The invention provides a crane which can reduce the swing of a hoisting load even if the length of a steel wire rope is long under the condition that the moving time is short and the jogging operation is carried out. A speed command value (Vout) for load swing suppression control for suppressing load swing of a load is calculated from a load target speed command value (Vtgt) and at least the length of a wire rope, and when the input time of the load target speed command value (Vtgt) reaches a control start waiting time (Twait) or the load target speed command value (Vtgt) starts to decelerate, the control start waiting time (Twait) is controlled to start to decelerate the load target speed command value (Vtgt), and the control start waiting time (Twait) is controlled to start to decelerate the load target speed command value (Vtgt). In other cases, the horizontal movement device is driven on the basis of the speed command value (Vout) of the hoist swing suppression control, and in other cases, the horizontal movement device is driven on the basis of the hoist target speed command value (Vtgt).

    本发明提供一种在移动时间短的情况下、微动操作时,即使钢丝绳长度长的情况下也能够降低吊重摆动的起重机。根据吊重目标速度指令值(Vtgt)和至少钢丝绳的长度运算用于抑制吊重的吊重摆动的吊重摆动抑制控制的速度指令值(Vout),在吊重目标速度指令值(Vtgt)的输入时间到达了控制开始等待时间(Twait),或吊重目标速度指令值(Vtgt)开始了减速的情况下,根据吊重摆动抑制控制的速度指令值(Vout)驱动水平移动装置,在这以外的情况下,根据吊重目标速度指令值(Vtgt)驱动水平移动装置。


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    Title :

    Crane and crane control method


    Additional title:

    起重机和起重机控制方法


    Contributors:
    MOMOI YASUYUKI (author) / ODAI MASAKI (author) / OIKAWA YUGO (author) / IESHIGE KOJI (author)

    Publication date :

    2023-03-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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