PROBLEM TO BE SOLVED: To provide a swing angle calculation device which can estimate a swing angle by calculation processing even if the erroneous detection of the swing angle and a detection error temporarily occur.SOLUTION: A swing angle calculation device for creating a swing angle estimation value by calculation-processing a swing angle detection value of a hanging load which is suspended from a trolley in a prescribed cycle comprises: a detection value abnormality determination part 11 for determining a normality/abnormality of the swing angle detection value; a last-time estimation value/angular speed storage part 13 for calculating a swing angle speed from the swing angle estimation value in the last-time calculation cycle, and stores it; and a swing angle estimation part 12 which creates the swing angle detection value as a this-time swing angle estimation value when it is determined that the swing angle detection value is normal, and creates the this-time swing angle estimation value on the basis of the swing angle estimation value and the swing angle speed in the last-time calculation cycle which is stored in the last-time estimation value/angular speed storage part 13 when it is determined that the swing angle detection value is abnormal.SELECTED DRAWING: Figure 1
【課題】振れ角の誤検出や検出エラーが一時的に発生した場合でも、演算処理によって振れ角を推定可能とした振れ角演算装置を提供する。【解決手段】トロリーから吊り下げされた吊り荷の振れ角検出値を所定周期にて演算処理することにより振れ角推定値を生成する振れ角演算装置において、振れ角検出値の正常/異常を判定する検出値異常判定部11と、前回演算周期における振れ角推定値から振れ角速度を演算し、これらを保存する前回推定値・角速度保存部13と、振れ角検出値を正常と判定した時には振れ角検出値を今回の振れ角推定値として生成し、振れ角検出値を異常と判定した時には、前回推定値・角速度保存部13に保存された前回演算周期の振れ角推定値及び振れ角速度に基づいて今回の振れ角推定値を生成する振れ角推定部12と、を備える。【選択図】図1
SWING ANGLE CALCULATION DEVICE OF HANGING LOAD
吊り荷の振れ角演算装置
2017-09-07
Patent
Elektronische Ressource
Japanisch
IPC: | B66C Krane , CRANES |
Helicopter hanging load swing control balancing device
Europäisches Patentamt | 2023
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