[Problem] To provide a controller capable of preventing occurrence of an irregular winding and a damage of a hook hardware in an automatic extension and an automatic retraction of a boom.[Solution] A controller calculates a theoretical payout length X1(θ) of a wire in a posture in which a hook block is raised, a theoretical payout length X2(θ) of the wire in a posture in which the hook block is lying, dX1(θ)/dt, and dX2(θ)/dt, using a length L of the boom, A and B (first specified values) indicating coordinates of a hook hardware, a length K (second specified value) being a sum of a length of the hook block and a length of a hook hardware, and a derricking angle θ of the boom (S14, S21). The controller makes the boom stand and lie at a constant speed of F = dθ/dt (S23), and makes a winch drive at a wind-up speed of J × {dX1(θ)/Dt + dX2(θ)/Dt} / 2 taking J × {X1(θ) + X2(θ)} / 2 as a target value (S24).
CONTROLLER, BOOM DEVICE, AND MOBILE CRANE
STEUERUNG, AUSLEGERVORRICHTUNG UND MOBILKRAN
DISPOSITIF DE COMMANDE, DISPOSITIF DE FLÈCHE ET GRUE MOBILE
2023-08-02
Patent
Elektronische Ressource
Englisch
IPC: | B66C Krane , CRANES |