Provided are a crane and a crane control method wherein, when controlling an actuator using a load as a reference, the load can be made to move along a target track while swinging of the load is suppressed. The present invention comprises an acceleration sensor (22) that detects the acceleration of a load W, wherein a target velocity signal Vd is converted into target location coordinates p(n+1) of the load W, current location coordinates q(n) of a boom (9) are calculated from a slewing angle θz(n), a luffing angle θx(n), and an expansion/contraction length lb(n), the spring constant kf(n) of a wire rope is calculated from the previously calculated location of the load W from a unit time t earlier, the current location coordinates (n) of the boom (9), and the current accelerations Gx(n), Gy(n), Gz(n) of the load W as detected by the acceleration sensor (22), target location coordinates q(n+1) of the boom (9) are calculated from the accelerations Gx(n), Gy(n), Gz(n), the spring constant kf(n), and the target location coordinates (n+1) of the load W, and an actuator operation signal Md is generated.
CRANE AND CRANE CONTROL METHOD
KRAN UND KRANSTEUERUNGSVERFAHREN
GRUE ET PROCÉDÉ DE COMMANDE DE GRUE
2024-03-20
Patent
Electronic Resource
English
IPC: | B66C Krane , CRANES |