Crane, and crane control method
View Patent ↗Provided is a crane which can suppress deformation and vibration of a crane structure in travel and stop of the crane. Inverters are installed respectively in travel devices which are arranged on the opposite sides with a gap in a transverse direction. Each of the inverters independently measures a torque generated in a motors to which the inverter is connected and reduces the rotation speed in the command from a controller to the motor such that the greater the measured torque is, the greater a ratio of reduction is.
1. A crane including travel devices which are arranged on opposite sides with a gap in a transverse direction crossing a travel direction and a crane structure which is supported by the travel devices, the travel devices each including a travel wheel, a motor which transmits power to the travel wheel, an inverter which is connected to the motor and which controls a rotation speed of the motor, and a controller which gives a command of the rotation speed to the motor via the inverter, wherein
each of the inverters includes a torque measurement unit which measures a torque generated in the motor to which the inverter is connected and a control unit which reduces the rotation speed in the command from the controller to the motor such that the greater a value of the torque obtained by the torque measurement unit is, the greater a ratio of reduction with respect to the rotation speed in the command is,
a control of each of the control units is performed within a range in which a ratio of the torque measured by the torque measurement unit is greater than 0% and less than 150% with respect to a rated torque of the motor to which the inverter is connected, and
the inverters independently perform measurement with the torque measurement units and the control with the control units.
2. The crane according to claim 1 , comprising a brake device configured to apply a brake to the travel devices after a predetermined waiting time elapses from a point where a speed command of maintaining the rotation speed to zero is given from the controller to the motors.
3. The crane according to claim 1 , wherein the crane is a quay crane and the crane structure includes a boom extending in the transverse direction.
4. A method of controlling a crane including travel devices which are arranged on opposite sides with a gap in a transverse direction crossing a travel direction and a crane structure which is supported by the travel devices, the travel devices each including a travel wheel, a motor which transmits power to the travel wheel, an inverter which is connected to the motor and which controls a rotation speed of the motor, and a controller which gives a command of the rotation speed to the motor via the inverter, comprising:
causing each of the inverters to independently measure a torque generated in the motor to which the inverter is connected and reduce the rotation speed in the command from the controller to the motor such that the greater the measured torque is, the greater a ratio of reduction with respect to the rotation speed in the command is, so as to reduce misalignment in the travel direction between the travel devices arranged on the opposite sides,
wherein the reduction of the rotation speed in the command is effected by the inverters within a range in which a ratio of the torque measured by the torque measurement unit is greater than 0% and less than 150% with respect to a rated torque of the motor to which the inverter is connected.
5. The method of controlling the crane according to claim 4 , comprising:
applying a brake to the travel devices after a predetermined waiting time elapses from a point where a speed command of maintaining the rotation speed to zero is given from the controller to the motors.
6. The method of controlling the crane according to claim 4 , wherein the crane is a quay crane and the crane structure includes a boom extending in the transverse direction.
7. The crane according to claim 2 , wherein the crane is a quay crane and the crane structure includes a boom extending in the transverse direction.
8. The method of controlling the crane according to claim 5 , wherein the crane is a quay crane and the crane structure includes a boom extending in the transverse direction.
9. The crane according to claim 1 , wherein a center of gravity of the crane is offset to be closer to one of the travel devices than the other.
10. The crane according to claim 1 , wherein the reduction of the rotation speed in the command as effected by the control units controls the torques generated in the motors of the respective travel devices to be substantially even.
11. The crane according to claim 1 , wherein the control units effect the reduction of the rotation speed in the command only when the ratio of the torque measured by the torque measurement unit is greater than 100% with respect to the rated torque of the motor to which the inverter is connected.
12. The method of controlling the crane according to claim 4 , wherein a center of gravity of the crane is offset to be closer to one of the travel devices than the other.
13. The method of controlling the crane according to claim 4 , wherein the reduction of the rotation speed in the command as effected by the inverters controls the torques generated in the motors of the respective travel devices to be substantially even.
14. The method of controlling the crane according to claim 4 , wherein the inverters effect the reduction of the rotation speed in the command only when the ratio of the torque measured by the torque measurement unit is greater than 100% with respect to the rated torque of the motor to which the inverter is connected.