To provide a slewing swing prevention control device for a crane and a crane capable of stably converging the slewing swing of a suspended load caused by the slewing motion of the crane.SOLUTION: A slewing swing prevention control device 70 comprises a control amount calculation unit 700F, a control gain setting unit 726, and a slewing target speed calculation unit 727. When the slewing operation is stopped, the control amount calculation unit 700F calculates five state quantities: suspended load displacement, suspended load speed, slewing displacement of the tip of the boom 16, slewing speed of the tip of the boom 16, and slewing angle of the slewing body 12. The control gain setting unit 726 sets five control gains corresponding to each state quantity from the equation of state including the item corresponding to the elastic deformation of the boom 16. The slewing target speed calculation unit 727 calculates the slewing speed for suppressing the swing of the suspended load from the five state quantities and the five control gains.SELECTED DRAWING: Figure 2

    【課題】クレーンの旋回動作によって生じる吊荷の旋回振れを安定して収束させることが可能なクレーンの旋回振れ止め装置およびクレーンを提供する。【解決手段】旋回振れ止め装置70は、制御量演算部700Fと、制御ゲイン設定部726と、旋回目標速度演算部727と、を有する。制御量演算部700Fは、旋回動作が停止すると、吊荷変位、吊荷速度、ブーム16の先端部の旋回変位、ブーム16の先端部の旋回速度、旋回体12の旋回角の5つの状態量を演算する。制御ゲイン設定部726は、ブーム16の弾性変形に対応する項を含む状態方程式から各状態量に対応する5つの制御ゲインを設定する。旋回目標速度演算部727は、5つの状態量および5つの制御ゲインから吊荷の振れを抑えるための旋回速度を演算する。【選択図】図2


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    Title :

    SLEWING SWING PREVENTION CONTROL DEVICE FOR CRANE AND CRANE EQUIPPED WITH THE DEVICE


    Additional title:

    クレーンの旋回振れ止め装置およびこれを備えたクレーン


    Contributors:

    Publication date :

    2021-04-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B66C Krane , CRANES



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