PROBLEM TO BE SOLVED: To provide a crane swinging stopping method that enables highly accurate stopping of swinging even when the measuring accuracy of a swing angle is low.SOLUTION: The acceleration pattern of a trolley 2 for moving the trolley 2 and stopping swinging of a suspended load 13 suspended with a suspending rope 12 by the trolley 2 at the end of the movement is generated on the basis of a preset rope length or swing cycle, and the swinging stop control of the suspended load 13 is executed by controlling the speed of the trolley 2 on the basis of a speed pattern calculated by integrating the acceleration pattern. During the execution of the swinging control, the acceleration pattern is corrected by calculating an effective rope length or swing cycle from multiple measured values of the swing angle of the suspended rope 12.SELECTED DRAWING: Figure 1

    【課題】本発明は、振れ角の計測精度が低いときでも、より高精度の振れ止めを可能とするクレーンの振れ止め制御方法を提供することを目的とする。【解決手段】予め定めたロープ長または振れ周期に基づき、トロリー2を移動させると共に移動の終了時に吊りロープ12でトロリー2が懸垂している吊り荷13の振れを止まらせるための、トロリー2の加速度パターンを生成し、これを積分して求めた速度パターンに基づきトロリー2の速度を制御して、吊り荷13の振れ止め制御を実行する。その際、振れ止め制御の実行中に、吊りロープ12の振れ角の多数の計測値から実効ロープ長または振れ周期を求め、前記の加速度パターンを修正する。【選択図】 図1


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    Title :

    METHOD AND DEVICE FOR STOPPING CRANE SWINGING


    Additional title:

    クレーンの振れ止め制御方法、及びクレーンの振れ止め制御装置


    Contributors:

    Publication date :

    2017-10-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B66C Krane , CRANES



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