PROBLEM TO BE SOLVED: To provide a skew swing stop control device which quickly attenuates a skew swing of a hanging load.SOLUTION: A skew swing stop control device which attenuates a skew swing by operating a cylinder comprises: the detection means of a skew angle; the detection means of an actual position of the cylinder; means for calculating an amplitude of a cylinder position command on the basis of the detected skew angle; phase difference calculation means 10 for predicting and calculating a phase difference between the cylinder position command and a cylinder actual position on the basis of a cylinder speed, a skew vibration cycle and the amplitude; skew control means 13 for creating the cylinder position command at which a phase is progressed by a phase difference prediction value with respect to an ideal position command which should be outputted when there is no phase difference between the cylinder position command and the cylinder actual position on the basis of the phase difference prediction value, a skew angle and a control gain; and cylinder position control means 14 for controlling a cylinder position on the basis of a difference between the cylinder position command which is outputted from the skew control means 13 and the cylinder actual position.SELECTED DRAWING: Figure 1
【課題】吊り荷のスキュー振れを速やかに減衰させる振れ止め制御装置を提供する。【解決手段】シリンダを動作させてスキュー振れを減衰させるスキュー振れ止め制御装置において、スキュー角の検出手段と、シリンダの実際の位置の検出手段と、検出したスキュー角に基づいてシリンダ位置指令の振幅を演算する手段と、シリンダ速度とスキュー振動周期と上記振幅とに基づいて、シリンダ位置指令とシリンダ実際位置との位相差を予測演算する位相差演算手段10と、位相差予測値とスキュー角と制御ゲインとに基づいて、シリンダ位置指令とシリンダ実際位置との位相差がない場合に出力するべき理想位置指令に対して位相差予測値だけ位相が進んだシリンダ位置指令を生成するスキュー制御手段13と、スキュー制御手段13から出力されたシリンダ位置指令とシリンダ実際位置との差に基づいてシリンダ位置を制御するシリンダ位置制御手段14と、を備える。【選択図】図1
SKEW SWING STOP CONTROL DEVICE OF HANGING LOAD
吊り荷のスキュー振れ止め制御装置
2017-09-07
Patent
Elektronische Ressource
Japanisch
IPC: | B66C Krane , CRANES |
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