PROBLEM TO BE SOLVED: To improve suspended load attitude control capability.SOLUTION: An attitude control device 1 is provided with: a main flywheel 7; a wheel motor 9 that rotates the main flywheel 7 around a rotation axis A1; a frame motor 12 that rotates the main flywheel 7 around a rotation axis A2 with respect to a substrate 2; and a control unit 6 that controls the wheel motor 9 and the frame motor 12. The control unit 6 repeatedly carries out first control for controlling the wheel motor 9 to operate the main flywheel 7 so that the attitude of a suspended load 100 around a vertical direction V can be set to a desired attitude, and second control for controlling the frame motor 12 to rotate a wheel frame 8 around the rotation axis A2 by 180 degrees so that the rotational direction of the main flywheel 7 can be reversed when the angular velocity of the main flywheel 7 reaches a prescribed angular velocity in this order.SELECTED DRAWING: Figure 1
【課題】吊荷の姿勢制御能力を高める。【解決手段】姿勢制御装置1は、メインフライホイール7と、メインフライホイール7を回転軸線A1の周りに回転させるホイールモータ9と、基体2に対してメインフライホイール7を回転軸線A2の周りに回転させる枠モータ12と、ホイールモータ9及び枠モータ12を制御する制御ユニット6と、を備える。制御ユニット6は、ホイールモータ9を制御して鉛直方向Vの周りにおける吊荷100の姿勢が所望の姿勢となるようにメインフライホイール7を動作させる第1制御と、メインフライホイール7の角速度が所定の角速度に達した場合に、枠モータ12を制御して、メインフライホイール7の回転方向が逆向きとなるように回転軸線A2の周りにホイール枠8を180度回転させる第2制御と、をこの順で繰り返し行う。【選択図】図1
SUSPENDED LOAD ATTITUDE CONTROL DEVICE
吊荷の姿勢制御装置
2018-06-14
Patent
Electronic Resource
Japanese
IPC: | B66C Krane , CRANES |
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