To provide a suspended load control method capable of controlling a suspended load safely and imparting brake force immediately to the suspended load even when the connection with a gimbal motor is disconnected during the "holding" operation.SOLUTION: The suspended load control method includes a step (a) for holding a suspended load during rotation by tilting a gimbal and a flywheel during rotation with inertial force while a gimbal shaft is used as a fulcrum so as to generate gyroscopic moment in the reverse direction under the condition where an electromagnetic brake of a gimbal motor for driving the gimbal is opened, a step (a1) for disconnecting the force between the gimbal and the motor by using an electromagnetic clutch, a step (a2) for determining the angular velocity of the gimbal, a step (a3) for determining the inclination angle of the gimbal, a step (a4) for determining the direction of the angular velocity of the gimbal, and a step (a5) for connecting the power of the gimbal motor by operating the electromagnetic clutch again when it is determined to be adapted in at least one of the step (a2) to the step (a4).SELECTED DRAWING: Figure 7
【課題】「保持」動作時にジンバル用モータとの結合を切り離したとしても、吊荷に即座に制動力を与えるとともに、安全に吊荷の制御が行える吊荷制御方法を提供する。【解決手段】ジンバルを駆動するジンバル用モータの電磁ブレーキを開いた状態で、ジンバル及び回転中のフライホイールをジンバル軸を支点として慣性力で傾転させることで逆方向のジャイロモーメントを発生させることにより旋回中の吊荷を保持させる工程(a)と、ジンバルと当該モータとの間を、電磁クラッチを用いて、動力を切断する工程(a1)と、ジンバルの角速度を判定する工程(a2)と、ジンバルの傾き角度を判定する工程(a3)と、ジンバルの角速度の方向を判定する工程(a4)と、工程(a2)〜工程(a4)の少なくとも一方の判定が適合した場合に電磁クラッチを再作動させ、ジンバル用モータの動力を接続する工程(a5)とを含む。【選択図】 図7
SUSPENDED LOAD CONTROL METHOD
吊荷制御方法
2019-07-11
Patent
Electronic Resource
Japanese
IPC: | B66C Krane , CRANES |
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