ANTI-SWINGING/POSITIONING CONTROL DEVICE FOR CRANE AND CONTROL METHOD

摘要

PURPOSE: To concurrently attain the anti-swinging of a suspended load and the positioning to the target position in a short time without enlarging a control device or sharply complicating the control even if there is an initial deflection, a deflection by a disturbance such as a gust, or a deflection due to the calculation error of the deflection cycle. ;CONSTITUTION: The anti-swinging positioning control device of a crane 1 is provided with measuring devices of the position and speed of the crane 1 and the deflection angle and deflection angular velocity of a wire rope 2, the speed control device 15 of the crane 1, and a control speed instruction calculating device 17 inputted with detected values from the measuring devices and outputting the control speed instruction to the speed control device 15, and the control speed instruction calculating device 17 calculates and outputs the control speed instruction concurrently attaining the anti-swinging and positioning in sequence from the outputs of the measuring devices.;COPYRIGHT: (C)1994,JPO&Japio