JP2011111278A - Crane control device and crane device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a crane control device and a crane device, which allow lengthening of idling time in an engine generator for improvement of fuel economy in the crane device. <P>SOLUTION: An operation mode is switched to an operation mode A for supplying power to loads 30 and 40 from a storage battery 52, an operation mode B for charging the storage battery 52 by regenerative power regenerated from the load 30, an operation mode C for supplying power to the loads 30 and 40 from the generator 21 and the storage battery 52, and an operation mode D for charging the storage battery 52 from the generator 21. In the operation mode C, electric discharge current of a prescribed current value from the storage battery 52 and the generated current of the generator 21 are supplied to the loads 30 and 40. When a load current of a prescribed current value or more is required for the loads 30 and 40 in the operation mode C, the electric discharge current from an electric storage device and the generated current of the generator 21 are supplied to the loads 30 and 40. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a crane control device and a crane device of a crane device that is used during loading and unloading of cargo such as containers and carrying such as loading.

  In harbors and the like, transport operations such as loading of containers onto a ship or trailer and loading and unloading of containers from a ship or trailer are performed by a crane device. As this kind of crane apparatus, the lane which self-propels on the road surface with a wheel is known. This crane is provided with wheels at both lower ends of a gantry that has a lifting device on the upper part, and can be driven by these wheels. A traveling motor and a container for driving the wheels are provided. A winding motor for lifting and a traverse motor for moving the lifted container in the horizontal direction are provided. An engine generator is mounted on the crane, and the electric power generated by the engine generator is supplied to each motor.

  By the way, when each motor is driven by the electric power generated by the engine generator, the engine must be continuously operated even when the crane is in a cargo handling standby state where the suspension work is not actually performed. . In other words, even when waiting for cargo handling, power for driving auxiliary equipment such as lighting devices and air conditioning equipment, and driving hydraulic pumps of auxiliary equipment such as hoisting clutches, hoisting brakes, etc. It is necessary to continue operation of the engine generator to be supplied, and the engine generator must continue to generate electricity with the engine in a so-called idling state.

  In the case of waiting for cargo handling, the engine is operated in a low load region where efficiency (fuel consumption rate) is poor, and not only energy loss is large and fuel consumption is bad, but also exhaust gas, noise, etc. are generated. . Therefore, development of a crane equipped with a storage battery device is being promoted in order to save energy and take measures for environmental conservation.

  In addition, there exists a related crane apparatus and a crane control method (refer patent document 1). The crane device of Patent Document 1 is intended to use the power stored in a power storage device in auxiliary equipment.

JP 2008-247591 A

  Moreover, the crane apparatus of patent document 1 stores the surplus power output from the engine power generator or the inverter to the common bus in the power storage device, and outputs the stored power to the common bus when the DC power is insufficient. DC power on the common bus is converted to AC power and supplied to the auxiliary equipment of the crane device. However, the crane device of Patent Document 1 is an invention that improves fuel efficiency by suppressing the number of revolutions of the generator at low loads, and is not an invention that realizes a prolonged idling time that is more effective in improving fuel efficiency. . Moreover, it is not such a structure.

  The present invention has been made in view of such circumstances, and an object of the present invention is to effectively utilize a power storage device connected to a generator (engine generator) driven by a prime mover, so that the idling time of the prime mover is increased. An object of the present invention is to provide a crane control device and a crane device that can increase the length of the crane and improve the fuel efficiency of the crane device.

  The present invention has been made in order to solve the above problems, and a crane control device according to the present invention is connected to a generator driven by a prime mover, a plurality of loads serving as a device for performing a cargo handling operation, and the generator. And a control unit that controls the power generator, the power storage device, and the plurality of loads. The control unit is configured to control power from the power generator. Operation mode A, which is a storage battery power supply mode for supplying power from the power storage device to the load, and operation mode B, which is a load regeneration mode for charging the storage battery with regenerative power regenerated from the load, the generator And an operation mode C which is a parallel power supply mode for supplying power to the load from the power storage device, and an operation mode D for charging the storage battery from the generator. In the operation mode C, when a load current greater than or equal to a predetermined current value is required for the load, the discharge current from the power storage device and the power generation current of the generator are It is characterized by supplying a load.

  In the crane control device of the present invention, the control unit controls the discharge current in accordance with a winding speed command value for driving the load.

  In the crane control device of the present invention, the control unit performs switching between the operation mode A and the operation mode B in accordance with the winding speed command value.

  Moreover, the crane control apparatus of this invention is characterized by the said control part switching the said operation mode A and the operation mode C according to the said winding speed command value.

  Moreover, the crane control apparatus of this invention is characterized by the said control part switching the said operation mode A and the operation mode D according to the charge condition of the said storage battery.

  Moreover, the crane control apparatus of this invention is characterized by the said control part adjusting the said discharge current according to the temperature of the said storage battery.

  The crane control device according to the present invention is characterized in that the predetermined discharge current output from the power storage device is determined by a voltage-current characteristic corresponding to a voltage supplied to the load.

  A crane control device according to the present invention includes a generator driven by a prime mover, a plurality of loads serving as a device for performing a cargo handling operation, and a power storage device including a storage battery connected to the generator and supplying power to the load. And a control unit that controls the power generator, the power storage device, and the plurality of loads. The control unit cuts off power from the power generator and supplies power from the power storage device to the load. An operation mode A that is a storage battery power supply mode, an operation mode B that is a load regeneration mode in which the storage battery is charged by regenerative power regenerated from the load, and a parallel power supply that supplies power to the load from the generator and the power storage device A winding speed finger for driving the load, having a function of switching to a control mode of any one of an operation mode C which is a mode and an operation mode D which charges the storage battery from the generator Depending on the value and the charge state of the battery, and switches between the operation mode D and the operation mode C.

  Moreover, the crane control apparatus of the present invention is characterized in that the operation mode D uses only an auxiliary machine as a load.

  In the crane control device according to the present invention, the condition that only loads the auxiliary machine includes a load that does not regenerate the storage battery or a motor operation that does not regenerate.

  Moreover, the crane apparatus of the present invention is driven by one of the crane control apparatuses shown above, a motor driven as the load and driven in accordance with an operation command output from the control section, and the control section. And an auxiliary machine to be controlled.

According to the crane control device of the present invention, the operation mode is the operation mode A for supplying power from the storage battery to the load, the operation mode B for charging the storage battery with regenerative power regenerated from the load, the generator and the power storage device to the load. The operation mode C for supplying power and the operation mode D for charging the power storage device from the generator are switched to the respective operation modes. In operation mode C, a discharge current having a predetermined current value is supplied from the storage battery to the load, and the remaining necessary load current is supplied from the generator to the load. That is, when the storage battery is charged with regenerative power from the load, and when power is supplied to the load, a discharge current is caused to flow from the storage battery to the load.
By incorporating the switching of the operation mode in this way, the idling time is set even during the cargo handling work, and the idling time is lengthened to improve the fuel consumption.
Thus, the power storage device connected to the generator (engine generator) driven by the prime mover can be effectively used to increase the idle time of the prime mover, and the fuel efficiency of the crane device can be improved. .

It is a figure which shows the structure of the crane control apparatus concerning the 1st Embodiment of this invention. It is a figure for demonstrating the kind of operation mode. It is a figure for demonstrating the definition of an electric current and a voltage. It is a figure which shows the relationship between storage battery temperature and the maximum discharge current. It is a figure which shows the voltage-current characteristic of DC bus-line voltage and storage battery discharge current. It is a state transition diagram of an operation mode. It is a timing chart which shows the example of switching of an operation mode. It is a figure which shows the example of a crane control apparatus provided with the existing engine generator. It is a figure which shows the modification example of the crane control apparatus shown in FIG. It is a figure which shows the other modification example of the crane control apparatus shown in FIG. It is a schematic block diagram which shows an example of the crane apparatus concerning this invention.

First, an example of a crane apparatus in which the crane control apparatus of the present invention is used will be described.
FIG. 11 is a schematic configuration diagram illustrating an example of a crane apparatus according to the present invention, and is a perspective view illustrating an overall configuration of a transfer crane (a crane with an engine generator) 1. This transfer crane 1 is called a tire type crane device (RTG; Rubber tired gantry crane), and supplies a power source for power and a power source for control in order to perform a cargo handling work by running on a container yard without a track 1 The engine generator 21 is provided.
As shown in FIG. 11, the transfer crane 1 has a trolley 4 that moves in the horizontal direction along the girder 3 of the crane traveling machine body 2, and a hanging tool 5 called a spreader that holds the container C hangs down from the trolley 4. It is suspended by a plurality of suspension ropes 6. The hanging tool 5 can be moved up and down by winding and unwinding the hanging rope 6 by the hoisting device 7 mounted on the trolley 4. Further, the hanger 5 can be moved in parallel along the girder 3 of the crane traveling machine body 2 following the transverse movement of the trolley 4.

[First Embodiment]
FIG. 1 is a configuration diagram of a crane control device according to the first embodiment of the present invention, and shows a system configuration of a crane control device 100 </ b> A that controls driving of a transfer crane 1. The crane control device 100A includes an engine generator 21, a controller 11, a power storage device 50 (such as a DC / DC converter 51 and a storage battery 52), and a load 30 that receives supply of power from both the engine generator 21 and the storage battery 52. And 40. Here, the load 30 is a load that performs regeneration, which includes the inverters 31, 32, 33, 34, and 35 and the motors M1, M2, M3, and M4. The load 40 is a load that includes the inverter 41 for auxiliary machinery and the auxiliary machinery 42 and does not perform regeneration.

The engine generator 21 includes an engine (E) 22 and a generator (G) 23 that is rotationally driven by the engine 22. The electric power generated by the engine generator 21 is used by supplying power to load devices and auxiliary machines that are various drive sources of the transfer crane 1.
The generator 23 is an AC generator (for example, a three-phase AC generator), and a converter 24 is connected to the output side of the generator 23. The converter 24 converts AC power output from the generator 23 into DC power, and supplies the converted DC power to the DC bus DCL. The converter 24 is a common converter that supplies DC power to the entire load device such as a plurality of inverters 31, 32, 33, 34, 35, and 41. Further, the voltage of the DC bus DCL is detected by the voltage detector 26, and a signal of the voltage detection value of the DC bus DCL is output to the controller 11 as a signal Vdc.

Inverters 31, 32, 33, 34, 35, and 41 are connected to the DC bus DCL.
The inverter 31 is an inverter that drives a traverse motor M1. This inverter 31 converts the DC power supplied to the DC bus DCL into phase-sequence AC power (three-phase AC power) based on the frequency and voltage according to the speed command signal output from the load device controller 13 in the controller 11. Voltage) to drive the transverse motor M1. The inverters 32 and 33 are inverters that drive the traveling motors M2 and M3. The inverters 32 and 33 convert the direct-current power supplied to the direct-current bus DCL into a phase-sequence alternating-current power (3 based on a frequency and a voltage corresponding to the speed command signal output from the load device control unit 13 in the controller 11. The motors M2 and M3 for driving are driven by being converted into phase AC voltage.

The inverters 34 and 35 are parallel inverters for driving the winding motor M4, and the speed command signal (winding speed command V) output from the DC power of the DC bus DCL from the load device control unit 13 in the controller 11 is provided. ) Is converted into phase-sequence AC power (three-phase AC voltage) based on the frequency and voltage in accordance with the voltage), and the winding motor M4 is driven. In addition, the load 40 formed including the inverters 31, 32, 33, 34, and 35 and the motors M1, M2, M3, and M4 is a load that operates in the power running mode or the regenerative mode depending on the operation state.
The auxiliary machine inverter 41 is an inverter that generates a power source for the auxiliary machine (lighting device, hydraulic pump, etc.) 42, and converts the DC power of the DC bus DCL into commercial frequency AC power (three-phase AC voltage). To do. The load 40 formed including the inverter 41 and the auxiliary machine 42 is a load that operates only in the power running mode.

  The regenerative resistor R25 is a power consuming resistor connected to the DC bus DCL via the IGBT transistor Tr. The regenerative resistor R25 is provided to prevent the voltage of the DC bus DCL from becoming an overvoltage. When the voltage of the DC bus DCL rises above a predetermined voltage value, the transistor Tr becomes conductive, current is passed through the regenerative resistor R25 to consume power, and the voltage of the DC bus DCL is lowered.

  In addition, power storage device 50 is connected to DC bus line DCL. The power storage device 50 includes a DC / DC converter 51 and a storage battery 52, and the storage battery 52 is connected to the DC bus DCL via the DC / DC converter 51. When the crane device does not perform the container hoisting operation or when the load is light, such as when only the auxiliary machine is operated, the engine 22 in the engine generator 21 is in an idling state, and the load 30 and 40 are transferred from the storage battery 52 alone. Supply power. Further, at the time of heavy load in which the hoisting operation is performed, the engine generator 21 is operated to supply current to the loads 30 and 40, and current is supplied from the storage battery 52. As a result, the idling time of the engine 22 can be extended, fuel consumption can be reduced, and the influence of the engine exhaust gas or the like on the environment can be reduced.

The storage battery 52 is connected to the DC bus DCL via the DC / DC converter 51. This DC / DC converter 51 is bidirectionally controlled by the operation mode control unit 14 in the controller 11 (the charge / discharge current from the DC bus DCL is supplied to the storage battery 52 and the discharge current from the storage battery 52 is supplied to the DC bus. This is a bidirectional converter in the sense of flowing to DCL.
The DC / DC converter 51 performs constant current control on the charging current flowing from the DC bus DCL to the storage battery 52 in accordance with the current command signal Iref input from the DC / DC converter control unit 16 in the controller 11. Further, the DC / DC converter 51 performs constant current control on the discharge current flowing from the storage battery 52 to the DC bus DCL in accordance with the current command signal Iref.

An SOC detection unit 53 for detecting a state of charge (SOC) of the storage battery 52 is provided. For example, the SOC detection unit 53 detects the state of charge SOC based on the battery voltage (open circuit voltage) of the storage battery 52. The circuit voltage of the storage battery 52 can be detected when a charge / discharge current to the storage battery 52 does not flow, for example, when charging and discharging of the storage battery 52 are switched. Further, for example, it is possible to monitor the charging current and charging time for the storage battery 52 and the discharging current and discharging time from the storage battery 52 and detect the state of charge SOC based on this monitoring data.
The state of charge SOC detected by the SOC detection unit 53 is output to the operation mode control unit 14 in the controller 11 as a signal SOC. Further, the SOC detection unit 53 detects the battery voltage of the storage battery 52 and outputs it as a signal SOC to the DC / DC converter control unit 16 in the controller 11.

  Further, a temperature sensor 54 is provided attached to the storage battery 52. The temperature sensor 54 is, for example, a thermistor attached to the container surface of the storage battery 52, and the temperature of the temperature sensor 54 is output to the controller 11 as a signal T.

  The controller 11 also includes an engine generator 21 in the crane device, a load 30 (a load for regeneration) formed by the inverters 31, 32, 33, 34, and 35 and motors M1, M2, M3, and M4, and a supplement. It is a controller that controls driving of a load 40 (a load that does not perform regeneration) formed by the machine inverter 41 and the auxiliary machine 42. In the example shown in FIG. 1, as the configuration of the controller 11, only the portion related to the operation mode switching control directly related to the present invention is shown for easy viewing of the drawing.

In the controller 11, the crane operation unit 12, the load device control unit 13, the operation mode control unit 14, the engine control unit 15 controlled by the operation mode control unit 14, and the operation mode control unit 14 are also controlled. And a DC / DC converter control unit 16 to be executed.
The crane operation unit 12 in the controller 11 is an operation unit for the crane operator to operate the crane apparatus in accordance with the mode of cargo handling work (winding, traversing, traveling, lowering, etc.). The crane operation unit 12 generates an operation signal corresponding to a lever operation or a switch operation performed by the crane operator and outputs the operation signal to the load device control unit 13. The load device control unit 13 receives an operation signal from the crane operation unit 12, and controls driving of the inverters 31, 32, 33, 34, and 35 and the motors M1, M2, M3, and M4 based on the operation signal.
For example, the start / stop signals and rotation (rotation speed and rotation direction) of the motors M1, M2, M3, and M4 are controlled. The load device control unit 13 controls driving of the auxiliary inverter 41 and the auxiliary device 42. Then, the load device control unit 13 outputs a signal of a winding speed command V for the winding motor M4 to the operation mode control unit 14.

The operation mode control unit 14 outputs the signal of the winding speed command V (speed command of the winding motor M4) output from the load device control unit 13 and the SOC detection unit 53 that detects the state of charge SOC of the storage battery 52. The signal SOC to be input is input, an operation mode to be described later is determined, the engine 22 is controlled through the engine control unit 15, and the DC / DC converter 51 is controlled through the DC / DC converter control unit 16.
The operation mode control unit 14 controls the engine 22 so as to be in each operation state of an idling stop (engine stop) state, an idling state, and an operation state at a required rotational speed. Note that idling means that the engine is rotated at a low rotation speed (or a predetermined rotation speed) in order to maintain the rotation of the engine in the case of a light load that supplies power only to the auxiliary machine or in a state close to no load. It means a state. Further, the operation mode control unit 14 controls the DC / DC converter 51 through the DC / DC converter control unit 16 and controls the charging operation and discharging operation of the storage battery 52.

  The engine control unit 15 controls the engine 22 so as to be in an idling stop (engine stop) state, an idling state, and an operation state at a required rotational speed in accordance with a command signal output from the operation mode control unit 14. To do. In the engine control unit 15, when a current is supplied from the engine generator 21 to the DC bus DCL, the voltage of the DC bus DCL is detected by the voltage detection unit 26, and the voltage of the DC bus DCL becomes a predetermined value. Thus, the output of the engine 22 is controlled.

  The DC / DC converter control unit 16 controls the operation of the DC / DC converter 51 in accordance with the operation mode command signal input from the operation mode control unit 14. In this DC / DC converter 51, when a charging current is supplied from the DC bus DCL to the storage battery 52 to charge the storage battery 52, the DC / DC converter 51 is operated so as to perform constant current constant voltage charging (CC-CV charging) to be described later. 51 is controlled. Further, when a discharge current is allowed to flow from the storage battery 52 to the DC bus DCL, the magnitude of the discharge current is controlled according to the temperature of the storage battery 52 and the voltage of the DC bus DCL.

  For this control, the voltage detection value signal Vdc of the DC bus DCL is input from the voltage detection unit 26 to the DC / DC converter control unit 16, and the temperature detection value signal T of the storage battery 52 is output from the temperature sensor 54. Entered. Further, the DC / DC converter control unit 16 monitors whether or not the control is performed according to the command signal Iref of the DC / DC converter 51. For example, the charging / discharging current signal Id of the storage battery 52 is input from the DC / DC converter 51 to detect whether the operation of the DC / DC converter 51 is normally performed.

  FIG. 2 is a diagram for explaining the operation mode. As shown in the figure, the operation mode performed in the crane control apparatus 100A includes 4 depending on the operation state (winding speed command V) of the load 30 (winding motor M4) and the state of charge SOC of the storage battery 52. There are two operation modes. In the description of the following operation modes, as shown in FIG. 3, the output current of the converter 24 is the current Ig, the current flowing through the inverter INV forming the loads 30 and 40 and the auxiliary inverter inverter is the current IL, The discharge current flowing from the storage battery 52 (or the charging current flowing through the storage battery 52) is referred to as current Id, and the voltage on the DC bus DCL is indicated as Vdc.

  As shown in FIG. 2, in the operation mode A, the supply of power from the engine generator 21 is cut off, and only the storage battery 52 is used to load 30 (inverters 31, 32, 33, 34, 35 and motor M1). , M2, M3, M4) and the load 40 (auxiliary machine inverter 41 and auxiliary machine 42) is a storage battery power supply mode for supplying power.

  The operation mode B is a load regeneration mode in which the storage battery 52 is charged with regenerative power regenerated from the load 30 and power is supplied to the load 40. When the storage battery 52 is charged, CC charging (constant current charging) is performed in the initial state of charging, and CV charging (constant voltage charging) is performed as it approaches full charging.

  The operation mode C is a parallel power supply mode in which power is supplied from both the engine generator 21 and the storage battery 52 to the load 30 and the load 40. In this operation mode C, the maximum value Idmax of the discharge current Id of the storage battery 52 is determined according to the storage battery temperature, and the maximum current Idmax is always output from the storage battery 52. Then, the shortage is compensated by the current Ig from the engine generator 21. Details will be described later.

  The operation mode D is an operation mode in which electric power is supplied only from the engine generator 21. In this operation mode D, electric power is supplied from the engine generator 21 to the load 40 and charging current is supplied to the storage battery 52. In addition, as for the charge to the storage battery 52 using the DC / DC converter 51, constant current constant voltage charge (CC-CV charge) is performed as mentioned above. In the constant current mode (CC mode), when the charging voltage has not reached the set voltage, the DC / DC converter 51 outputs a maximum current (set current value) (constant current control). In the constant voltage mode (CV mode), if the set voltage has been reached, control is performed such that the voltage is held at the set voltage and the output current is gradually decreased (constant voltage control).

  In the DC / DC converter 51, the maximum value Idmax of the discharge current Id that can be output from the storage battery 52 is changed according to the temperature of the storage battery as described above. FIG. 4 is a diagram for explaining the discharge current Id of the storage battery 52 in the operation mode C (mode in which the maximum current Idmax flows from the storage battery 52).

As shown in FIG. 4, the discharge current Id of the storage battery 52 increases as the load current IL flowing through the loads 30 and 40 increases. However, when the storage battery temperature T is the temperature T3, the maximum current is limited to the current Idmax1. . When storage battery temperature T is temperature T2, the maximum current is limited to current Idmax2 (Idmax2> Idmax1). When storage battery temperature T is temperature T1, the maximum current is limited to current Idmax3 (Idmax3> Idmax2).
Thus, the maximum value Idmax of the discharge current Id is changed by the storage battery temperature T by the current control function of the DC / DC converter 51. In this case, when the storage battery temperature is low, the current Idmax of the discharge current becomes small, and therefore the output current Ig from the engine generator 21 side increases.

  For example, when the storage battery temperature T is the temperature T3, in the region where the discharge current Id is smaller than Idmax1, the operation mode A (storage battery power supply mode) in which power is supplied only from the storage battery 52 to the load 30 and the load 40 It is. The state where the discharge current Id is limited to Idmax1 is the state of the operation mode C (parallel power supply mode). That is, when the storage battery temperature is the temperature T3, the discharge current Idmax1 becomes a switching point between the operation mode A and the operation mode C. Similarly, when the storage battery temperature is the temperature T2, the discharge current Idmax2 is a switching point between the operation mode A and the operation mode C, and when the storage battery temperature is the temperature T1, the discharge current Idmax3 is the operation mode A and the operation mode. It becomes a switching point with C.

FIG. 5 is a diagram illustrating an example of the voltage Vdc, the discharge current Id, and the voltage-current characteristics of the DC bus DCL in the operation mode C. In the example shown in FIG. 5A, a constant current controlled current is supplied from the storage battery 52 in a region where the voltage Vdc of the DC bus DCL is equal to or lower than the voltage V1.
In the example shown in the figure, when the storage battery temperature is the temperature T3, the discharge current Id is limited to the current Idmax3. Further, when the storage battery temperature is temperature T2, discharge current Id is limited to current Idmax2. When storage battery temperature is temperature T3, discharge current Id is limited to current Idmax3. Then, in a region where the voltage Vdc of the DC bus DCL is equal to or higher than the voltage V1, the discharge current Id is controlled so as to gradually decrease (show drooping characteristics) as the voltage Vdc increases. In this example, the drooping start point (voltage value V1 of the DC bus DCL) of the discharge current Id is made constant regardless of the storage battery temperature. Thus, until the DC bus DCL reaches a predetermined voltage, a discharge current corresponding to the current discharge capability of the storage battery 52 is supplied to the DC bus DCL so that the capacity of the storage battery 52 is utilized to the maximum.

  FIG. 5B shows an example in which the drooping start point (voltage value of the DC bus DCL) of the discharge current Id is changed according to the storage battery temperature. In the example shown in the figure, when the storage battery temperature is the temperature T1, the voltage V1 is the droop start point, when the storage battery temperature is the temperature T2, the voltage V2 is the droop start point, and when the storage battery temperature is the temperature T3, the voltage V3 is droop The starting point. That is, the voltage is set such that the voltage at the droop start point decreases as the storage battery temperature increases (as the maximum value of the discharge current increases). Thereby, according to the current capability which can be sent from storage battery 52, the voltage of direct current bus line DCL which can maintain constant current discharge can be changed.

  FIG. 6 is a diagram illustrating a transition state of the operation mode, and illustrates a switching condition of the operation mode. As described above, there are four operation modes, operation modes A, B, C, and D. As a transition condition of each operation mode, Vidle, Vcharge, which is compared with the winding speed command V, SOCcharge and SOCdischarge that are compared with the state of charge SOC of the storage battery 52 are used.

Here, as shown in FIG. 7, Vidle is an idling determination winding speed Vidle, which is a positive (+) side signal. Further, Vcharge is a regeneration determination winding speed Vcharge, and is a negative (−) side signal. When the winding speed command V is V> Vidle, it means that the winding speed is in a winding state (the winding motor M4 is in a power running operation state). Vcharge is a regeneration determination winding speed, and when the winding speed command V is V <Vcharge, it means that the winding state is lowered (the winding motor M4 is in a regenerative operation state).
Moreover, SOCcharge is a storage battery charge required SOC, and when the state of charge SOC is SOC <SOCcharge, it means that the storage battery 52 needs to be charged.
The SOC discharge is an SOC capable of discharging a storage battery. When the state of charge SOC is SOC> SOCdischarge, it means that the state is shifted to a mode in which the storage battery 52 is discharged.

  In the transition diagram shown in FIG. 6, the switching steps (transition routes) Sab, Sba, Sac, Sca, Sad, Sda indicated by solid arrows indicate switching steps that frequently occur in the normal operation state of the crane apparatus. The switching steps (transition routes) Sbc, Scb, Scd, Sdc, Sbd, and Sdb indicated by broken arrows indicate switching steps that occur less frequently in the normal operation state of the crane apparatus.

  Hereinafter, in the transition diagram shown in FIG. 6, the switching steps (transition routes) Sab, Sba, Sac, Sca, Sad, Sda shown by solid arrows are referred to the operation mode switching timing chart shown in FIG. explain. The signals (or states) shown in the timing chart shown in FIG. 7 are, in order from the top, winding speed command V, charge state SOC, storage battery operation mode (charge or discharge state), engine generator operation mode (output ON) (Operating at a required rotational speed) or idling state), and operating modes A, B, C, D.

  First, in the transition diagram shown in FIG. This operation mode A is a storage battery power supply mode in which the engine is in an idling state and power is supplied from only the storage battery 52 to the load. For example, in the timing chart of FIG. 7, suppose that it is in the operation mode A from the time t1 to t2.

  In this operation mode A, when the winding speed command V becomes smaller than the regeneration determination winding speed Vcharge (V <Vcharge), the operation mode A is shifted to the operation mode B (see step Sab indicated by an arrow line). For example, in the timing chart shown in FIG. 7, at time t2 (or time t6), when the winding speed command V becomes smaller than Vcharge (when the winding state is lowered), the operation mode A is switched to the operation mode B.

The operation mode B is a load regeneration mode in which the storage battery 52 is charged with regenerative power returned from the winding motor M4. In this operation mode B, the engine generator 21 is in an idling state.
In this operation mode B state, when the winding speed command V is larger than the regeneration determination winding speed Vcharge (V> Vcharge) and the state of charge SOC is larger than the storage battery charge required SOCcharge, the operation mode B is changed to the operation mode. The process proceeds to A (see step Sba indicated by an arrow line). For example, in the timing chart shown in FIG. 7, at time t3 (or time t7), when the winding speed command V becomes larger than Vcharge (when the winding is finished), the operation mode B is switched to the operation mode A.

  Further, when the winding speed command V becomes larger than the idling determination winding speed Vidle (V> Vidle) in the state of the operation mode A which is the storage battery power supply mode, the operation mode A is changed to the operation mode C (indicated by an arrow line). (See step Sac). For example, in the timing chart shown in FIG. 7, at time t4 (or time t8), when the winding speed command V becomes larger than Vidle (when the winding state is reached), the operation mode A is switched to the operation mode C.

  The operation mode C is a state in which power is supplied to the loads 30 and 40 from both the engine generator 21 and the storage battery 52. In the state of this operation mode C, when the winding speed command V becomes smaller than the idling determination winding speed Vidle (becomes the winding end state) and the state of charge SOC is larger than the storage battery charge required SOCcharge, the operation mode C Transition to operation mode A (see step Sca indicated by an arrow line). For example, in the timing chart shown in FIG. 7, at time t5 (or time t9), when the winding speed command V becomes smaller than Vidle (when the winding is finished), the operation mode C is switched to the operation mode A.

  Further, in the state of the operation mode A, when the state of charge SOC becomes smaller than the SOCcharge required SOCcharge (SOC <SOCcharge), the operation mode A is shifted to the operation mode D (see step Sad indicated by an arrow line). For example, in the timing chart shown in FIG. 7, when the state of charge SOC becomes smaller than the storage battery charge required SOCcharge at time t <b> 10, the operation mode A is switched to the operation mode D.

  The operation mode D is a state in which the storage battery 52 is charged from the engine generator 21, and only the auxiliary machine is driven as a load and is in a light load state. In the state of the operation mode D, the state of charge SOC is larger than the SOC discharge capable SOC discharge (SOC> SOCcharge), and when the charging is completed, the operation mode D is shifted to the operation mode A (the step Sda indicated by the arrow line is changed). reference). For example, in the timing chart shown in FIG. 7, when the state of charge SOC becomes smaller than the SOC discharge capable SOC discharge at time t <b> 11 (when the charging is completed), the operation mode D is switched to the operation mode A.

Next, the switching steps (transition routes) Sbc, Scb, Scd, Sdc, Sbd, and Sdb indicated by broken arrows are described.
Suppose that it is in the operation mode B which is the load regeneration mode which charges a storage battery initially. In this state, when the winding speed command V becomes larger than the idling determination winding speed Vidle (V> Vidle), that is, when the winding state is suddenly changed from the lowering state, the operation mode C is changed from the operation mode B to the parallel feeding mode. (See step Sbc indicated by an arrow line).

  When the winding speed command V is smaller than the regeneration determination winding speed Vcharge (V <Vcharge) in the operation mode C which is the parallel power supply mode, that is, when the winding state is suddenly lowered to the operation mode, Transition from C to operation mode B (see step Scb indicated by an arrow line). In the state of the operation mode C, the state of charge SOC is smaller than the SOCcharge required SOCcharge (SOC <SOCcharge) and the winding speed command V is smaller than the idling determination winding speed Vidle (light load state). Shifts from the operation mode C to the operation mode D (an operation mode in which the storage battery 52 is charged from the generator 23) (see step Scd indicated by an arrow line).

Further, in the state of the operation mode D, when the winding speed command V becomes larger than the idling determination winding speed Vidle (when the winding speed is suddenly increased from charging), the operation mode D is shifted to the operation mode C (indicated by an arrow line). (See step Sdc).
Further, in the state of the operation mode D, when the winding speed command V becomes smaller than the regeneration determination winding speed Vcharge (V <Vcharge), that is, when the winding operation is suddenly performed while the storage battery 52 is being charged, the operation mode D starts. Transition to operation mode B (see step Sdb indicated by the arrow line).
In operation mode B, when the winding speed command V is larger than the regeneration determination winding speed Vcharge (lowering end state), the state of charge SOC is smaller than the SOC charge required SOCcharge (charge state SOC <SOCcharge). Then, the operation mode B is shifted to the operation mode D (see step Sbd indicated by an arrow line).

As described above, in the crane control device 100A of the present invention, when the storage battery 52 can supply power to the loads 30 and 40, a discharge current is allowed to flow from the storage battery 52 to the loads 30 and 40 as much as possible. Switch the operation mode as follows. For example, in operation mode A which is a storage battery power supply mode, power is supplied from the storage battery 52 to the loads 30 and 40. In the operation mode C which is a parallel power feeding mode, a discharge current is supplied from the storage battery 52 to the loads 30 and 40 and the remaining necessary load current is supplied from the generator 23 to the loads 30 and 40.
As a result, the power storage device 50 (storage battery 52) connected to the engine generator 21 can be effectively used, the idling time of the engine 22 can be lengthened, and the fuel efficiency of the crane device can be improved.

[Second Embodiment]
Next, an example in which an existing engine generator type crane apparatus that does not have a power storage device is modified to the crane apparatus (hybrid crane apparatus) of the present invention will be described.
First, the structural example of the crane control apparatus 100B before remodeling is shown in FIG. The crane control device 100B is modified to provide a crane control device including the storage battery of the present invention shown in FIG. 9 or FIG.
In the crane control device 100B before modification, the engine generator 21 includes an engine 22 and a generator 23 that is rotationally driven by the engine 22. The generator 23 is an AC generator (for example, a three-phase AC generator), and the AC power output from the generator 23 is output to the AC bus ACL.

  Inverters 61,..., 65 are connected to this AC bus ACL as loads. The inverter 61 is an inverter that drives the transverse motor M1, and includes a converter part (CON) 61a, an inverter part (INV) 61b, and a discharge resistance transistor Tr as main circuits. Converter unit 61a is formed of a diode bridge circuit, converts three-phase AC power input from AC bus ACL to DC power, and supplies this DC power to DC main circuit PL. The inverter 61b is a PWM inverter constituted by an IGBT three-phase bridge circuit or the like. The inverter 61b receives the DC power of the DC main circuit PL as an input, and based on a command signal input from a controller (not shown), a desired frequency, The AC power in the voltage and phase sequence is generated to drive the transverse motor M1.

  In addition, a regenerative power consumption discharge resistor R is connected to the DC main circuit PL via a discharge resistor transistor Tr. The discharge resistor R is provided to prevent the voltage of the DC main circuit PL from becoming an overvoltage. When the voltage of the DC main circuit PL rises to a predetermined voltage value or more, the discharge resistance transistor Tr becomes conductive, current is passed through the discharge resistor R to consume power, and the voltage of the DC main circuit PL is lowered. .

  The inverters 62 and 63 are inverters for driving the motors M2 and M3 for traveling, and the main circuit configuration is the same as that of the inverter 61. The inverters 62 and 63 are respectively converter units 62a and 63a and inverter units 62b and 63b. And have. Further, the inverters 64 and 65 are inverters of a parallel configuration that drives the winding motor M4, and the main circuit configuration is the same as that of the inverter 61, and has converter units 64a and 65a and inverter units 64b and 65b, respectively. is doing.

  FIG. 9 is a diagram showing an example in which the existing crane apparatus shown in FIG. 8 is modified to the crane apparatus of the present invention. In the example shown in FIG. 9, an auxiliary inverter 71 and a power storage device 50 (such as a DC / DC converter 51 and a storage battery 52) are newly added to the crane device shown in FIG. In FIG. 8, the AC bus ACL is connected to the input side of each of the inverters 61,..., 65. However, in the example shown in FIG. 9, the AC bus ACL is input to the auxiliary inverter 71. Connect only to the side.

  In the example shown in FIG. 9, each DC main circuit of each inverter 61,..., 65 (for example, a connecting line between the converter 61 a and the inverter 61 b in the inverter 61) is connected to the auxiliary inverter 71. Commonly connected to the output side of the converter unit 71a to form a DC bus DCL. That is, the converter unit 71a of the auxiliary machine inverter 71 is used as a common converter for the inverters 61,. Therefore, the rated output current of the converter unit 71a of the auxiliary machine inverter 71 corresponds to the total value of the load current required for each inverter 61,..., 65 and the load current required for the auxiliary machine 72. Is set to a current value greater than

Also, the capacity of the discharge resistor R of the auxiliary inverter 71 is a capacity corresponding to the total capacity of the discharge resistors R attached to the inverters 61,..., 65 shown in FIG. Is done. In the example shown in FIG. 9, an AC reactor Lac is inserted between the auxiliary inverter 71 and the auxiliary 72.
Moreover, the crane control apparatus 100B shown in FIG. 9 includes the controller 11 in the crane control apparatus 100A shown in FIG. 1, and the operation mode is also controlled in the same manner as the crane control apparatus 100A. Description is omitted. In this case, the load 30 that performs the regeneration illustrated in FIG. 1 corresponds to the load 60 illustrated in FIG. 9, and the load 40 that does not perform the regeneration illustrated in FIG. 1 corresponds to the load 70 illustrated in FIG. 9.

As described above, when the existing crane control device 100B shown in FIG. 8 is modified, the existing load device (the portion of the load 60 for regeneration) is used as it is, and the auxiliary inverter 71 and the power storage device 50 are newly used. By simply adding (DC / DC converter 51 and storage battery 52 and the like), the engine power generation type crane device can be easily modified into a hybrid crane control device including the power storage device 50.
Further, by increasing the rated capacity of the auxiliary inverter 71 to be added, the AC output of the generator 23 is converted into a DC output by the converter unit 71a of the auxiliary inverter 71, so that each inverter 61,... Compared to the case where 65 converter units are connected in parallel, it is possible to prevent voltage imbalance and insufficient capacity at the input part (the converter units of the respective inverters 61, 62,..., 65 are not used). ). In this case, by increasing the capacity of the auxiliary inverter, a sufficient capacity can be ensured for the inrush current of the auxiliary machine. Thus, the construction shown in FIG. 9 facilitates the work of remodeling the crane apparatus from the engine type to the hybrid type.

  FIG. 10 is a modification of the crane control device shown in FIG. In the crane control apparatus 100D shown in FIG. 10, the output side of the generator 23 of the engine generator 21 is connected to the input side of the auxiliary inverter 71 and also connected to the input sides of the existing inverters 64 and 65. It is. An AC reactor L is inserted between the output side of the generator 23 and the AC bus ACL to improve the power factor. Other configurations are the same as the example shown in FIG. For this reason, the same code | symbol is attached | subjected to the same component and the overlapping description is abbreviate | omitted.

  With the configuration of the crane control apparatus 100D shown in FIG. 10, the converter unit 71a of the auxiliary inverter 71 and the converter units of the winding inverters 64 and 65 can be operated in parallel. As compared with the above, the rated capacity of the auxiliary inverter 71 can be reduced.

The embodiment of the present invention has been described above. Here, the correspondence between the present invention and the embodiment will be supplementarily described.
In the first embodiment, the crane apparatus according to the present invention corresponds to the transfer crane 1. Further, the crane control device according to the present invention corresponds to the crane control device 100A. The prime mover in the present invention corresponds to the engine 22 in the engine generator 21, and the generator in the present invention corresponds to the generator 23. The power storage device in the present invention corresponds to a power storage device 50 including a DC / DC converter 51 and a storage battery 52. Further, the storage battery in the present invention corresponds to the storage battery 52. Further, the plurality of loads in the present invention include a traverse inverter 31 and a motor M1, a traveling inverters 32 and 33 and motors M2 and M3, a winding inverters 34 and 35, a motor M4, and an auxiliary machine. A load device for carrying out cargo handling work such as the inverter 41 and the auxiliary machine 42 is equivalent. Here, the traverse inverter 31 and the motor M1, the travel inverters 32 and 33 and the motors M2 and M3, and the winding inverters 34 and 35 and the motor M4 correspond to the load 30 for regeneration, The auxiliary inverter 41 and the auxiliary machine 42 correspond to the load 40 that does not perform regeneration.

  The controller in the present invention corresponds to the controller 11 (mainly the operation mode controller 14, the engine controller 15, and the DC / DC converter controller 16). The winding speed command value in the present invention corresponds to the winding speed command V. The state of charge of the storage battery in the present invention corresponds to the state of charge SOC of the storage battery 52. The temperature sensor of the storage battery in the present invention corresponds to the temperature sensor 54. The voltage supplied by the load in the present invention corresponds to the voltage Vdc of the DC bus DCL.

Further, when the operation mode is switched in the present invention, the idling determination winding speed Vidle and the regeneration determination winding speed Vcharge are used for the winding speed command V used as a determination reference, and the charge state SOC is determined. In other words, the storage battery charge required SOCcharge and the storage battery dischargeable SOCdischarge are used.
When the winding speed command V is V> Vidle, it indicates that the winding is in a winding state (the winding motor M4 is in a power running operation state), and when the winding speed command V is V <Vcharge, the winding state is reduced. It shows that the motor M4 is in a regenerative operation state). Further, when the state of charge SOC is SOC <SOCcharge, it indicates that the storage battery 52 needs to be charged. When the state of charge SOC is SOC> SOCdischarge, the mode is changed to the mode in which the storage battery 52 is discharged. It shows that

In the embodiment of the present invention, the crane control device 100A includes a generator 23 driven by the engine 22, a plurality of loads 30 and 40 serving as a device for performing a cargo handling operation, and the load 30 connected to the generator 23 and The power storage device 50 includes a storage battery 52 that supplies power to 40, and the controller 11 that controls the generator 23, the power storage device 50, and the plurality of loads 30 and 40.
Further, the controller 11 shuts off the power from the generator 23 and operates the storage battery 52 by the operation mode A, which is a storage battery power supply mode for supplying power from the power storage device 50 to the loads 30 and 40, and the regenerative power regenerated from the load 30. The operation mode B is a load regeneration mode for charging, the operation mode C is a parallel power supply mode for supplying power to the loads 30 and 40 from the generator 23 and the power storage device 50, and the operation mode D is for charging the storage battery 52 from the generator 23. The operation mode C has a function of switching to any one of the control modes. When a load current greater than a predetermined value is required for the loads 30 and 40, a predetermined current value is transferred from the power storage device 50 to the loads 30 and 40. While supplying the discharge current, the remaining necessary load current is supplied to the loads 30 and 40 by the generated current of the engine generator 21.
As a result, the power storage device 50 (storage battery 52) connected to the engine generator 21 can be effectively used, the idling time of the engine 22 can be lengthened, and the fuel efficiency of the crane device can be improved.

Moreover, in the said embodiment, the controller 11 controls the discharge current output from the storage battery 52 according to the winding speed command V which drives the load 30. FIG.
For example, when winding the conveyed product (container), when the winding speed command V becomes larger than the idling determination winding speed Vidle (V> Vidle), the load current required for the load 30 increases. Therefore, the discharge current of the storage battery 52 is controlled according to this.
As a result, the power storage device 50 (storage battery 52) connected to the engine generator 21 can be effectively used, the idling time of the engine 22 can be lengthened, and the fuel efficiency of the crane device can be improved.

Further, in the above embodiment, the controller 11 switches between the operation mode A that is the storage battery power supply mode and the operation mode B that is the load regeneration mode for charging the power storage device 50 (storage battery 52) according to the winding speed command V. Do it.
For example, in the operation mode A which is a storage battery power supply mode, when the lowering of the conveyed product (container) is started and the winding speed command V becomes smaller than the regeneration determination winding speed Vcharge (V <Vcharge), the storage battery is charged. It shifts to the operation mode B which is the load regeneration mode. When the winding speed command V becomes larger than the regeneration determination winding speed Vcharge (V> Vcharge), the operation mode A is entered. In operation mode A and operation mode B, engine 22 is in an idling state.
Thereby, switching between the operation mode A and the operation mode B can be performed according to the winding speed command V. For this reason, the idling time of the engine 22 can be extended by effectively utilizing the power storage device 50 (storage battery 52) connected to the engine generator prime mover (engine) generator, and the fuel efficiency of the crane device is improved. be able to.

Further, in the above embodiment, the controller 11 performs switching between the operation mode A that is the storage battery power supply mode and the operation mode C that is the parallel power supply mode according to the winding speed command V.
For example, in the operation mode A that is a storage battery power supply mode, when the roll of the conveyed product (container) is started and the winding speed command V becomes larger than the idling determination winding speed Vidle (V> Vidle), the parallel power supply mode is set. Transition to a certain operation mode C. In the operation mode C, when the winding speed command V becomes smaller than the idling determination winding speed Vidle (V <Vidle), the operation mode A is entered.
Thereby, switching between the operation mode A and the operation mode C can be appropriately performed according to the winding speed command V. For this reason, the idling time of the engine 22 can be extended by effectively utilizing the power storage device 50 (storage battery 52) connected to the engine generator prime mover (engine) generator, and the fuel efficiency of the crane device is improved. be able to.

Moreover, in the said embodiment, the controller 11 switches the operation mode A and the operation mode D according to the charge condition SOC of the electrical storage apparatus 50 (storage battery 52).
For example, in the state of the operation mode A, when the state of charge SOC of the storage battery 52 becomes smaller than the SOCcharge required SOCcharge (SOC <SOCdischarge), the operation mode D for charging the storage battery 52 from the generator 23 is switched. Further, in the operation mode D, when the state of charge SOC of the storage battery 52 becomes larger than the SOC discharge capable SOC discharge (SOC> SOC discharge), the operation mode A is switched.
Thereby, switching between the operation mode A and the operation mode D can be appropriately performed according to the state of charge SOC of the storage battery 52.

In the above embodiment, the storage battery 52 includes the temperature sensor 54, and the controller 11 adjusts the discharge current according to the temperature of the storage battery 52.
Thereby, according to the discharge capability which changes with the temperature of the storage battery 52, the discharge current sent from the storage battery 52 to the loads 40 and 40 can be adjusted.

Moreover, in the said embodiment, the predetermined | prescribed discharge current output from the electrical storage apparatus 50 (storage battery 52) is defined by the voltage current characteristic according to the voltage supplied to load.
In this case, the discharge current flowing from the storage battery 52 to the DC bus DCL is controlled according to the voltage of the DC bus DCL. For example, when the voltage of the DC bus DCL is equal to or lower than a predetermined voltage value, a constant value of discharge current (which varies depending on the temperature of the storage battery 52) is passed through the DC bus DCL. The value of the discharge current is decreased in accordance with the increase of the DCL voltage.
Thereby, it is possible to prevent the DC bus DCL from becoming overvoltage due to the charging current from the power storage device 50.

Further, in the embodiment of the present invention, the crane control device 100A includes a generator 23 driven by the engine 22, a plurality of loads 30 and 40 serving as a device for performing a cargo handling operation, and the load 30 connected to the generator 23 and The power storage device 50 includes a storage battery 52 that supplies power to 40, and the controller 11 that controls the generator 23, the power storage device 50, and the plurality of loads 30 and 40.
In addition, the controller 11 cuts off the power from the generator 23 and operates the storage battery power supply mode A in which power is supplied from the power storage device 50 to the loads 30 and 40, and the regenerative power regenerated from the load 30 generates 52 storage batteries. The operation mode B is a load regeneration mode for charging, the operation mode C is a parallel power supply mode for supplying power to the loads 30 and 40 from the generator 23 and the power storage device 50, and the operation mode D is for charging the storage battery 52 from the generator 23. It has a function of switching to any one of the control modes, and switches between the operation mode C and the operation mode D according to the winding speed command V and the state of charge SOC of the storage battery 52.

For example, in the state of the operation mode C, when the state of charge SOC becomes smaller than the SOCcharge required SOCcharge (SOC <SOCdischarge) and the storage battery 52 needs to be charged, the winding speed command V is higher than the idling determination winding speed Vidle. When it becomes smaller (V <Vidle), the operation mode C is switched to the operation mode D. Further, in the state of the operation mode D, it is detected that the winding speed command V has increased the idling determination winding speed Vidle (V> Vidle), and the operation mode D is switched to the operation mode C.
Thereby, operation mode A and operation mode D can be appropriately switched according to winding speed command V and state of charge SOC of storage battery 52.

Moreover, in the said embodiment, the operation mode D makes load 40 only an auxiliary machine.
In the operation mode D in which the storage battery 52 is charged from the generator 23, the load 30 that performs regeneration is not driven, and the load 40 that is only an auxiliary machine is driven.
Thereby, in the state which stopped loads 30, such as motor M4 for winding, charge to storage battery 52 from generator 23 can be performed.

Moreover, in the said embodiment, the conditions which make only an auxiliary machine the load 40 include the driving | running of the motor which does not perform the load which does not regenerate the storage battery 52, or regeneration.
For example, the auxiliary machine includes a load that does not perform regeneration such as a lighting device, an air conditioner, and an electromagnetic clutch, and a motor load that does not perform regeneration such as a hydraulic pump motor.
Thereby, the load 30 which performs regeneration and the load 40 which does not perform regeneration can be distinguished, and each drive can be controlled in each operation mode A, B, C, and D.

Further, the transfer crane 1 of the present invention includes a crane control device 100A, is driven as a load 30, and motors M1, M2, M3, and M4 that are driven and controlled according to an operation command output from the controller 11, and the controller 11 And an auxiliary machine 42 that is driven and controlled.
Thus, in the transfer crane 1, since the crane control apparatus 100A of the present invention was used, this effectively utilized the power storage device 50 (storage battery 52) connected to the engine generator 21, The idling time of the engine 22 can be extended, and the fuel consumption of the transfer crane 1 can be improved.

  As mentioned above, although embodiment of this invention was described, the crane control apparatus and crane apparatus of this invention are not limited only to the above-mentioned illustration example, In the range which does not deviate from the summary of this invention, various changes are carried out. Of course, it can be added.

DESCRIPTION OF SYMBOLS 1 Crane apparatus 100A, 100C, 100B, 100D Crane control apparatus 11 Controller 12 Crane operation part 13 Load apparatus control part 14 Operation mode control part 15 Engine control part 16 Converter control part 21 Engine generator 22 Engine 23 Generator 24 Converter 26 Voltage Detection unit 30 Regenerative load 31, 32, 33, 34, 35 Inverter 40 Regenerative load 41 Auxiliary inverter 42 Auxiliary device 50 Power storage device 51 DC / DC converter 52 Storage battery 53 SOC detection unit 54 Temperature sensor 60 Regenerative Loads 61, 62, 63, 64, 65 for performing inverter 70 Load 71 for not performing regeneration 71 Inverter for auxiliary machinery

Claims (11)

A generator driven by a prime mover;
A plurality of loads serving as a device for performing a cargo handling operation;
A power storage device having a storage battery connected to the generator and supplying power to the load;
A controller that controls the generator, the power storage device, and the plurality of loads;
Consisting of
The controller is
Operation mode A, which is a storage battery power supply mode that cuts off power from the generator and supplies power from the power storage device to the load,
Operation mode B which is a load regeneration mode in which the storage battery is charged by regenerative power regenerated from the load,
Operation mode C which is a parallel power supply mode for supplying power to the load from the generator and the power storage device,
Having a function of switching to any control mode of operation mode D for charging the storage battery from the generator;
In the operation mode C,
A crane control device that supplies a discharge current from the power storage device and a power generation current of the generator to the load when a load current greater than a predetermined current value is required for the load. . The controller is
The crane control device according to claim 1, wherein the discharge current is controlled in accordance with a winding speed command value for driving the load. The controller is
The crane control device according to claim 1 or 2, wherein switching between the operation mode A and the operation mode B is performed according to the winding speed command value. The controller is
The crane control device according to any one of claims 1 to 3, wherein switching between the operation mode A and the operation mode C is performed according to the winding speed command value. The controller is
The crane control device according to any one of claims 1 to 4, wherein switching between the operation mode A and the operation mode D is performed according to a state of charge of the storage battery. The controller is
The crane control device according to any one of claims 1 to 5, wherein the discharge current is adjusted according to a temperature of the storage battery. The predetermined discharge current output from the power storage device is:
The crane control device according to any one of claims 1 to 6, wherein the crane control device is defined by a voltage-current characteristic corresponding to a voltage supplied to the load. A generator driven by a prime mover;
A plurality of loads serving as a device for performing a cargo handling operation;
A power storage device having a storage battery connected to the generator and supplying power to the load;
A controller that controls the generator, the power storage device, and the plurality of loads;
Consisting of
The controller is
Operation mode A, which is a storage battery power supply mode that cuts off power from the generator and supplies power from the power storage device to the load,
Operation mode B which is a load regeneration mode in which the storage battery is charged by regenerative power regenerated from the load,
Operation mode C which is a parallel power supply mode for supplying power to the load from the generator and the power storage device,
Having a function of switching to any control mode of operation mode D for charging the storage battery from the generator;
The crane control device, wherein the operation mode C and the operation mode D are switched according to a winding speed command value for driving the load and a state of charge of the storage battery. The crane control device according to claim 8, wherein the operation mode D uses only an auxiliary machine as a load. The crane control device according to claim 9, wherein the condition with only the auxiliary machine as a load includes a load that does not regenerate the storage battery or a motor operation that does not regenerate. A crane control device according to any one of claims 1 to 10;
A motor driven as the load and driven according to an operation command output from the control unit;
An auxiliary machine driven and controlled by the control unit;
A crane apparatus comprising:

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