To provide a swing steady rest device of a crane and a crane capable of stably converging swinging of a suspended load while suppressing the effect of string vibration of the suspended load.SOLUTION: A swing steady rest device 70 includes a control amount calculation section 700F, a control gain setting section 726, a filter processing section 700H, and a target speed calculation section 727. The control amount calculation unit 700F calculates five state quantities: lifting load displacement, lifting load speed, swing displacement of the tip of a jib 18, swing speed of the tip of the jib 18, and a swing angle of a swing body 12, when the swing operation is stopped. The control gain setting section 726 sets five control gains corresponding to each state quantity from a predetermined state equation. The filter processing section 700H performs filter processing to remove the effect of string vibration of a main winding rope 50 on the suspended load displacement and suspended load speed. The target speed calculation section 727 calculates the swing speed to suppress the swing of the suspended load from the five state quantities and five control gains.SELECTED DRAWING: Figure 2
【課題】吊荷の弦振動の影響を抑制しながら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、フィルタ処理部700Hと、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、ジブ18の先端部の旋回変位、ジブ18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、所定の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。フィルタ処理部700Hは、吊荷変位および吊荷速度に対して主巻ロープ50の弦振動の影響を除去するフィルタ処理を実行する。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
SWING STEADY REST DEVICE OF CRANE AND CRANE EQUIPPED WITH THE SAME
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
2022-03-17
Patent
Electronic Resource
Japanese
IPC: | B66C Krane , CRANES |
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