JPH08140389A - Crane controller - Google Patents

Abstract

PURPOSE: To obtain a compact crane controller in which two motion operation can be realized using a set of inverters by driving the inverter according to a specific pulse width signal delivered from a drive signal switching circuit. CONSTITUTION: When a hoisting motor 7 is operated, switching contact 15a is closed while 15b is opened to switch the output of an inverter to the hoisting motor 7 side. Consequently, a hoist speed reference 1a is inputted to a speed control circuit 12a while a signal from a resolver 8a is converted through a resolver control circuit 13a and speed control is performed through a speed control circuit 12a. When a traverse motor 6 is operated, the switch contact 15b is closed and 15a is opened while at the same time a drive switching circuit 14 is switched to the traverse motor 14 side. Consequently, a traverse speed reference 1b is fed to a speed control circuit 12b and collated with a speed feedback signal from a resolver control circuit 13b thus performing the speed control. This constitution realizes a compact controller in which drive of two motions can be controlled using a set of inverters.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crane control device for a crane having two motions such as traverse and undulation of a container crane, which never operate simultaneously.

[0002]

2. Description of the Related Art In the prior art, due to the characteristics of the structure and operation of a container crane, undulation and traverse motions are never operated at the same time. Therefore, it is economical if the undulation and traverse inverter devices can be shared, but the motor ratings differ between undulation and traverse, and the inverter control method is 4
Unlike the V / F constant control, vector control is required to perform quadrant operation, and the latter requires a special inverter device, unlike the V / F constant control.

[0003]

Since the transverse motion and the undulating motion are never driven at the same time, it is desirable to share the inverter device if possible, but in reality, each dedicated inverter device must be provided. Therefore, there is a problem that the total price of the device is increased, a large control panel installation space is required, and the maintenance is increased and the number of spare parts is increased. An object of the present invention is to provide an inexpensive and compact crane control device that can operate in two motions with one set of inverters.

[0004]

SUMMARY OF THE INVENTION A crane controller according to the present invention comprises a plurality of switching contactors connected in parallel to an output side circuit of an inverter device and a motor for a crane respectively connected to secondary sides of the switching contactors. , A resolver that measures the armature rotation angle of the electric motor, a speed control circuit that controls the rotation speed of the electric motor by the resolver signal output from the resolver, and a vector control signal of the electric motor that is output by the speed signal output from the speed control circuit. A vector control circuit for outputting, a PWM control circuit for outputting a pulse width control signal of an inverter device by a vector control signal, and a PW
Input the pulse width control signal output from the M control circuit,
A drive signal switching circuit for switching one of them to take out one specific pulse width control signal; and a drive circuit for driving the inverter device by the specific pulse width control signal output from the drive signal switching circuit. To do. Further, the crane control device according to claim 2 includes a plurality of switching contactors that are connected in parallel to the output side circuit of the inverter device, a crane electric motor that is respectively connected to the secondary side of the switching contactor, and an electric motor. The resolver that measures the armature rotation angle, the speed control circuit that controls the rotation speed of the electric motor by one specific resolver signal obtained by switching from the resolver signals output from the resolver, and the speed control circuit. A vector control circuit for outputting a vector control signal of an electric motor according to a speed signal, a PWM control circuit for outputting a pulse width control signal for an inverter device by the vector control signal, and an inverter device by a pulse width control signal output from the PWM control circuit. And a driving circuit for driving.

[0005]

In the crane control device of the present invention, a plurality of switching contactors are connected in parallel to the output side circuit of the inverter device, the electric motor for the crane is connected to the secondary side of the switching contactor, and the armature rotation angle of the electric motor is connected. Is measured by a resolver, the rotation speed of the motor is controlled by the resolver signal output from the resolver, the vector control signal of the motor is output by the speed signal output from the speed control circuit, and the pulse width of the inverter device is output by the vector control signal. The control signal is output, the pulse width control signal output from the PWM control circuit is input, one specific pulse width control signal is extracted by switching from among them, and the specific pulse width control signal output from the drive signal switching circuit It is characterized in that the inverter device is driven by. In addition, claim 2
In the crane control device described in, a plurality of switching contactors are connected in parallel to the output side circuit of the inverter device, the motor for the crane is connected to the secondary side of the switching contactor, and the armature rotation angle of the motor is controlled by the resolver. Measure, control the rotation speed of the electric motor by one specific resolver signal obtained by switching from the resolver signal output from the resolver, and output the vector control signal of the electric motor by the speed signal output from the speed control circuit, A pulse width control signal of the inverter device is output by the vector control signal, and the inverter device is driven by the pulse width control signal output from the PWM control circuit.

[0006]

EXAMPLE An example of the crane controller of the present invention will be described below. In FIG. 1, the switching contactors 15a, 15
Reference numeral b denotes a plurality of switching devices connected in parallel to the output side circuit of the inverter device 17a. The hoisting motor 7 and the traverse motor 6 are electric motors for cranes connected to the secondary sides of the switching contactors 15a and 15b, respectively. The resolvers 8a and 8b are measuring instruments for measuring the armature rotation angle of the electric motor. The resolver control circuits 13a and 13b are speed control circuits that control the rotation speed of the electric motor according to the resolver signals output from the resolvers 8a and 8b. The vector control circuits 11a and 11b are resolver control circuits 13a and 13b.
The vector control signal of the electric motor is output according to the speed signal output from the resolver control circuits 13a and 13b. The PWM control circuits 9a and 9b are connected to the vector control circuits 11a and 11b, and
The pulse width control signal of the inverter device 17a is output according to the vector control signal output from a and 11b. The transistor drive signal switching circuit 14 is the PWM control circuit 9
It is a drive signal switching circuit which is connected to a and 9b, receives the pulse width control signals output from the PWM control circuits 9a and 9b, and switches from among them to extract one specific pulse width control signal. The transistor drive circuit 5a is a drive circuit that is connected to the transistor drive signal switching circuit 14 and drives the inverter device 17a by the specific pulse width control signal output from the transistor drive signal switching circuit 14.

That is, the traverse motor 6 and the hoisting motor 7 have different ratings. Since the traverse motor 6 is a continuous rating, it is provided with the cooling fan 18 and the cooling fan driving motor 19, but the undulation motor 7 is rated for a short time and therefore has no cooling fan.

The conventional traverse motor has a constant V / F control, but in this embodiment, since the traverse motor 6 is also vector-controlled because the hoisting motor 7 and the inverter device are shared, the resolver 8b is provided. . Now, consider the time of driving the undulation motor 7. Since the inverter device 17a composed of the rectifier 2a, the smoothing capacitor 3a and the transistor 4a is common, the switching contactor 15a is closed and the switching contactor 15b is opened at the same time when the undulation motor 7 is operated to undulate the output of the inverter. Switch to the motor 7 side. The undulation speed reference 1a is input to the speed control circuit 12a, a signal from the resolver 8a attached to the undulation motor 7 is converted by the resolver control circuit 13a to obtain a speed signal, and the speed control circuit 12a performs speed control. Be done.

The electric characteristics of the undulating motor 7 are input in advance to the vector control circuit 11a, and the resolver control circuit 1
Vector control including magnetic flux calculation is performed based on the output signal from 3a. The output signal of the vector control circuit 11a is sent to the PWM control circuit 9a via a sine wave opening generator and a current control circuit (not shown). This P
The WM control circuit 9a determines for which timing the transistor 4a should be fired in order to control the undulation motor 7 for the first time.

On the other hand, the transistor drive signal switching circuit 14
Is switched to the undulation motor 7 side, that is, the PWM control circuit 9a side for the undulation motor 7, and the output signal of the PWM control circuit 9a is input to the common transistor drive circuit 5 via the transistor drive signal switching circuit 14 and the transistor 4a is driven and the hoisting motor 7 is vector-controlled based on the speed reference 1a.

Next, the operation of the traverse motor 6 will be described. In this case, the switching contactor 15b is closed and the switching contactor 15a is opened, and at the same time, the transistor drive signal switching circuit 14 is also switched to the traverse motor 6 side, that is, the PWM control circuit 9b side. Now the operation of the traverse motor 6 is ready.

Since the traverse motor 6 has electric characteristics different from those of the hoisting motor 7, electric characteristic data specific to the traverse motor 6 is previously input to the vector control circuit 11b. The traverse speed reference 1b is input to the speed control circuit 12b and is matched with the speed feedback signal of the resolver control circuit 13b to perform speed control. The output signal of the speed control circuit 12b is output to the vector control circuit 11b, and the traverse motor 6 is vector-controlled as in the case of the hoisting motor 7.

From the above, two motors with different ratings
The operation can be performed by the set of inverter control units 20a and 20b and the set of inverter main circuit unit 17a.
Since only one set of the inverter main circuit portion 17a is required, the cost is low and the inverter board is small. In addition, the maintenance of the main circuit part of the common inverter is halved,
The number of spare parts for the main circuit section that should be held may be half that of the conventional one.

Next, in the crane control device shown in FIG. 2, the hoisting motor 7 and the traverse motor 6 are connected to a plurality of switching contactors 15a and 15b connected in parallel to the output side circuit of the inverter device 17a, respectively. Electric motor for. The resolvers 8a and 8b are measuring instruments for measuring the armature rotation angle of the electric motor. The resolver switching circuit 16 is a speed control circuit that controls the rotation speed of the electric motor by one specific resolver signal obtained by switching from the resolver signals output from the resolvers 8a and 8b.
The vector control circuit 11a is connected to the speed control circuit 12a and the resolver control circuit 13a, and is connected to the speed control circuit 12a.
A vector control signal for the electric motor is output according to the speed signal output from the resolver control circuit 13a. PWM
The control circuit 9a is connected to the vector control circuit 11a, and outputs the pulse width control signal of the inverter device 17a according to the vector control signal from the vector control circuit 11a.
The transistor drive circuit 5a is a drive circuit which is connected to the PWM control circuit 9a and drives the inverter device 17a by the pulse width control signal output from the PWM control circuit 9a.

That is, in the case of a container crane, the traverse motor 6 and the hoisting motor 7 have a capacity of about 150 kW and the number of revolutions thereof is 1750 rpm. Therefore, the traverse motor 6 and the hoisting motor 7 are electrically designed to be the same in order to operate with a common vector control inverter. For example, even if the traverse is 150 kW and the undulation is 132 kW,
It is manufactured as a motor of 150 kW for both traverse and undulation according to the large capacity. As mentioned in the description of the embodiment of claim 1, since the traverse is continuously rated, the traverse motor 5 itself has the cooling fan 18 to compensate for the reduction of the cooling effect in the low speed range. Since the hoisting motor 7 is rated for a short time (generally 30 minutes), it is not necessary to intentionally install a cooling fan. That is, the motor in which the cooling fan 18 is physically added to the undulation motor 7 is the traverse motor 6, and the other motors are designed and manufactured as motors having the same electric characteristics (the equivalent circuit of the squirrel cage induction motor is the same). .

By doing so, the vector control circuit 11a
Since the data to be input in advance in the two motors are the same, the inverter control unit 20a, as in the previous embodiment,
It is not necessary to separately hold 20b for traverse and for undulation. Since the resolvers 8a and 8b are individually shared by the respective motors and cannot be used in common, the resolver switching circuit 16 can switch the input of the resolvers 8a and 8b to the resolver control circuit 13a.

Consider the case of operating the undulation motor 7. At this time, the switching contactor 15a is closed and the switching contactor 15b is opened, and the resolver switching circuit 16 is switched to the resolver 8a side of the hoisting motor 7. After that, the hoisting motor 7 is vector-controlled in accordance with the signal of the speed reference 1a as in the case of the first embodiment.

When the traverse motor 6 is operated, the switching contactor 15b is closed and the switching contactor 15a is opened, and the resolver switching circuit 16 is switched to the resolver 8b side of the traversing motor 6.

As described above, it becomes possible to drive two motions with one set of inverter device. Since there is only one set of inverter devices, the cost is low and the device is small. Inverter device maintenance is also easier,
The number of spare parts is small. Further, since the two motors are installed in the same instrument except for the cooling fan, maintenance of the motors is facilitated, and spare parts can be commonly used.

[0020]

According to the present invention, one set of inverter devices can control a motor that drives two motions that do not operate at the same time, and the crane control device can be installed at a lower cost and with less maintenance and a smaller installation space. Will be able to provide.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a crane control device showing an embodiment of claim 1 of the present invention.

FIG. 2 is a configuration diagram of a crane control device showing an embodiment of claim 2 of the present invention.

[Explanation of symbols]

 5a, 5b Transistor drive circuit 8a, 8b Resolver 9a, 9b PWM control circuit 11a, 11b Vector control circuit 12a, 12b Speed control circuit 13a, 13b Resolver control circuit 14 Transistor drive signal switching circuit 15a, 15b Switching contactor 20a, 20b Inverter control Department

Claims (2)

[Claims] 1. A plurality of switching contactors connected in parallel to an output side circuit of an inverter device, electric motors for cranes respectively connected to secondary sides of these switching contactors, and armature rotation angles of these electric motors. Resolver for measuring, a speed control circuit for controlling the rotation speed of the electric motor by the resolver signal output from this resolver, and a vector control for outputting the vector control signal of the electric motor by the speed signal output from this speed control circuit A circuit, a PWM control circuit for outputting a pulse width control signal of the inverter device according to the vector control signal, and the pulse width control signals output from the plurality of PWM control circuits, and switching from among them From the drive signal switching circuit that extracts one specific pulse width control signal and this drive signal switching circuit A crane control device comprising: a drive circuit that drives the inverter device according to the output specific pulse width control signal. 2. A plurality of switching contactors connected in parallel to an output side circuit of an inverter device, electric motors for cranes respectively connected to secondary sides of these switching contactors, and armature rotation angles of these electric motors. And a speed control circuit for controlling the rotation speed of the electric motor by one specific resolver signal obtained by switching from the resolver signals output from the plurality of resolvers, and the speed control circuit. A vector control circuit that outputs a vector control signal of the electric motor according to a speed signal; and a PWM control circuit that outputs a pulse width control signal of the inverter device according to the vector control signal;
A drive circuit for driving the inverter device by the pulse width control signal output from the PWM control circuit;
A crane control device comprising: