuit by inputting the torque command, a load torque observer (4) for estimating and outputting a load torque on the trolley carriage by inputting the torque command which is an output of the speed control device (14), the device being configured to output a value obtained by adding a load torque estimation signal which is an output of the load torque observer (4) to an output of the torque command filter (16), characterized in that
the device is further equipped with a high-pass filter (32) for outputting a signal TRFLHPF obtained by eliminating a fixed or a low frequency component corresponding to frictional resistance from the load torque estimation signal, and a sway angle calculator (33) for outputting a sway angle estimation calculated value θ
e obtained by multiplying a sway angle calculator factor by an output signal TRFLHPF from the high-pass filter (32), wherein a value obtained by subtracting a damping compensation signal NRFDP obtained by damping-compensating the sway angle estimation calculated value θ
e from a speed command created by the speed pattern creation circuit (11) is inputted to the speed control device (14). - View Dependent Claims (2, 3)
- a speed pattern creation circuit (11) for creating a speed command, a speed control device (14) for outputting a torque command based on the speed command, a torque command filter (16) for outputting a torque command by a first-order lag circuit by inputting the torque command, a load torque observer (4) for estimating and outputting a load torque on the trolley carriage by inputting the torque command which is an output of the speed control device (14), the device being configured to output a value obtained by adding a load torque estimation signal which is an output of the load torque observer (4) to an output of the torque command filter (16), characterized in that
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4. A device for preventing sway of a suspended load for a trolley carriage equipped with a hoisting motor for hoisting a rope having one end to which a bucket is attached and a driving motor, the device comprising:
- a speed pattern creation circuit (11) for creating a speed command, a speed control device (14) for outputting a torque command based on the speed command, a torque command filter (16) for outputting a torque command by a first-order lag circuit by inputting the torque command, a load torque observer (4) for estimating and outputting a load torque on the trolley carriage by inputting the torque command which is an output of the speed control device (14), the device being configured to output a value obtained by adding a load torque estimation signal which is an output of the load torque observer (4) to an output of the torque command filter (16), characterized in that
the device is equipped with a high-pass filter (32) for outputting a signal TRFLHPF obtained by eliminating a fixed or low frequency component corresponding to frictional resistance from the load torque estimation signal, and configured to input a value obtained by subtracting a damping compensation signal created by multiplying a damping compensation gain GDP determined by each region of a speed pattern of the speed command created by the speed pattern creation circuit (11) by an output signal TRFLHPF from the high-pass filter (32) from a speed command NRF0 created by the speed pattern creation circuit (11).
- a speed pattern creation circuit (11) for creating a speed command, a speed control device (14) for outputting a torque command based on the speed command, a torque command filter (16) for outputting a torque command by a first-order lag circuit by inputting the torque command, a load torque observer (4) for estimating and outputting a load torque on the trolley carriage by inputting the torque command which is an output of the speed control device (14), the device being configured to output a value obtained by adding a load torque estimation signal which is an output of the load torque observer (4) to an output of the torque command filter (16), characterized in that
Specification
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- Resources
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Current AssigneeKabushiki Kaisha Yaskawa Denki
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Original AssigneeKabushiki Kaisha Yaskawa Denki
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InventorsHasegawa, Hajime, Shibata, Naotake, Ikeguchi, Masao
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Primary Examiner(s)IP, SHIK LUEN PAUL
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Application NumberUS12/279,454Publication NumberTime in Patent Office1,548 DaysField of Search318/566, 318/611, 318/440, 318/443, 373/96, 374/01, 212/272, 212/275US Class Current318/611CPC Class CodesB66C 13/063 electrical
