To provide a control device of a suspension-type crane and an inverter device capable of enabling a swing-stop control by a simple simulation without using an optical sensor.SOLUTION: A control device of a suspension-type crane transports a suspended load 4 suspended by a rope 3 from a trolley 1 by driving the trolley 1 or a girder 2. The control device of the suspension-type crane comprises: a crane simulator part 11A that simulates a swing angle estimated value of the suspended load 4 and a speed estimated value of the trolley 1 using a speed command to the trolley 1, the length of a rope 3, a speed response time constant, and the gravitational acceleration; a swing-stop control part 12 that generates a speed correction signal for suppressing the swing of the suspended load 4 using the speed command to the trolley 1, the swing angle estimated value, the speed estimated value, the natural angular frequency of the suspended load 4, and a damping coefficient; and addition means 13 that adds the speed correction signal to the speed command. The control device drives the trolley 1 by the speed command after the correction.SELECTED DRAWING: Figure 5

    【課題】光学式センサを用いず簡易なシミュレーションによって振れ止め制御を可能にした懸架式クレーンの制御装置及びインバータ装置を提供する。【解決手段】トロリー1からロープ3により懸架された吊荷4を、トロリー1またはガーダー2を駆動することにより搬送する懸架式クレーンの制御装置において、トロリー1の速度指令、ロープ3の長さ、速度応答時定数、及び重力加速度を用いて、吊り荷4の振れ角推定値及びトロリー1の速度推定値を模擬するクレーンシミュレータ部11Aと、トロリー1に対する速度指令、前記振れ角推定値、前記速度推定値、吊り荷4の固有角周波数、及びダンピング係数を用いて、吊り荷4の振れを抑制するための速度補正信号を生成する振れ止め制御部12と、前記速度補正信号を速度指令に加算する加算手段13と、を備え、補正後の速度指令によりトロリー1を駆動する。【選択図】図5


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    Title :

    CONTROL DEVICE OF SUSPENSION-TYPE CRANE AND INVERTER DEVICE


    Additional title:

    懸架式クレーンの制御装置及びインバータ装置


    Contributors:

    Publication date :

    2021-07-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B66C Krane , CRANES



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