JP2010083639A - Crane device and crane control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To effectively reduce the fuel consumption of an engine power generation device. <P>SOLUTION: A controller 7 calculates hoisting electric power required for hoisting a cargo from a height difference and the weight of the cargo when hoisting the cargo, and controls an engine speed based on a comparing result of the hoisting electric power and a residual quantity of storage electric power. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention relates to an engine power generation control technique, and more particularly to a fuel saving technique of an engine power generation apparatus that supplies generated power to an electric motor used in a crane apparatus or the like.

  In a yard such as a harbor, a crane apparatus that loads and unloads a cargo such as a container with respect to a ship or a trailer uses a plurality of electric motors to perform operations such as raising and lowering the cargo, and further running and traversing a gantry. In order to supply operating electric power to these electric motors, the engine-driven power generation system is configured to supply necessary electric power to each electric motor using an engine power generator that drives the electric generator using a diesel engine.

  In such a crane apparatus, the maximum load is applied when the load is wound up, but the load fluctuation is large in some cases because little electric power is required when the load is lowered. Therefore, a large-scale diesel engine or generator is required to supply the appropriate power from the generator at the maximum load, but the equipment scale exceeds the average load, so in terms of equipment costs and operating costs. It was inefficient.

  Conventionally, such a crane device is provided with a power storage device, and the engine power generator always generates power, and power is supplied in parallel from the power storage device at the time of maximum load, and surplus power generated during regeneration is supplied to the power storage device. An electric storage device has been proposed (see, for example, Patent Document 1). Thereby, since electric power is temporarily supplied from the power storage device to the electric motor, the scale of the diesel engine and the generator can be reduced, and the efficiency can be improved in terms of equipment cost and operation cost.

JP 2001-163574 A

In such a crane device, when the load is wound up by the electric motor, the stored power can be temporarily supplemented from the power storage device, but it is necessary to store sufficient stored power in the power storage device in advance. For this reason, a large-capacity power storage device is required, or even if regenerative power is generated, the amount of power storage is full and power cannot be stored any more.
In the conventional crane apparatus described above, the engine power generator is always operated at a constant rated rotation speed (for example, 1800 rpm), and therefore, the electric power generated by the engine power generator can always be used for power storage of the power storage device. However, when the engine power generator is operated at a constant rated speed at all times, the generated power becomes excessive at low loads such as when the load is hoisting or when the crane is not moving, such as running the frame or traversing. There is a problem that the fuel efficiency of the engine power generation device is deteriorated.

  On the other hand, as a method of improving the fuel efficiency of such an engine power generation device, a method of reducing the rotation speed of the engine power generation device at a low load such as standby can be considered, and the lower the rotation speed, It becomes possible to reduce fuel consumption. However, in such a method, when the rotation speed is kept low, the generated power for power storage in the power storage device is low, so that a necessary power storage amount cannot be secured. Therefore, in order to realize effective fuel saving, it is necessary to calculate the necessary amount of power storage and supply the generated power from the engine power generation device of the engine power generation device to the power storage device only during the period required for power storage of the power storage device. .

  The present invention is to solve such problems, and can accurately control the amount of power generated by an engine power generator according to the necessity of power storage in the power storage device, and can realize effective fuel saving. And to provide a crane control method.

  In order to achieve such an object, a crane apparatus according to the present invention includes an engine power generator that supplies generated electric power obtained by driving a generator by an engine to an electric motor that loads and unloads luggage, and the generated power. A power storage device that stores power and supplies the stored power to the motor in an auxiliary manner during operation of the motor, and a controller that controls the engine rotation speed of the engine power generator according to the operation status of the crane device. The hoisting power required for hoisting to the upper limit position of the load is calculated from the hoisting height and the weight of the load, and based on the comparison result between the hoisting power and the remaining amount of stored power, The amount of generated power is controlled.

  At this time, if the hoisting power is larger than the remaining amount of stored power, the controller increases the amount of generated power by increasing the rotational speed of the engine power generator to increase the stored power. In the case of less than the remaining amount of stored power, the amount of generated power may be suppressed by reducing the engine rotation speed of the engine power generator according to the operation status of the crane device.

  In addition, the crane control method according to the present invention includes an engine power generation device that supplies generated electric power obtained by driving a generator with an engine to an electric motor, temporarily stores the generated electric power, and assists the stored electric power during operation of the electric motor. A crane control method used in a crane apparatus comprising a power storage device that is supplied to an electric motor and a controller that controls the amount of electric power generated by an engine power generator according to the operation status of the crane apparatus. Based on the comparison result between the hoisting power and the remaining amount of stored power by the controller, calculating the hoisting power necessary for hoisting from the height and the weight of the load to the upper limit position of the load. And a step of controlling the amount of power generated by the power generation device.

  At this time, if the hoisting power is larger than the remaining amount of stored power by the controller, increasing the amount of generated power by increasing the rotational speed of the engine power generation device to increase the stored power, If the hoisting power is less than or equal to the remaining amount of stored power, the method may further include a step of suppressing the amount of generated power by reducing the engine rotation speed of the engine power generation device according to the driving state of the electric motor.

According to the present invention, the controller calculates the hoisting power necessary for hoisting the baggage from the load hoisting height and the weight of the load to the upper limit position of the load, Since the amount of power generated by the engine power generation device is controlled based on the comparison result, it is possible to increase the amount of power generated by the engine power generation device by an amount corresponding to the stored power necessary for winding the luggage.
As a result, the amount of power generated by the engine power generator can be accurately controlled in accordance with the necessity of power storage in the power storage device. Therefore, compared with the case where the engine power generator is always operated at a constant rated rotation speed to supply the power that can be stored, the fuel efficiency of the engine power generator can be effectively reduced and the environmental impact can be reduced. Can also be reduced.

Next, embodiments of the present invention will be described with reference to the drawings.
[Configuration of crane device]
First, a crane apparatus according to an embodiment of the present invention will be described with reference to FIG. FIG. 1 is a functional block diagram showing a configuration of a crane apparatus according to an embodiment of the present invention.
This crane apparatus is an apparatus that drives electric motors connected to a common bus by supplying electric power generated by driving an engine to the common bus, and loads and unloads luggage. , Main winding motor 30, traveling motors 31, 32, traverse motor 33, inverters (INV) 41-44, power storage device 6, controller 7, and common bus 9 are provided.

  In the present embodiment, the engine power generation device 1 supplies the generated power obtained by driving the generator by the engine to an electric motor that loads and unloads luggage, and the power storage device 6 stores the generated power as stored power. The stored electric power is supplementarily supplied to the electric motor during operation of the electric motor, and the controller 7 controls the engine rotation speed of the engine power generator according to the operation status of the crane apparatus. The hoisting power necessary for hoisting the baggage to the upper limit position of the load is calculated, and the amount of electric power generated by the engine power generator is controlled based on the comparison result between the hoisting power and the remaining amount of stored power. It is a thing.

Hereinafter, the structure of the crane apparatus concerning this Embodiment is demonstrated in detail.
The engine power generator 1 has a diesel engine (DE) 11 and a generator (G) 12, and is a device that generates and outputs AC power by driving the generator 12 with the diesel engine 11. The engine 7 has a function of controlling the engine speed of the diesel engine 11 on the basis of an operation instruction 10A from the controller 7.

The main winding motor 30 is an AC motor for raising and lowering a load. The traveling motors 31 and 42 are AC motors for traveling the gantry. The traverse motor 33 is an AC motor for traversing the gantry.
The inverter 41 is an AC / DC / AC converter that converts the generated power on the common bus 9 into AC power and supplies the AC power to the main winding motor 30 and the traveling motor 31.
The inverter 42 is an AC / DC / AC converter that converts the generated power on the common bus 9 into AC power and supplies the AC power to the main winding motor 30 and the traveling motor 32.

The inverter 43 is an AC / DC / AC converter that converts the generated power on the common bus 9 into AC power and supplies the AC power to the traverse motor 33.
The inverter 44 is an AC / DC / AC converter that converts the generated power on the common bus 9 into AC power and supplies it as a power source for various auxiliary equipment including a control device such as a lighting device, an air conditioner, or a controller 7. is there.

  The power storage device 6 is a circuit device that incorporates a storage battery such as a battery or a capacitor. The power storage device 6 stores the power output in the DC circuit section of the inverter 41 in the storage battery, and the stored power stored in the storage battery from the inverter 41. And a function of supplying to the electric motor 30. As electric power output to the DC circuit section of the inverter 41, in addition to the electric power generated from the engine power generator 1, there is regenerative electric power generated at the time of unloading the luggage from the main winding motor 30, and one or both of them are stored. The electricity is stored in the device 6.

  The controller 7 has a microprocessor such as a CPU and its peripheral circuits, and reads and executes the program from a memory provided in the microprocessor or the peripheral circuit, thereby causing the program and the hardware to cooperate with each other. It has various functions for controlling the entire apparatus.

  The main function of the controller 7 is to control the inverters 41 to 44 by exchanging various commands 4A on the basis of an operator command input 71 detected via an operation lever or an operation switch, Obtained from the crane operation function for controlling the operation of the gantry and the traversing, the power supply status confirmation function for confirming the power supply status from the engine power generator 1 to the common bus 9, and the input various commands and power supply status There is a rotation speed control function that calculates a new engine rotation speed based on the operation status of the crane apparatus and instructs the engine power generation apparatus 1 by the operation instruction 10A.

The power supply status from the engine power generator 1 to the common bus 9 can be grasped by monitoring the supply voltage of the common bus 9, for example. In the case of winding a baggage, traveling a frame, or traversing based on a command input, the supply voltage decreases because the generated power on the common bus 9 is used when the corresponding electric motors 30 to 33 are driven.
Therefore, the supply voltage of the common bus 9 is detected based on the detection value 15A from the detector provided on the wiring from the engine power generator 1 to the common bus 9, for example, and stored in the memory in advance by the power supply status confirmation function. By reading and comparing the lower and upper threshold values, it is possible to confirm whether the power supply status is excessive or insufficient.

Further, the controller 7 has a hoisting power calculation function and a power storage engine rotational speed control function as the rotational speed control function.
The hoisting power calculation function is a function for calculating hoisting power necessary for accelerating the engine power generator 1 to a desired rotational speed. The power storage engine rotation speed control function is a function of controlling the engine rotation speed based on a comparison result between the hoisting power and the remaining power storage amount of the power storage device 6 to thereby generate power generated by the engine power generation device 1. With these functions, it is possible to operate the engine power generator 1 at a predetermined power storage rotational speed by an amount corresponding to the stored power required for the next load hoisting operation.

[Operation of this embodiment]
Next, with reference to FIGS. 2-5, operation | movement of the crane apparatus concerning one embodiment of this invention is demonstrated. FIG. 2 is an explanatory diagram showing the power for hoisting the luggage. FIG. 3 is a flowchart of the hoisting power calculation process of the crane device according to the embodiment of the present invention. FIG. 4 is a flowchart showing an engine rotation speed control process of the crane device according to the embodiment of the present invention. FIG. 5 is an operational characteristic showing the relationship between the power generated by the engine power generator and the engine speed.

[Winding power calculation operation]
First, with reference to FIG. 2 and FIG. 3, the hoisting power calculation process in the crane apparatus concerning one embodiment of this invention is demonstrated.
In the crane apparatus that auxiliaryly supplies the stored power from the power storage device 6 to the load hoisting motor, the amount of winding work required to wind the load to a desired height is set as the power storage amount of the power storage device 6. In this case, the height position of the luggage and the amount of power stored in the power storage device 6 can be represented by the relationship shown in FIG.

  In FIG. 2, a characteristic 21 indicates a relationship between the load height position H and the charged amount when a load having a rated weight is rolled up from a predetermined load height position H to a maximum height position Hmax (upper limit position). 22 shows the relationship between the load height position H and the amount of stored electricity in the case of an empty load (only the hanging tool). For example, according to the characteristic 21, when a load having a rated weight is rolled up from a predetermined load height position H to a maximum height position Hmax, the amount of electricity stored may be Ph. This is based on the difference in the position energy of the load at the load height position H and the maximum height position Hmax. The closer the H is to Hmax, the smaller the difference in position energy is, and the less the amount of power is stored.

  On the other hand, in the conventional crane device, the power storage is stopped only when the power storage device has been stored up to the maximum power storage capacity, so regardless of the relationship between the luggage height position H and the maximum height position Hmax. , Always stored up to the maximum storage capacity. For this reason, according to the characteristic 21, when the baggage height position is H, the power storage amount Ph is sufficient, but the maximum power storage amount Pmax has been stored, and Pmax−Ph is an excessive power storage amount. Therefore, if the operation of the engine power generation device 1 corresponding to the storage of the surplus storage amount Pmax−Ph is stopped, fuel saving can be realized.

In general, as shown in FIG. 3, the energy required for hoisting a baggage at an arbitrary height position to a desired height position, that is, the hoisting power, is as shown in FIG. This can be obtained from the difference in positional energy related to the package at the package height position 7B.
The hoisting power calculation function calculates the difference between the current baggage height position 7A and the baggage height position 7B at the end of hoisting by the adder 200, and the sum of the baggage weight 7C and the lifting tool weight 7D by the adder 201. Ask. Next, by multiplying the difference in height position, the sum of weight, and the gravitational acceleration 7E by the multipliers 202 and 203, energy required for winding, that is, hoisting power is obtained.

  At this time, the baggage height position 7B and the baggage weight 7C at the end of the winding can be obtained from a command input from the operator, and the hanging tool weight 7D and the gravitational acceleration 7E are preset in the memory of the controller 7 as eigenvalues. Just keep it. Further, the current load height position 7A can be obtained, for example, from the hoisting speed and the hoisting time of the load in the main winding motor 30.

[Engine speed control operation]
Next, with reference to FIG. 4 and FIG. 5, the engine rotation control operation of the crane apparatus according to the embodiment of the present invention will be described.
The controller 7 starts the engine rotation speed control process of FIG. 4 in response to the startup operation of the entire crane apparatus by the operator.

  First, the controller 7 checks the presence / absence of a command input 71 indicating the start / end of crane operation from the operator using the engine speed control function (step 100), and if there is a command input 71 (step 100: YES). Then, an operation instruction 10A indicating the engine rotation speed N corresponding to the load and command speed input by the command input 71 is output to the engine power generator 1 (step 101), and the process returns to step 100.

  The engine power generator 1 has operational characteristics as shown in FIG. 5 for the generated power P and the engine rotation speed N. In general, this type of operating characteristic tends to attenuate after the generated power P monotonously increases as the engine speed N increases and reaches a predetermined maximum power value. Therefore, if such operation characteristics are stored in advance in the memory of the controller 7 in the form of a function or a table, the engine speed N required to supply the desired generated power P, that is, the command supply power, can be calculated.

Accordingly, since the command supply power (= load × command speed) can be calculated from the load and the command speed, the engine rotation speed corresponding to the command supply power is calculated with reference to the operation characteristics, and the engine power generation device is determined by the operation instruction 10A. You only need to indicate to 1.
As a result, the diesel engine 11 of the engine power generator 1 is operated at the engine speed N, and the command supply power corresponding to the load and command speed input by the operator is generated by the generator 12.

  On the other hand, when there is no command input 71 from the operator in step 100 (step 100: NO), the controller 7 executes the above-described hoisting power calculation process of FIG. 3 by the storage engine rotational speed control function. Then, the hoisting power of the engine power generator 1 is calculated (step 102). At this time, assuming the next cargo hoisting operation, the baggage height position 7B and the cargo weight 7C at the end of the hoisting are determined.

  For example, if there is a possibility of hoisting the luggage to the maximum height position as a schedule for the next luggage hoisting operation, the highest height position may be used as the luggage height position 7B at the end of the hoisting. In particular, in a yard such as a harbor, a crane apparatus that loads and unloads a container with respect to a trailer performs loading and unloading of the container with respect to the trailer over a stacked container. At this time, the number of containers that can be stacked is limited according to the strength of the container. Therefore, in such a case, the maximum height position corresponding to the number of stackable values input by the command input 71 from the operator may be used.

  The controller 7 compares the hoisting power of the engine power generation device 1 calculated in this way with the remaining power storage amount of the power storage device 6 (step 103). At this time, for the remaining power amount, for example, a known technique such as accumulating the current of power supplied from the power storage device 6 and subtracting it from the storage capacity may be used.

Here, when the hoisting power is larger than the remaining amount of power storage (step 103: YES), since the power storage is necessary, the engine rotation speed is maintained at a predetermined power storage rotation speed Ns or more (step 104). Return to 100.
The power storage rotation speed Ns is an engine rotation speed for generating electric power necessary for storing power in the power storage device 6 by the engine power generation device 1 and may be set in the memory of the controller 7 in advance.

In step 104, the engine rotation speed N corresponding to the previous command input stored in the memory is compared with the storage rotation speed Ns, and only when the engine rotation speed N is lower than the storage rotation speed Ns, the storage rotation speed. An operation instruction 10A indicating Ns is output to the engine power generator 1, and the engine rotation speed N is maintained when the engine rotation speed N is equal to or higher than the storage rotation speed Ns.
Normally, the power for power storage is smaller than the power generated by the electric motor. Therefore, when the engine rotational speed N of the engine power generator 1 is maintained at the power storage rotational speed Ns or higher, the power is stored at the engine rotational speed N. It is possible to obtain the necessary power. For this reason, by performing the above-described determination process, it is possible to accurately execute an engine rotational speed command to the engine power generator 1.

  On the other hand, when the hoisting power is less than or equal to the remaining amount of power storage (step 103: NO), since power storage is not necessary, the engine power generation device 1 gives a driving instruction 10A indicating the engine speed N according to the immediately preceding command input. (Step 105) and return to Step 100.

  In step 105, the engine rotational speed N corresponding to the previous command input stored in the memory is compared with the current engine rotational speed Nn, and only when the engine rotational speed N is lower than the current engine rotational speed Nn. An operation instruction 10A indicating the engine rotation speed Nn is output to the engine power generator 1, and when the engine rotation speed N is equal to or higher than the current engine rotation speed Nn, the current engine rotation speed Nn is maintained.

  Thereby, at the end of power storage, the engine speed of the engine power generator 1 can be reduced from the current engine speed Nn, that is, the power storage speed Ns, to a lower engine speed N commanded at the end of crane operation. Therefore, fuel efficiency can be greatly improved as compared with the case where the engine power generator 1 is maintained at a constant rotational speed. At this time, the engine waits for a predetermined waiting period after the end of power storage, and only when no new command input is input during this waiting period, the minimum engine speed in the idling state in which no crane operation is performed by the crane device. The driving instruction 10A indicating the change to the speed may be output to the engine power generation device 1, and further fuel saving can be realized.

[Operation example of this embodiment]
Next, with reference to FIG. 6, the operation example of the crane apparatus concerning one embodiment of this invention is demonstrated. FIG. 6 is a timing chart showing an operation example of the crane apparatus according to the embodiment of the present invention. Here, a case will be described as an example where a baggage is rolled up from a height position 0 (zero = ground) to a height position Hb and then lowered to a height position 0.

  Before time T0, the crane operation is not performed, the load is at the height position 0 (zero = ground), and the diesel engine of the engine power generator 1 is operated at the engine rotation speed Na. At this time, the specified power generation PMa is output from the engine power generation device 1. Further, it is assumed that the stored power 61 of the power storage device 6 is stored up to PBa equal to the storage capacity. At this time, since the stored electric power 61 is PBa, the hoisting electric power of the engine power generation apparatus 1 necessary for hoisting from the height position 0 to Hb is equal to or less than the remaining electric charge, and therefore no electric storage is performed.

  Next, when a command input 71 indicating a package hoisting command is performed at time T0, the controller 7 outputs a driving instruction 10A indicating the engine rotation speed Nb corresponding to the operation command to the engine power generator 1. As a result, the engine rotation speed of the engine power generator 1 gradually increases from Na to Nb, the generated power 15 from the engine power generator 1 increases, and the generated power 15 and the stored power 61 from the power storage device 6 are converted into inverters 41, It is supplied to the main winding motor 30 via 42.

  Thereafter, at time T1, the engine rotation speed N reaches Nb and becomes constant, and the maximum generated power PMb is output as the generated power 15. At this time, in the period of time T0 to T1, the stored power is gradually discharged from the power storage device 6, but the hoisting power necessary for winding up to the height position Hb at each time point is stored at the individual time point. Since it is less than the remaining amount, power storage is not performed. On the other hand, during the period from time T1 to time T2, the next crane operation is expected to lower the load, and no further winding is necessary, so the difference in height position is zero, and the hoisting power is less than the stored power. Therefore, power storage is not performed.

  When a command input 71 indicating a package lowering command is performed at time T2, the controller 7 outputs a driving instruction 10A indicating the engine rotation speed Na corresponding to the operation command to the engine power generator 1. As a result, the engine rotation speed of the engine power generator 1 gradually decreases from Nb to Na, and the generated power 15 from the engine power generator 1 decreases. At this time, after time T2, the hoisting of the load, that is, the hoisting to the height position Hb is expected as the next crane operation, so that the hoisting power becomes larger than the stored electric power. Therefore, the generated power 15 from the engine power generator 1 is supplied to the power storage device 6 via the inverter 41 to perform power storage.

  Thereafter, at time T3, the load reaches the height position 0 and the lowering is stopped, the engine speed N reaches the power storage speed Ns and becomes constant, and the specified generated power PMs is output as the generated power 15. . At this time, after time T3, the hoisting power becomes larger than the stored power as in the time T2 and thereafter, so that the power is stored. In addition, during the period from time T2 to time T3, regenerative power is generated in the main winding motor 30 in response to the lowering of the load, and is stored in the power storage device 6 from the inverter 41. After the regenerative power disappears at time T3, the engine power generation device 1 is operated at the power storage rotation speed Ns, so that the power storage device 6 is stored with the generated power 15 generated.

  On the other hand, when the storage proceeds at time T4 and the stored power 61 reaches PBa and becomes equal to the hoisting power, and the storage of the power storage device 6 is completed, the controller 7 responds to the load lowering command at time T2. The operation instruction 10A indicating the engine rotation speed Na is output to the engine power generator 1. Thereby, in the engine power generation device 1, the rotational speed of the diesel engine 11 is reduced to the engine rotational speed Na, and the generated power 15 is also PMa.

[Effects of the present embodiment]
As described above, according to the present embodiment, the engine power generation device 1 supplies the generated power obtained by driving the generator with the engine to the motor that loads and unloads the load, and the power storage device 6 stores the generated power. The electric power is stored as electric power, and the stored electric power is supplementarily supplied to the electric motor during operation of the electric motor. The controller 7 controls the engine rotation speed of the engine power generator according to the operation status of the crane apparatus, The hoisting power required for hoisting from the weight of the load to the upper limit position of the load is calculated, and the amount of power generated by the engine generator is calculated based on the comparison result between the hoisting power and the remaining amount of stored power. I have control.

  Specifically, when the hoisting power is larger than the remaining amount of stored power, the controller 7 increases the amount of generated power by increasing the rotational speed of the engine power generator to increase the stored power. When the power used is less than or equal to the remaining amount of stored power, the amount of generated power is suppressed by reducing the engine rotation speed of the engine power generator in accordance with the operation status of the crane device.

  As a result, the amount of power generated by the engine power generation device 1 can be increased by an amount corresponding to the amount of stored power necessary for winding up the load only when the load is wound up. Accordingly, the amount of power generated by the engine power generator can be accurately controlled. Therefore, the fuel efficiency of the engine power generator 1 can be effectively reduced compared with the case where the engine power generator 1 is always operated at a constant rated rotational speed in order to supply the power that can be stored. It is also possible to reduce the influence of.

[Extended embodiment]
In the above embodiment, the case where the engine power generator 1 generates AC power and supplies it to the common bus 9 has been described as an example. However, the present invention is not limited to this. May be supplied to the common bus 9. In this case, since DC power is supplied to the common bus 9, DC / AC converters are used as the inverters 41 to 44.

  Further, when supplying DC power to the common bus 9, the power storage device 6 is connected to the common bus 9 to store the generated power 15 from the engine power generator 1 and the regenerative power from the main winding motor 30 via the inverter 41. You may make it do. Thereby, the stored electric power can be used not only for the main winding motor 30 but also as a power source for auxiliary equipment, for example.

  Further, in the above-described embodiment, the case where all the hoisting power is supplemented by the power storage device 6 has been described as an example. However, the present invention is not limited to this. You may make it supplement, or you may make it supplement the electric power part larger than the electric power for winding up with the electrical storage apparatus 6. FIG. In this case, the difference power is added to or subtracted from the hoisting power obtained in the hoisting power calculation process (see FIG. 3) in step 102 of FIG. Alternatively, the hoisting power may be adjusted by multiplying the burden ratio, and the adjusted hoisting power may be compared with the remaining power storage in the subsequent step 103. Thus, even when the power storage device 6 supplements the electric power obtained from the hoisting electric power with a predetermined difference or ratio, the above-described embodiment can be applied, and the same effect can be obtained.

It is a functional block diagram which shows the structure of the crane apparatus concerning one embodiment of this invention. It is an electric power calculation process flowchart for an engine generator. It is the electric power calculation process flow for hoisting of the crane apparatus concerning one embodiment of this invention. It is a flowchart which shows the engine speed control process of the crane apparatus concerning one embodiment of this invention. It is an operating characteristic which shows the relationship between the electric power generated by the engine power generator and the engine speed. It is a timing chart which shows the operation example of the crane apparatus concerning one embodiment of this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Engine power generator, 10A ... Driving instruction, 11 ... Diesel engine, 12 ... Generator, 15 ... Generated power, 30 ... Main winding motor, 31, 32 ... Traveling motor, 33 ... Traverse motor, 41-44 ... Inverter, 6 ... Power storage device, 7 ... Controller, 71 ... Command input, 9 ... Common bus.

Claims (4)

An engine generator for supplying generated electric power obtained by driving the generator with an engine to an electric motor for loading and unloading luggage;
A power storage device that stores the generated power, and supplementarily supplies the stored power to the motor during operation of the motor;
A controller for controlling the engine rotation speed of the engine power generator according to the operation status of the crane device,
The controller calculates the hoisting power necessary for hoisting from the load hoisting height and the weight of the load to the upper limit position of the load and comparing the hoisting power with the remaining amount of the stored power. The crane apparatus characterized by controlling the electric power generation amount of the said engine electric power generator based on. The crane apparatus according to claim 1,
When the hoisting power is larger than the remaining amount of the stored power, the controller increases the stored power by increasing the amount of generated power by increasing the rotational speed of the engine power generator, and the hoisting power Is less than the remaining amount of stored power, the crane apparatus is characterized in that the amount of generated electric power is suppressed by reducing the engine rotation speed of the engine power generator in accordance with the operation status of the crane apparatus. An engine power generation device that supplies generated electric power obtained by driving a generator with an engine to an electric motor, and a power storage device that temporarily stores the generated electric power and supplementally supplies the stored electric power to the electric motor during operation of the electric motor And a crane control method used in a crane apparatus comprising a controller for controlling the amount of power generated by the engine power generator according to the operation status of the crane apparatus,
Calculating the hoisting power necessary for hoisting from the load hoisting height and the weight of the load to the upper limit position of the load by the controller;
A crane control method comprising: controlling, by the controller, a power generation amount of the engine power generator based on a comparison result between the hoisting power and the remaining amount of the stored power. In the crane control method according to claim 3,
If the controller uses the hoisting power to be greater than the remaining amount of the stored power, increasing the stored power by increasing the amount of generated power by increasing the rotational speed of the engine power generator; and
A step of suppressing the amount of generated power by reducing the engine rotation speed of the engine power generation device according to the drive status of the electric motor when the hoisting power is less than or equal to the remaining amount of the stored power by the controller; A crane control method further comprising:

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