Patent Description:
Conventionally, in mobile cranes or the like, there has been known a crane in which each of actuators is operated by an operation terminal or the like. Such a crane is operated by an operation command signal on the basis of a load from the operation terminal, and thus, an operator can intuitively operate each of the actuators without being conscious of an operating speed, an operating amount, an operating timing, and the like of each of the actuators (see Patent Literature <NUM>).

A crane described in Patent Literature <NUM> acquires a speed signal related to an operation speed of an operation tool and a direction signal related to an operation direction from an operation terminal. Thus, at a start or stop of movement at which the speed signal from the operation terminal is input in the form of a step function, discontinuous acceleration sometimes occurs to cause swinging of a load. Therefore, a technique is known in which a crane is controlled according to a speed signal that achieves positioning of the crane at a target position and minimization of a swing angle of a load by performing optimal control to feed back a speed and a position of a crane and a swing angular speed and the swing angle of the load and compensation of a lag using a predictive gain (see.

The crane described in Patent Literature <NUM> is controlled on the basis of a predetermined mathematical model of the crane so as to improve the positioning accuracy of the crane and minimize the swinging of the load. Therefore, in a case where the mathematical model has a large error, an error of a future predictive value also becomes large, which causes disadvantages of a decrease of the positioning accuracy of the crane and an increase of the swinging of the load In particular, in a mobile crane having an elongation/contraction boom, the positioning accuracy of the crane is sometimes affected by a deflection amount of the boom.

<CIT> discloses a work machine control system according to the preamble of claim <NUM>. The control system controls an actuator of a crane including a boom. The control system includes a signal processing unit and a feedback control unit. The signal processing unit generates a signal related to a target operating amount of the actuator from an input signal. Then, the feedback control unit controls the actuator based on a difference between the signal related to the target operating amount and a signal related to a fed-back operating amount of the actuator.

An object of the present invention is to provide a work machine control system and a crane capable of controlling an actuator while considering influence of a deflection of a work machine.

An aspect of a work machine control system of a work machine according to the present invention is a control system that controls an actuator of a work machine having a boom, and includes: a signal processing unit that generates a signal related to a target operating amount of the actuator from an input signal; a feedback control unit that controls the actuator on the basis of a difference between the signal related to the target operating amount and a signal related to a fed-back operating amount of the actuator; a feed-forward control unit that controls the actuator on the basis of the signal related to the target operating amount in cooperation with the feedback control unit, and learns characteristics of the actuator by adjusting a weighting factor on the basis of a teacher signal; and a calculation unit that calculates information related to a deflection of the work machine. The signal processing unit corrects intermediate information, which is generated in the process of generating the signal related to the target operating amount, on the basis of the information related to the deflection obtained from the calculation unit, and generates the signal related to the target operating amount.

An aspect of a crane according to the present invention is equipped with the above-described control system.

According to the present invention, it is possible to provide the work machine control system and the crane capable of controlling the actuator while considering the influence of the deflection of the work machine.

Hereinafter, a crane <NUM> will be described as a work machine according to an embodiment of the present invention with reference to <FIG> and <FIG>. The crane <NUM> is a mobile crane (rough terrain crane). Note that the crane <NUM> (rough terrain crane) will be described as the work machine in the present embodiment, the work machine may be an all-terrain crane, a truck crane, a loading truck crane, or the like. In addition, the present invention is also applicable to a working device for suspending a load with a wire rope. In addition, the work machine is not limited to the crane, and may be a work machine (for example, an aerial work platform) having a boom.

In the following description, "(n), (n+<NUM>), and (n+<NUM>)" mean pieces of information acquired for the nth time, the (n+<NUM>)th time, and the (n+<NUM>)th time, respectively, among pieces of information (for example, a fed-out amount of the wire rope) acquired every unit time t. That is, "(n)" means information acquired after a lapse of n × unit time t since the start of information acquisition. In addition, "(n+<NUM>)" means information acquired after a lapse of (n+<NUM>) × unit time t since the start of information acquisition. In addition, "(n+<NUM>)" means information acquired after a lapse of (n+<NUM>) × unit time t since the start of information acquisition. Note that "×" means multiplication.

As illustrated in <FIG>, the crane <NUM> is the mobile crane that can move to an unspecified place. The crane <NUM> includes a vehicle <NUM>, a crane device <NUM> which is a working device, and a load moving operation tool <NUM> (see <FIG>) which can operate the crane device <NUM> on the basis of a load W.

The vehicle <NUM> is a traveling body that carries the crane device <NUM>. The vehicle <NUM> has a plurality of wheels <NUM> and travels with an engine <NUM> as a power source. The vehicle <NUM> is provided with an outrigger <NUM>. The outrigger <NUM> is constituted by a projecting beam that can be hydraulically extended on both sides in a width direction of the vehicle <NUM> and a hydraulic jack cylinder that can be extended in a direction perpendicular to the ground.

The vehicle <NUM> can expand an operable range of the crane <NUM> by extending the outrigger <NUM> in the width direction of the vehicle <NUM> and grounding the jack cylinder.

The crane device <NUM> is the working device that lifts the load W with the wire rope. The crane device <NUM> includes a turning base <NUM>, a boom <NUM>, a jib 9a, a main hook block <NUM>, a sub hook block <NUM>, a raising hydraulic cylinder <NUM>, a main winch <NUM>, a main wire rope <NUM>, a sub winch <NUM>, a sub wire rope <NUM>, a cabin <NUM>, and the like.

The turning base <NUM> is a driving device that allows the crane device <NUM> to turn. The turning base <NUM> is provided on a frame of the vehicle <NUM> via an annular bearing. The turning base <NUM> is configured to be rotatable about a central axis of the annular bearing as a center of rotation.

The turning base <NUM> is provided with a hydraulic turning hydraulic motor <NUM> which is an actuator. The turning base <NUM> is configured to be capable of turning in one direction and the other direction by the turning hydraulic motor <NUM>.

Turning base cameras 7b (see <FIG>), which are load position detection units, are monitoring devices that capture images of an obstacle, a person, and the like around the turning base <NUM>. The turning base cameras 7b are provided on both left and right sides in front of the turning base <NUM> and on both left and right sides behind the turning base <NUM>.

Each of the turning base cameras 7b covers the entire periphery of the turning base <NUM> as a monitoring range by capturing an image of the periphery of each installation location. In addition, the turning base cameras 7b arranged on both the left and right sides in front of the turning base <NUM> are configured to be usable as a set of stereo cameras.

That is, the turning base cameras 7b in front of the turning base <NUM> can be configured as the load position detection units that detect position information of the suspended load W by being used as the set of stereo cameras.

Note that the load position detection unit may include a boom camera 9b to be described later. In addition, the load position detection unit is preferably a unit that can detect the position information of the load W such as a millimeter wave radar, an acceleration sensor, or a GNSS.

The turning hydraulic motor <NUM> is an actuator that is rotationally operated by a turning valve <NUM> (see <FIG>) which is an electromagnetic proportional switching valve. The turning valve <NUM> can control a flow rate of hydraulic oil supplied to the turning hydraulic motor <NUM> to any flow rate.

In other words, the turning base <NUM> is configured to be controllable to any turning speed via the turning hydraulic motor <NUM> rotatably operated by the turning valve <NUM>. The turning base <NUM> is provided with a turning sensor <NUM> (see <FIG>) that is turning angle detection unit for detecting a turning angle θz (see <FIG>) and a turning speed of the turning base <NUM>.

The boom <NUM> is a movable prop that supports the wire rope to a state of being capable of lifting the load W. The boom <NUM> includes a plurality of boom members. The boom <NUM> is provided such that a proximal end of a base boom member is swingable substantially at the center of the turning base <NUM>.

The boom <NUM> is configured to be freely elongated/contracted in the axial direction by moving each boom member by an elongation/contraction hydraulic cylinder (not illustrated) which is an actuator. In addition, the boom <NUM> is provided with the jib 9a.

The elongation/contraction hydraulic cylinder (not illustrated) is the actuator that is operated to be elongated/contracted by an elongation/contraction valve <NUM> (see <FIG>) which is an electromagnetic proportional switching valve. The elongation/contraction valve <NUM> can control a flow rate of hydraulic oil supplied to the elongation/contraction hydraulic cylinder to any flow rate.

The boom <NUM> is provided with an elongation/contraction sensor <NUM> which is an elongation/contraction length detection unit that detects a length of the boom <NUM>, and an azimuth sensor <NUM> that detects an azimuth with on the tip of the boom <NUM> as a center.

The boom camera 9b (see <FIG>) is a sensing device that captures images of the load W and features in the vicinity of the load W. The boom camera 9b is provided at the tip of the boom <NUM>. The boom camera 9b is configured to be capable of capturing images of the load W and features or terrain in the vicinity of the crane <NUM> from vertically above the load W.

The main hook block <NUM> and the sub hook block <NUM> are suspenders for suspending the load W. The main hook block <NUM> is provided with a plurality of hook sheaves around which the main wire rope <NUM> is wound, and a main hook 10a for suspending the load W. The sub hook block <NUM> is provided with a sub hook 11a for suspending the load W.

The raising hydraulic cylinder <NUM> is an actuator that raises and lowers the boom <NUM> and holds an attitude of the boom <NUM>. In the raising hydraulic cylinder <NUM>, an end of a cylinder portion is swingably connected to the turning base <NUM>, and an end of a rod portion is swingably connected to the base boom member of the boom <NUM>.

The raising hydraulic cylinder <NUM> is operated to be elongated/contracted by a raising valve <NUM> (see <FIG>) which is an electromagnetic proportional switching valve. The raising valve <NUM> can control a flow rate of hydraulic oil supplied to the raising hydraulic cylinder <NUM> to any flow rate. The boom <NUM> is provided with a raising sensor <NUM> (see <FIG>) which is a raising angle detection unit for detecting a raising angle θx (see <FIG>).

The main winch <NUM> and the sub winch <NUM> are winding devices that wind up (reel up) and feed out (release) the main wire rope <NUM> and the sub wire rope <NUM>.

The main winch <NUM> is driven as a main drum around which the main wire rope <NUM> is wound is rotated by a main hydraulic motor (not illustrated) as an actuator.

In addition, the sub winch <NUM> is driven as a sub drum around which the sub wire rope <NUM> is wound is rotated by a sub hydraulic motor (not illustrated) as an actuator.

The main hydraulic motor is rotationally operated by a main valve <NUM> (see <FIG>) which is an electromagnetic proportional switching valve. The main winch <NUM> is configured to be driven at any winding-up speed and any feeding-out speed as the main hydraulic motor is controlled by the main valve <NUM>.

Similarly, the sub winch <NUM> is configured to be driven at any winding-up speed and any feeding-out speed as the sub hydraulic motor is controlled by a sub valve <NUM> (see <FIG>) which is an electromagnetic proportional switching valve.

Each of the main winch <NUM> and the sub winch <NUM> is provided with a winding sensor <NUM> (see <FIG>) that detects a fed-out amount l(n) of each of the main wire rope <NUM> and the sub wire rope <NUM>.

The cabin <NUM> is an operator's seat covered with a housing. The cabin <NUM> is mounted on the turning base <NUM>. The cabin <NUM> is provided with the operator's seat (not illustrated). The operator's seat is provided with an operation tool configured to operate the vehicle <NUM> to travel, and a turning operation tool <NUM>, a raising operation tool <NUM>, an elongation/contraction operation tool <NUM>, a main drum operation tool <NUM>, a sub drum operation tool <NUM>, and the like which are configured to operate the crane device <NUM> (see <FIG>).

The turning operation tool <NUM> can operate the turning hydraulic motor <NUM>. The raising operation tool <NUM> can operate the raising hydraulic cylinder <NUM>. The elongation/contraction operation tool <NUM> can operate the elongation/contraction hydraulic cylinder. The main drum operation tool <NUM> can operate the main hydraulic motor. The sub drum operation tool <NUM> can operate the sub hydraulic motor.

The cabin <NUM> is provided with the load moving operation tool <NUM> which is a load moving operation unit for inputting a moving direction and a moving speed of the load W. The load moving operation tool <NUM> is an operation tool for inputting an instruction regarding the moving direction and speed of the load W on the horizontal plane.

The load moving operation tool <NUM> includes an operation lever and a sensor (not illustrated) that detects a tilt direction and a tilt amount of the operation lever. The load moving operation tool <NUM> is configured such that the operation lever can be tilted in any direction.

The load moving operation tool <NUM> is configured to transmit, to a control device <NUM> (see <FIG>), an operation signal regarding the tilt direction and the tilt amount of an operation stick, detected by the sensor (not illustrated) with a forward direction from a seating direction of the operator's seat (hereinafter, simply referred to as a "forward direction") as an extending direction of the boom <NUM>.

For example, when the load moving operation tool <NUM> is tilted, by any tilt amount, leftward with respect to the forward direction in a direction of a tilt angle of <NUM>° in a state where the tip of the boom <NUM> faces the north, the crane <NUM> moves the load W at a speed corresponding to the tilt amount of the load moving operation tool <NUM> from the north, which is the extending direction of the boom <NUM>, to the north-west which is the direction of the tilt angle of <NUM>°. Note that the load moving operation tool <NUM> may be provided in a remote operation terminal.

As illustrated in <FIG>, the control device <NUM> is the control device <NUM> that controls an actuator of the crane device <NUM> via each operation valve. The control device <NUM> is provided in the cabin <NUM>. In practice, the control device <NUM> may be configured such that a CPU (processor), a ROM, a RAM, an HDD, and the like are connected via a bus, or may be configured using a one-chip LSI (control circuit) or the like. The control device <NUM> stores various programs and data in order to control the operations of the respective actuators, switching valves, sensors, and the like.

The control device <NUM> is connected to the turning base camera 7b, the boom camera 9b, the turning operation tool <NUM>, the raising operation tool <NUM>, the elongation/contraction operation tool <NUM>, the main drum operation tool <NUM>, and the sub drum operation tool <NUM>.

The control device <NUM> acquires a moving image from the turning base camera 7b and a moving image from the boom camera 9b. The control device <NUM> can acquire operation amounts of the turning operation tool <NUM>, the raising operation tool <NUM>, the main drum operation tool <NUM>, and the sub drum operation tool <NUM>.

The control device <NUM> is connected to the turning valve <NUM>, the elongation/contraction valve <NUM>, the raising valve <NUM>, the main valve <NUM>, and the sub valve <NUM>. The control device <NUM> can transmit a target operating signal Md (not illustrated) or a corrected target operating signal AMd (see <FIG>), which is a target operating amount of each valve, to the turning valve <NUM>, the raising valve <NUM>, the main valve <NUM>, and the sub valve <NUM>.

The control device <NUM> is connected to the turning sensor <NUM>, the elongation/contraction sensor <NUM>, the azimuth sensor <NUM>, the raising sensor <NUM>, and the winding sensor <NUM>.

The control device <NUM> can acquire the turning angle θz of the turning base <NUM>, an elongation/contraction length lb(n) of the boom <NUM>, the raising angle θx of the boom <NUM>, and the fed-out amount l(n) of the main wire rope <NUM> or the sub wire rope <NUM> (hereinafter, simply referred to as the "wire rope"), and an azimuth centered on the tip of the boom <NUM>.

The control device <NUM> generates the target operating signal Md corresponding to each operation tool on the basis of the operation amounts of the turning operation tool <NUM>, the raising operation tool <NUM>, the main drum operation tool <NUM>, and the sub drum operation tool <NUM>. When influence of a deflection angle of the boom <NUM> is considered as will be described later, the control device <NUM> generates the corrected target operating signal AMd corresponding to each operation tool.

The crane <NUM> configured in this manner can move the crane device <NUM> to any position by causing the vehicle <NUM> to travel.

In addition, the crane <NUM> can increase a lifting height and an operating radius of the crane device <NUM> by raising the boom <NUM> at the raising angle θx by the raising hydraulic cylinder <NUM> with the operation of the raising operation tool <NUM> and extending the boom <NUM> to any boom length with the operation of the elongation/contraction operation tool <NUM>.

In addition, the crane <NUM> can carry the load W by lifting the load W with the sub drum operation tool <NUM> and the like and turning the turning base <NUM> with the operation of the turning operation tool <NUM>.

The control device <NUM> calculates a target course signal Pdα (see <FIG>) of the load W on the basis of the azimuth of the tip of the boom <NUM> acquired by the azimuth sensor <NUM>. Further, the control device <NUM> calculates a target position coordinate p(n+<NUM>) of the load W, which is a target position of the load W, from the target course signal Pdα.

The control device <NUM> generates the target operating signals Md or the corrected target operating signals AMd of the turning valve <NUM>, the elongation/contraction valve <NUM>, the raising valve <NUM>, the main valve <NUM>, and the sub valve <NUM> for moving the load W to the target position coordinate p(n+<NUM>) (see <FIG>).

The crane <NUM> moves the load W toward the tilt direction of the load moving operation tool <NUM>, at the speed according to the tilt amount. At this time, the crane <NUM> controls the turning hydraulic motor <NUM>, the elongation/contraction hydraulic cylinder, the raising hydraulic cylinder <NUM>, the main hydraulic motor, and the like by the target operating signals Md or the corrected target operating signals AMd.

With such a configuration, the crane <NUM> calculates a target moving speed signal Vd, which is a control signal of a target moving speed of the load W including a moving direction and a speed on the basis of the operation direction of the load moving operation tool <NUM>, every unit time t with the extending direction of the boom <NUM> as a reference, and determines the target position coordinate p(n+<NUM>) of the load W. Accordingly, an operator does not lose recognition of a direction in which the crane device <NUM> is operated with respect to the operation direction of the load moving operation tool <NUM>.

That is, the operation direction of the load moving operation tool <NUM> and the moving direction of the load W are calculated on the basis of the extending direction of the boom <NUM> as the common reference. As a result, the crane device <NUM> can be operated easily and simply.

Note that the load moving operation tool <NUM> is provided inside the cabin <NUM> in the present embodiment, but may include a terminal-side radio and be provided in a remote operation terminal that can be remotely operated from the outside of the cabin <NUM>.

Next, a description will be given with reference to <FIG> regarding an example of a control process which is performed in the control device <NUM> of the crane device <NUM> and in which the target course signal Pdα of the load W for generating the target operating signal Md (corrected target operating signal AMd) and a target position coordinate q(n+<NUM>) (hereinafter, simply referred to as the "target position coordinate q(n+<NUM>) of the boom <NUM>") of the tip of the boom <NUM> (a fed-out position of the wire rope) which is a target position of the tip of the boom <NUM>.

As illustrated in <FIG>, the control device <NUM> includes a target course calculation unit 31a, a boom position calculation unit 31b, and an operating signal generation unit 31c. In addition, the control device <NUM> is configured to be capable of acquiring current position information of the load W as the load position detection unit by using the set of turning base cameras 7b on both the left and right sides in front of the turning base <NUM> as the stereo cameras (see <FIG>).

As illustrated in <FIG>, the target course calculation unit 31a is a part of the control device <NUM>, and converts the target moving speed signal Vd of the load W into the target course signal Pdα of the load W. The target course calculation unit 31a can acquire the target moving speed signal Vd of the load W including the moving direction and speed of the load W from the load moving operation tool <NUM> every unit time t. The target moving speed signal Vd corresponds to an example of information related to the target speed of the load.

In addition, the target course calculation unit 31a can calculate the target course signals Pdα in an x-axis direction, a y-axis direction, and a z-axis direction of the load W every unit time t by integrating the acquired target moving speed signals Vd. Here, the subscript α is a sign representing any of the x-axis direction, the y-axis direction, and the z-axis direction. The above target course calculation unit 31a has functions of an integrator 32a and a target value filter <NUM> illustrated in <FIG> to be described later.

The boom position calculation unit 31b is a part of the control device <NUM>, and can acquire the target course signal Pdα from the target course calculation unit 31a. The boom position calculation unit 31b calculates a position coordinate of the tip of the boom <NUM> from attitude information of the boom <NUM> and the target course signal Pdα of the load W.

The boom position calculation unit 31b acquires a turning angle θz(n) of the turning base <NUM> from the turning sensor <NUM>. The boom position calculation unit 31b acquires the elongation/contraction length lb(n) from the elongation/contraction sensor <NUM>. The boom position calculation unit 31b acquires a raising angle θx(n) from the raising sensor <NUM>.

In addition, the boom position calculation unit 31b acquires information related to the load detected by a load detection unit <NUM> (see <FIG>) from the load detection unit <NUM>. The information related to the load may be regarded as information related to a downward load acting on the tip of the boom <NUM> in the vertical direction.

The information related to the load includes, for example, a weight of the wire rope fed out from the tip of the boom <NUM> and a weight of members (the load W, a slinging tool, a hook, and the like) suspended on the wire rope. The boom position calculation unit 31b acquires the current position information of the load W from an image of the load W captured by the set of turning base cameras 7b arranged on the left and right sides in front of the turning base <NUM> (see <FIG>).

For example, the boom position calculation unit 31b calculates the current position coordinate p(n) of the load W from the acquired current position information of the load W. In addition, the boom position calculation unit 31b can calculate a current position coordinate q(n) (hereinafter, simply referred to as the "current position coordinate q(n) of the boom <NUM>") of the tip of the boom <NUM> which is the current position of the tip of the boom <NUM> (the fed-out position of the wire rope) from the acquired turning angle θz(n), elongation/contraction length lb(n), and raising angle θx(n).

In addition, the boom position calculation unit 31b can calculate the fed-out amount l(n) of the wire rope on the basis of the current position coordinate p(n) of the load W and the current position coordinate q(n) of the boom <NUM>. In addition, the boom position calculation unit 31b can calculate the target position coordinate p(n+<NUM>) of the load W, which is a position of the load W after a lapse of the unit time t, from the target course signal Pdα.

Further, the boom position calculation unit 31b can calculate tension f(n) and a direction vector e(n+<NUM>) of the wire rope on which the load W is suspended on the basis of the current position coordinate p(n) of the load W and the target position coordinate p(n+<NUM>) of the load W.

The boom position calculation unit 31b is configured to calculate the target position coordinate q(n+<NUM>) of the boom <NUM> after the lapse of the unit time t, on the basis of the target position coordinate p(n+<NUM>) of the load W and the direction vector e(n+<NUM>) of the wire rope using an inverse dynamics model.

Further, the boom position calculation unit 31b calculates information related to a deflection of the crane <NUM>. Specifically, the boom position calculation unit 31b calculates a deflection angle δ(n) in the vertical direction and a deflection angle ε(n) in the turning direction of the boom <NUM>, which are examples of the information related to the deflection of the crane <NUM>, on the basis of the attitude information of the crane <NUM>, the tension f(n) of the wire rope calculated in the inverse dynamics model, and the direction vector e(n) which is the direction of the wire rope (see <FIG> and <FIG>).

The boom position calculation unit 31b corrects the current position coordinate q(n) of the boom <NUM> and the target position coordinate q(n+<NUM>) of the boom <NUM> on the basis of the deflection angle δ(n) of the boom <NUM> in the vertical direction (see Formula (<NUM>) to be described later) and the deflection angle ε(n) of the boom <NUM> in the turning direction (see Formula (<NUM>) to be described later).

Further, the boom position calculation unit 31b calculates the corrected target operating signal AMd, which is a corrected target operating amount, from the corrected current position coordinate q(n) of the boom <NUM> and target position coordinate q(n+<NUM>) of the boom <NUM>.

The operating signal generation unit 31c is a part of the control device <NUM>, and generates the corrected target operating signal AMd and the like of each actuator from the corrected target position coordinate q(n+<NUM>) of the boom <NUM> after the lapse of the unit time t.

The operating signal generation unit 31c can acquire the corrected target position coordinate q(n+<NUM>) of the boom <NUM> after the lapse of the unit time t from boom position calculation unit 31b. The operating signal generation unit 31c is configured to generate the corrected target operating signal AMd of the turning valve <NUM>, the elongation/contraction valve <NUM>, the raising valve <NUM>, the main valve <NUM>, and/or the sub valve <NUM>, and a feedback operating signal AMd1 and a feed-forward operating signal AMd2, which will be described later, from the corrected current position coordinate q(n) of the boom <NUM> and the target position coordinate p(n+<NUM>) of the load W.

Next, the control device <NUM> determines the inverse dynamics model of the crane <NUM> for calculating the target position coordinate q(n+<NUM>) of the boom <NUM> as illustrated in <FIG>. The inverse dynamics model is defined in the XYZ coordinate system, and takes an origin O as a turning center of the boom <NUM>.

The control device <NUM> defines each of q, p, lb, θx, θz, l, f, and e in the inverse dynamics model. For example, q represents the current position coordinate q(n) of the boom <NUM>. For example, p represents the current position coordinate p(n) of the load W. For example, lb represents the elongation/contraction length lb(n) of the boom <NUM>. For example, θx represents the raising angle θx(n). For example, θz represents the turning angle θz(n). For example, l represents the fed-out amount l(n) of the wire rope. For example, f represents the tension f(n) of the wire rope. For example, e represents the direction vector e(n) of the wire rope.

In the inverse dynamics model defined in this manner, the relationship between a target position q at the tip of the boom <NUM> and a target position p of the load W is expressed by Formula (<NUM>) using the target position p of the load W, a mass m of the load W, and a spring constant kf of the wire rope. In addition, the target position q of the tip of the boom <NUM> is calculated by Formula (<NUM>) that is a function of time of the load W (a function representing the time t by n). [Formula <NUM>] <MAT>
[Formula <NUM>] <MAT> f: tension of wire rope, kf: spring constant, m: mass of load W, q: current position or target position of tip of boom <NUM>, p: current position or target position of load W, l: fed-out amount of wire rope, e: direction vector, g: gravitational acceleration.

The fed-out amount l(n) of the wire rope is calculated from the following Formula (<NUM>). The fed-out amount l(n) of the wire rope is defined by a distance between the current position coordinate q(n) of the boom <NUM>, which is the position of the tip of the boom <NUM>, and the current position coordinate p(n) of the load W which is the position of the load W. [Formula <NUM>] <MAT>.

The direction vector e(n) of the wire rope is calculated from the following Formula (<NUM>). The direction vector e(n) of the wire rope is a vector of a unit length of the tension f(n) of the wire rope (see Formula (<NUM>)). The tension f(n) of the wire rope is calculated by subtracting the gravitational acceleration from the acceleration of the load W calculated from the current position coordinate p(n) of the load W and the target position coordinate p(n+<NUM>) of the load W after the lapse of the unit time t. [Formula <NUM>] <MAT>.

The target position coordinate q(n+<NUM>) of the boom <NUM>, which is the target position of the tip of the boom <NUM> after the lapse of the unit time t, is calculated from Formula (<NUM>) obtained by expressing Formula (<NUM>) as a function of n. Here, α indicates the turning angle θz(n) of the boom <NUM>.

The target position coordinate q(n+<NUM>) of the boom <NUM> is calculated using the inverse dynamics from the fed-out amount l(n) of the wire rope, the target position coordinate p(n+<NUM>) of the load W, and the direction vector e (n+<NUM>). [Formula <NUM>] <MAT>.

Next, a description will be given with reference to <FIG>, <FIG>, and <FIG> regarding a process of generating the corrected target operating signals AMd (the feedback operating signal AMd1 and the feed-forward operating signal AMd2) and a process of correcting the current position coordinate q(n) and the target position coordinate q(n+<NUM>) on the basis of the information related to the deflection of the crane <NUM> (specifically, the deflection angle of the boom <NUM>), the processes being performed by a control system <NUM> of the crane <NUM> including a learning-type inverse dynamics model.

The crane <NUM> includes, as the control system <NUM> of the crane <NUM>, the turning base camera 7b, the turning sensor <NUM>, the elongation/contraction sensor <NUM>, the raising sensor <NUM>, the load moving operation tool <NUM>, the target value filter <NUM>, a target operating amount calculation unit <NUM>, a deflection angle calculation unit <NUM>, a feedback control unit <NUM>, and a feed-forward control unit <NUM>.

In the control system <NUM>, the target course calculation unit 31a, the boom position calculation unit 31b, and the operating signal generation unit 31c of the control device <NUM> cooperate to constitute the target operating amount calculation unit <NUM>, the deflection angle calculation unit <NUM>, the feedback control unit <NUM>, and the feed-forward control unit <NUM>.

In the case of the present embodiment, the control system <NUM> is a control system that controls the actuator of the crane, and includes a signal processing unit (the target value filter <NUM> and the target operating amount calculation unit <NUM>) that generates a signal (the corrected target operating signal AMd) related to a target operating amount of the actuator as illustrated in <FIG>.

In addition, the control system <NUM> includes the feedback control unit <NUM> that controls the actuator on the basis of a difference between the signal (corrected target operating signal AMd) related to the target operating amount and a fed-back signal (actual operating signal Mdr) related to the operating amount of the actuator.

In addition, the control system <NUM> includes the feed-forward control unit <NUM> that controls the actuator on the basis of the signal (corrected target operating signal AMd) related to the target operating amount in cooperation with the feedback control unit <NUM>, and learns characteristics of the actuator by adjusting a weighting factor on the basis of a teacher signal (the difference between the corrected target operating signal AMd and the actual operating signal Mdr).

In addition, the signal processing unit of the control system <NUM> (the target value filter <NUM> and the target operating amount calculation unit <NUM>) removes a pulse-shaped component from an input signal (target moving position signal Pd) to convert the input signal (target moving position signal Pd) into the signal (corrected target operating signal AMd) related to the target operating amount.

Further, the signal processing unit of the control system <NUM> corrects intermediate information (the current position coordinate q(n) of the boom <NUM> and the target position coordinate q(n+<NUM>) of the boom <NUM> which will be described later) generated in the process of generating the signal (corrected target operating signal AMd) related to the target operating amount on the basis of the information related to the deflection of the crane, and generates the signal (corrected target operating signal AMd) related to the target operating amount.

Specifically, the target value filter <NUM> calculates the target course signal Pdα of the load W from the target moving position signal Pd which is the control signal for the target moving position of the load W as illustrated in <FIG>. The target value filter <NUM> corresponds to an example of the signal processing unit and an example of a first processing unit, and attenuates a frequency component equal to or higher than a predetermined frequency included in the target moving position signal Pd.

The target value filter <NUM> receives the target moving position signal Pd of the load W obtained by converting the target moving speed signal Vd of the load moving operation tool <NUM> by the integrator 32a. The integrator 32a corresponds to an example of a front processing unit.

The target moving position signal Pd of the load W corresponds to an example of the input signal input to the signal processing unit. The target moving position signal Pd is, for example, a pulse-shaped (step-shaped) signal. When the target value filter <NUM> is applied, the target moving position signal Pd is converted into the target course signal Pdα from which the pulse-shaped component has been removed.

In other words, when the target value filter <NUM> is applied, the target moving position signal Pd is converted into the target course signal Pdα in which a rapid change in which a time change (in other words, the speed in each axial direction of position coordinates) of a target course has a pulse shape (step shape) is suppressed.

Since the target course signal Pdα does not contain the pulse-shaped component, generation of a singular point (rapid position variation) due to a differential operation in the feed-forward control unit <NUM> is suppressed.

The target value filter <NUM> includes, for example, a transfer function G(s) of Formula (<NUM>). The transfer function G(s) is expressed in a format of a partial fraction decomposition where T<NUM>, T<NUM>, T<NUM>, T<NUM>, C<NUM>, C<NUM>, C<NUM>, and C<NUM> are coefficients and s is a differential element. The transfer function G(s) of Formula (<NUM>) is set for each of the x axis, the y axis, and the z axis. In this manner, the transfer function G(s) can be expressed as a superposition of the transfer functions with the first- order lag. The target value filter <NUM> converts the target moving position signal Pd into the target course signal Pdα by multiplying the target moving position signal Pd of the load W by the transfer function G(s). Note that the target value filter <NUM> is not limited to the case of the present embodiment. The target value filter <NUM> may be various filters capable of attenuating the frequency component equal to or higher than the predetermined frequency from the input signal. For example, the target value filter <NUM> may be a third-order or lower low-pass filter. [Formula <NUM>] <MAT> T<NUM>, T<NUM>, T<NUM>, T<NUM>, C<NUM>, C<NUM>, C<NUM>, and C<NUM>: coefficients, s: differential element.

The target operating amount calculation unit <NUM> corresponds to an example of the signal processing unit and an example of a second processing unit, and generates the corrected target operating signal AMd on the basis of the target course signal Pdα.

Specifically, the target operating amount calculation unit <NUM> generates the target position coordinate p(n+<NUM>), which is the target position of the load W, and the corrected target operating signal AMd of each actuator from the attitude information of the crane <NUM>, the current position information of the load W, and the target course signal Pdα of the load W using the inverse dynamics model. The target operating amount calculation unit <NUM> has the inverse dynamics model.

The target operating amount calculation unit <NUM> is connected in series to the target value filter <NUM>. The target operating amount calculation unit <NUM> calculates the fed-out amount l(n) of the wire rope and the target position coordinate q(n+<NUM>) of the boom <NUM> after the lapse of the unit time t using the inverse dynamics model from the target course signal Pdα acquired from the target value filter <NUM>, the current position coordinate p(n) of the load W calculated from the current position information of the load W acquired from the turning base camera 7b and the attitude information (the turning angle θz(n)) of the crane <NUM>, the elongation/contraction length lb(n), and the raising angle θx(n) acquired from the respective sensors.

Next, the target operating amount calculation unit <NUM> generates the corrected target operating signal AMd representing the target operating amount of each actuator from the target position coordinate q(n+<NUM>) calculated in the inverse dynamics model.

The deflection angle calculation unit <NUM> calculates the information related to the deflection of the crane <NUM>. Specifically, the deflection angle calculation unit <NUM> calculates the deflection angle δ(n) in the vertical direction and the deflection angle ε(n) in the turning direction of the boom <NUM> on the basis of the attitude information of the crane <NUM>, the tension f(n) of the wire rope calculated by the inverse dynamics model of the target operating amount calculation unit <NUM>, and the direction vector e(n) which is the direction of the wire rope.

The deflection angle δ(n) of the boom <NUM> in the vertical direction corresponds to an example of information related to a deflection angle of the boom in the vertical direction. The deflection angle ε(n) of the boom <NUM> in the turning direction corresponds to an example of information related to a deflection angle of the boom in the turning direction.

The deflection angle calculation unit <NUM> is connected in series to the target operating amount calculation unit <NUM>. The deflection angle calculation unit <NUM> acquires the raising angle θx(n) detected by the raising sensor <NUM>, the elongation/contraction length lb(n) which is the attitude information of the crane <NUM> detected by the elongation/contraction sensor <NUM>, the tension f(n) of the wire rope calculated in the inverse dynamics model of the target operating amount calculation unit <NUM>, and the direction vector e(n) which is the direction of the wire rope.

The deflection angle calculation unit <NUM> calculates a radial angle β(n), which is an angle formed by the direction vector e(n) with respect to the axis of the boom <NUM>, and a circumferential angle γ(n) which is an angle of the boom <NUM> in the turning direction formed by the direction vector e(n) with respect to the vertical line (see <FIG>).

Further, the deflection angle calculation unit <NUM> calculates a component force fβ(n) = f(n) × SINβ(n) of the tension f(n) in the raising direction, perpendicular to the axis of the boom <NUM>, and a component force fγ(n) = f(n) × SINγ(n) of the tension f(n) in the turning direction of the boom <NUM>.

As illustrated in <FIG> and <FIG>, the deflection angle calculation unit <NUM> calculates the deflection angle δ(n) in the vertical direction of the boom <NUM> and the deflection angle ε(n) in the turning direction of the boom <NUM> from the raising-direction component force fβ(n) and the turning-direction component force fγ(n).

The deflection angle δ(n) of the boom <NUM> in the vertical direction is calculated from the following Formula (<NUM>), where E is a Young's modulus of a material used for the boom <NUM> and I is an area moment of inertia of the boom <NUM>.

Similarly, the deflection angle ε(n) of the boom <NUM> in the turning direction is calculated from the following Formula (<NUM>). The deflection angle calculation unit <NUM> transmits the calculated deflection angle δ(n) of the boom <NUM> in the vertical direction and the deflection angle ε(n) of the boom <NUM> in the turning direction to the target operating amount calculation unit <NUM>.

The deflection angle calculation unit <NUM> may calculate information related to a deflection of a vehicle body of the crane <NUM> as the information related to the deflection. The deflection angle calculation unit <NUM> transmits the information related to the deflection of the vehicle body of the crane <NUM> to the target operating amount calculation unit <NUM>. [Formula <NUM>] <MAT>
[Formula <NUM>] <MAT>.

As illustrated in <FIG>, when acquiring the deflection angle δ(n) of the boom <NUM> in the vertical direction and the deflection angle ε(n) of the boom <NUM> in the turning direction, the target operating amount calculation unit <NUM> corrects the current position coordinate q(n) of the boom <NUM> and the target position coordinate q(n+<NUM>) of the boom <NUM> on the basis of the deflection angle δ(n) in the vertical direction and the deflection angle ε(n) in the turning direction.

The current position coordinate q(n) of the boom <NUM> and the target position coordinate q(n+<NUM>) of the boom <NUM> correspond to examples of the intermediate information generated in the process of generating the corrected target operating signal AMd in the target operating amount calculation unit <NUM>.

Further, the target operating amount calculation unit <NUM> calculates the corrected target operating signal AMd, which is a corrected target operating amount, from the corrected current position coordinate q(n) of the boom <NUM> and target position coordinate q(n+<NUM>) of the boom <NUM>. The corrected target operating signal AMd corresponds to an example of information related to a target operating amount.

The feedback control unit <NUM> generates the feedback operating signal AMd1 that is a feedback operating amount of each actuator generated on the basis of the difference between the corrected target operating signal AMd and the actual operating signal Mdr which represents the actual operating amount of each actuator with respect to the corrected target operating signal AMd.

The feedback control unit <NUM> includes a feedback controller <NUM> that generates the feedback operating signal AMd1. The feedback controller <NUM> is connected in series to the target operating amount calculation unit <NUM>.

The feedback control unit <NUM> can acquire the actual operating signal Mdr from each sensor of the crane <NUM>. The feedback control unit <NUM> is configured to feed back the actual operating signal Mdr to the corrected target operating signal AMd.

The feedback control unit <NUM> acquires the corrected target operating signal AMd of the load W from the target operating amount calculation unit <NUM>. In addition, the feedback control unit <NUM> acquires the actual operating signal Mdr from each sensor of the crane <NUM>.

The feedback control unit <NUM> feeds back (negatively feeds back) the acquired actual operating signal Mdr to the acquired corrected target operating signal AMd. The feedback control unit <NUM> calculates the feedback operating signal AMd1 on the basis of the difference between the actual operating signal Mdr and the corrected target operating signal AMd.

The feed-forward control unit <NUM> generates the feed-forward operating signal AMd2, which is a feed-forward operating amount of each actuator, on the basis of the corrected target operating signal AMd. The feed-forward control unit <NUM> has a learning-type inverse dynamics model <NUM>.

The feed-forward control unit <NUM> includes, for example, the learning-type inverse dynamics model <NUM> in which a plurality of characteristics of the crane <NUM> is represented by n subsystems. The learning-type inverse dynamics model <NUM> is connected in parallel to the target operating amount calculation unit <NUM>.

In addition, in the learning-type inverse dynamics model <NUM>, a plurality of subsystems, namely, a first subsystem SM1, a second subsystem SM2, a third subsystem SM3,. , and an nth subsystem SMn, are coupled in parallel. That is, the respective subsystems of the learning-type inverse dynamics model <NUM> are connected in parallel with the feedback controller <NUM>.

In the learning-type inverse dynamics model <NUM>, a weighting factor w<NUM>, a weighting factor w<NUM>, a weighting factor w<NUM>,. , and a weighting factor wn are assigned to the first subsystem SM1, the second subsystem SM2, the third subsystem SM3,. , and the nth subsystem SMn, respectively.

The feed-forward control unit <NUM> adjusts each of the weighting factors w<NUM>, w<NUM>, w<NUM>,. , and wn of the model on the basis of the difference of the actual operating signal Mdr from the corrected target operating signal AMd. In this manner, the feed-forward control unit <NUM> is configured to be capable of learning the learning-type inverse dynamics model <NUM> having the characteristics of the crane <NUM> by adjusting the weighting factor of the learning-type inverse dynamics model <NUM>.

The feed-forward control unit <NUM> acquires the corrected target operating signal AMd from the target operating amount calculation unit <NUM>. In addition, the feed-forward control unit <NUM> acquires the difference between the actual operating signal Mdr and the corrected target operating signal AMd from the feedback control unit <NUM>.

The feed-forward control unit <NUM> adjusts each of the weighting factors w<NUM>, w<NUM>, w<NUM>,. , and wn of the model on the basis of the difference of the actual operating signal Mdr from the corrected target operating signal AMd. That is, the feed-forward control unit <NUM> adjusts the weighting factor of one layer of the learning-type inverse dynamics model <NUM> on the basis of the difference of the actual operating amount from the target operating amount, whereby characteristics of each subsystem are adapted to actual characteristics of the crane <NUM>.

The feed-forward control unit <NUM> generates the feed-forward operating signal AMd2 of each actuator on the basis of the corrected target operating signal AMd. The feed-forward control unit <NUM> adds the generated feed-forward operating signal AMd2 to the feedback operating signal AMd1.

The control system <NUM> of the crane <NUM> transmits an operating signal (final operating signal), obtained by adding the feedback operating signal AMd1 calculated by the feedback control unit <NUM> and the feed-forward operating signal AMd2 calculated by the feed-forward control unit <NUM>, to each actuator of the crane <NUM>.

After transmitting the feedback operating signal AMd1 and the feed-forward operating signal AMd2 to each actuator, the control system <NUM> feeds back the actual operating signal Mdr detected by each sensor of the crane <NUM> and subtracts the actual operating signal Mdr from the corrected target operating signal AMd. The control system <NUM> adjusts the weighting factor of the learning-type inverse dynamics model <NUM> on the basis of the difference of the actual operating signal Mdr from the corrected target operating signal AMd.

In the control system <NUM>, the difference of the actual operating signal Mdr from the corrected target operating signal AMd decreases as the degree of deviation between the characteristics of the learning-type inverse dynamics model <NUM> of the feed-forward control unit <NUM> and the characteristics of the crane <NUM> decreases.

In addition, the control system <NUM> decreases the amount of adjustment of the weighting factor of the learning-type inverse dynamics model <NUM> as the difference of the actual operating signal Mdr from the corrected target operating signal AMd decreases. That is, as the characteristics of the learning-type inverse dynamics model <NUM> are approximated to the characteristics of the crane <NUM> by learning, the proportion of control using the feedback operating signal AMd1 calculated by the feedback control unit <NUM> decreases, and the proportion of control using the feed-forward operating signal AMd2 increases in the control system <NUM>.

Next, feed-forward learning control of the crane <NUM> in the control system <NUM> will be described in detail with reference to <FIG>.

As illustrated in <FIG>, in step S100, the control system <NUM> starts a target course calculation process A and causes the step to transition to step S101 (see <FIG>). Then, when the target course calculation process A ends, the step transitions to step S200 (see <FIG>).

In step S200, the control system <NUM> starts a boom position calculation process B and causes the step to transition to step S201 (see <FIG>). Then, when the boom position calculation process B ends, the step transitions to step S300 (see <FIG>).

In step S300, the control system <NUM> starts a boom position correction process C and causes the step to transition to step S301 (see <FIG>). Then, when the boom position correction process C ends, the step transitions to step S110 (see <FIG>).

As illustrated in <FIG>, in step S110, the control system <NUM> causes the target operating amount calculation unit <NUM> to calculate the corrected target operating signal AMd from the corrected target position coordinate q(n+<NUM>) of the boom <NUM>, and causes the step to transition to step S120. The target position coordinate q(n+<NUM>) of the boom <NUM> before the correction is simply referred to as the target position coordinate q(n+<NUM>) of the boom <NUM>. On the other hand, the target position coordinate q(n+<NUM>) of the boom <NUM> after correction is referred to as the corrected target position coordinate q(n+<NUM>) of the boom <NUM>.

In step S120, the control system <NUM> acquires the actual operating signal Mdr from each sensor of the crane <NUM>, and causes the step to transition to step S130.

In step S130, the control system <NUM> causes the feedback control unit <NUM> to calculate a difference between the corrected target operating signal AMd and the actual operating signal Mdr, and causes the step to transition to step S140.

In step S140, the control system <NUM> causes the feedback controller <NUM> to generate the feedback operating signal AMd1 on the basis of the difference between the corrected target operating signal AMd and the actual operating signal Mdr, and causes the step to transition to step S150.

In step S131, the control system <NUM> causes the feed-forward control unit <NUM> to adjust the weighting factors w<NUM>, w<NUM>, w<NUM>,. , wn of the learning-type inverse dynamics model <NUM> on the basis of the difference between the corrected target operating signal AMd and the actual operating signal Mdr, and causes the step to transition to step S400.

In step S400, the control system <NUM> starts the boom position calculation process B and causes the step to transition to step S401 (see <FIG>). Then, when the boom position calculation process B ends, the step transitions to step S500 (see <FIG>).

In step S500, the control system <NUM> starts the boom position correction process C and causes the step to transition to step S501 (see <FIG>). Then, when the boom position correction process C ends, the step transitions to step S132 (see <FIG>).

In step S132, the control system <NUM> generates the corrected feed-forward operating signal AMd2 from the target position coordinate q(n+<NUM>), and causes the step to transition to step S150.

In step S150, the control system <NUM> adds the feedback operating signal AMd1 and the feed-forward operating signal AMd2, and causes the step to transition to step S160.

In step S160, the control system <NUM> transmits a signal (also referred to as a final operating signal) obtained by adding the feedback operating signal AMd1 and the feed-forward operating signal AMd2 to each actuator of the crane <NUM>, and causes the step to transition to step S100.

As illustrated in <FIG>, the control system <NUM> acquires the target moving speed signal Vd of the load W in step S101 of the target course calculation process A. The target moving speed signal Vd of the load W is a signal input as the operator operates the load moving operation tool <NUM>.

Next, in step S102 of <FIG>, the control system <NUM> acquires the target moving position signal Pd of the load W. The target moving position signal Pd of the load W is a signal generated by integrating the target moving speed signals Vd by the integrator 32a.

Next, in step S103 of <FIG>, the control system <NUM> acquires the target course signal Pdα. The target course signal Pdα is a signal calculated by filtering the target moving position signal Pd by the target value filter <NUM>. Then, the control system <NUM> ends the target course calculation process A and causes the step to transition to step S200 (see <FIG>).

As illustrated in <FIG>, in steps S201 and S401 of the boom position calculation process B, the control system <NUM> causes the target operating amount calculation unit <NUM> to calculate the current position coordinate q (n) of the boom <NUM> from the turning angle θz(n) of the turning base <NUM>, the elongation/contraction length lb(n), and the raising angle θx(n) of the boom <NUM>, and causes the step to transition to steps S202 and S402.

In steps S202 and S402, the control system <NUM> causes the target operating amount calculation unit <NUM> to calculate the fed-out amount l(n) of the wire rope from the current position coordinate p(n) of the load W and the current position coordinate q(n) of the boom <NUM> using the above Formula (<NUM>), and causes the step to transition to steps S203 and S403.

In steps S203 and S403, the control system <NUM> causes the target operating amount calculation unit <NUM> to calculate the target position coordinate p(n+<NUM>) of the load W, which is the target position of the load W after the lapse of the unit time t from the target course signal Pdα, with the current position coordinate p(n) of the load W as the reference, and causes the step to transition to steps S204 and S404.

In steps S204 and S404, the control system <NUM> causes the target operating amount calculation unit <NUM> to calculate the acceleration of the load W from the current position coordinate p(n) of the load W and the target position coordinate p(n+<NUM>) of the load W, calculates the direction vector e(n+<NUM>) of the wire rope using the gravitational acceleration and the above Formula (<NUM>), and causes the step to transition to steps S205 and S405.

In steps S205 and S405, the control system <NUM> causes the target operating amount calculation unit <NUM> to calculate the target position coordinate q(n+<NUM>) of the boom <NUM> from the calculated wire rope fed-out amount l(n) and direction vector e(n+<NUM>) of the wire rope using the above Formula (<NUM>), ends the boom position calculation process B, and causes the step to transition to step S300 or step S500 (see <FIG>).

As illustrated in <FIG>, in steps S301 and S501 of the boom position correction process C, the control system <NUM> causes the deflection angle calculation unit <NUM> to calculate the radial angle β(n) that is an angle formed by the direction vector e(n) with respect to the axis of the boom <NUM> from the tension f(n) of the wire rope and the direction vector e(n), which is a direction of the wire rope, and the circumferential angle γ(n) that is an angle of the boom <NUM> in the turning direction formed by the direction vector e(n) with respect to the vertical line, and causes the step to transition to steps S302 and S502.

In steps S302 and S502, the control system <NUM> causes the deflection angle calculation unit <NUM> to calculate the raising-direction component force fβ(n) of the tension f(n) from the tension f(n) of the wire rope and the radial angle β(n) and calculate the turning-direction component force fγ(n) of the tension f(n) from the tension f(n) of the wire rope and the circumferential angle γ(n), and causes the step to transition to steps S303 and S503.

In steps S303 and S503, the control system <NUM> causes the deflection angle calculation unit <NUM> to calculate the deflection angle δ(n) of the boom <NUM> in the vertical direction from the raising-direction component force fβ(n) of the tension f(n) using the above Formula (<NUM>) and calculate the deflection angle ε(n) in the turning direction of the boom <NUM> from the turning-direction component force fγ(n) of the tension f(n) using the above Formula (<NUM>). Then, the control system <NUM> transmits the deflection angle δ(n) in the vertical direction and the deflection angle ε(n) in the turning direction to the target operating amount calculation unit <NUM>, and causes the steps to proceed to steps S304 and S504.

In steps S304 and S504, the control system <NUM> causes the target operating amount calculation unit <NUM> to correct the current position coordinate q(n) of the boom <NUM> and the target position coordinate q(n+<NUM>) of the boom <NUM> on the basis of the deflection angle δ(n) in the vertical direction and the deflection angle ε(n) in the turning direction of the boom <NUM>, ends the boom position correction process C, and causes the step to transition to steps S110 and S132 (see <FIG>). The current position coordinate q(n) of the boom <NUM> and the target position coordinate q(n+<NUM>) of the boom <NUM> correspond to examples of the intermediate information generated in the process of generating the signal related to the target operating amount (corrected target operating signal AMd).

The control system <NUM> of the crane <NUM> repeats the target course calculation process A and the boom position calculation process B to calculate the target position coordinate q(n+<NUM>) of the boom <NUM> and calculate the direction vector e(n+<NUM>) of the wire rope on the basis of the fed-out amount l(n+<NUM>) of the wire rope, the current position coordinate p(n+<NUM>) of the load W, and the target position coordinate p(n+<NUM>) of the load W after the lapse of the unit time t.

In addition, the control system <NUM> further calculates the target position coordinate q(n+<NUM>) of the boom <NUM> after the lapse of the unit time t on the basis of the fed-out amount l(n+<NUM>) of the wire rope and the direction vector e(n+<NUM>) of the wire rope.

That is, the control system <NUM> calculates the direction vector e(n) of the wire rope, and uses the inverse dynamics to sequentially calculate the target position coordinate q(n+<NUM>) of the boom <NUM> after the lapse of the unit time t on the basis of the current position coordinate p(n+<NUM>) of the load W, the target position coordinate p(n+<NUM>) of the load W, and the direction vector e(n+<NUM>) of the wire rope.

The control system <NUM> generates the corrected target operating signal AMd on the basis of the target position coordinate q(n+<NUM>) of the boom <NUM> and controls each actuator.

The learning-type inverse dynamics model <NUM> of the control system <NUM> includes the plurality of subsystems having apparent physical characteristics. In addition, the learning-type inverse dynamics model <NUM> can be regarded as a one-layer neural network by multiplying outputs from the plurality of subsystems by respective weighting factors.

The learning-type inverse dynamics model <NUM> can make physical characteristics of the first subsystem SM1, the second subsystem SM2, the third subsystem SM3,. , and the nth subsystem SMn to be approximated to the characteristics of the crane <NUM> by adjusting the weighting factors w<NUM>, w<NUM>, w<NUM>,. , and wn independently on the basis of the difference between the target operating signal Md (corrected target operating signal AMd) and the actual operating signal Mdr.

In addition, the control system <NUM> of the crane <NUM> corrects the current position coordinate q(n) of the boom <NUM> and the target position coordinate (n+<NUM>) of the boom <NUM> on the basis of the information related to the deflection of the crane <NUM> in the boom position correction process C, thereby generating the corrected target operating signal AMd of each actuator of the crane in consideration of the deflection of the boom <NUM>. As a result, the control system <NUM> of the crane <NUM> can suppress the influence of the deflection of the boom <NUM> that changes depending on the elongation/contraction length of the boom <NUM>. The information related to the deflection of the crane <NUM> may include the information related to the deflection of the vehicle body of the crane <NUM> together with the information related to the deflection angle of the boom <NUM>.

In this manner, the control system <NUM> of the crane <NUM> identifies the weighting factors w<NUM>, w<NUM>, w<NUM>,. , and wn of the learning-type inverse dynamics model <NUM> while considering the deflection of the boom <NUM> and flexibly responding to changes in dynamic characteristics thereof during the operation of the crane <NUM>.

That is, in the control system <NUM>, a high-order transfer function is adjusted for each of the plurality of low-order subsystems, namely, first subsystem SM1, second subsystem SM2, third subsystem SM3,. , and nth subsystem SMn.

In addition, the control system <NUM> takes into account the amount of elastic deformation (the information related to the deflection) of the boom <NUM> that is not calculable by the learning-type inverse dynamics model <NUM>, and thus, a calculation accuracy of the target position coordinate q(n+<NUM>) of the boom <NUM> is improved.

As a result, when the actuator is controlled with the load W as a reference, the control system <NUM> can move the load W in a mode according to the operator's intention while suppressing the swinging of the load W by learning the dynamic characteristics of the crane <NUM> in consideration of the deflection of the boom <NUM> from the motion of the load W.

Note that the control system <NUM> includes the learning-type inverse dynamics model <NUM> as the plurality of subsystems in the present embodiment, but any other model with apparent physical characteristics may be included.

In addition, the corrected target operating signal AMd input to the learning-type inverse dynamics model <NUM> is generated on the basis of the target course signal Pdα filtered by the target value filter <NUM> that is the low-pass filter, and thus, the generation of the singular point in the differential operation in the feed-forward control unit <NUM> is suppressed in the control system <NUM>. Therefore, convergence of learning of the learning-type inverse dynamics model <NUM> in the control system <NUM> is promoted.

Claim 1:
A work machine control system (<NUM>) that is configured to control an actuator (<NUM>, <NUM>) of a work machine (<NUM>) having a boom (<NUM>), the work machine control system (<NUM>) comprising:
a signal processing unit (<NUM>, <NUM>) that is configured to generate a signal related to a target operating amount of the actuator (<NUM>, <NUM>) from an input signal; and
a feedback control unit (<NUM>) that is configured to control the actuator (<NUM>, <NUM>) based on a difference between the signal related to the target operating amount and a signal related to a fed-back operating amount of the actuator (<NUM>, <NUM>);
characterized in that
the work machine control system (<NUM>) further comprises:
a feed-forward control unit (<NUM>) that is configured to control the actuator (<NUM>, <NUM>) based on the signal related to the target operating amount in cooperation with the feedback control unit (<NUM>), and is configured to learn characteristics of the actuator (<NUM>, <NUM>) by adjusting a weighting factor based on a teacher signal; and
a calculation unit (<NUM>) that is configured to calculate information related to a deflection of the work machine (<NUM>),
wherein the signal processing unit (<NUM>, <NUM>) is configured to correct intermediate information, which is generated in a process of generating the signal related to the target operating amount, based on the information related to the deflection obtained from the calculation unit (<NUM>), and is configured to generate the signal related to the target operating amount.