Provided is a crane that is capable of effectively suppressing oscillation related to the pendulum resonance frequency generated in a suspended load on the basis of the suspended length of a wire rope. The crane 1 calculates a suspended load oscillation resonance frequency ωx(n) determined on the basis of the suspended length L(n) of a wire rope (14·16), and generates a control signal C(n) for an actuator according to an operation signal, and, on the basis of the resonance frequency ωx(n), generates from the control signal C(n) a filtering control signal Cd(n) for the actuator. The frequency range of the attenuated frequency component and/or the percentage of attenuation is altered on the basis of the suspended length L(n) of the wire rope (14·16), which is the length of the wire rope plus sling to a position of a center of gravity of the load.
クレーン
2021-05-12
Patent
Elektronische Ressource
Japanisch
IPC: | B66C Krane , CRANES |