To provide a swing stop control method of a revolving crane capable of shortening a conveyance time of a suspended cargo by eliminating residual swing during the stope of the crane in the swing stop control of the revolving crane.SOLUTION: A swing stop control method of a revolving crane 1 performs feedforward control for stopping the swing of a suspended cargo 5 after arriving at an end point when the suspended cargo 5 is conveyed from a start point to the end point by using the revolving crane 1 having a boom 11. The residual swing amount is estimated by using a temporary acceleration pattern or a temporary speed pattern for conveying the suspended cargo 5 from the start point to the end point. A compensation pattern for cancelling the estimated residual swing amount is calculated. After arriving at the end point, the compensation pattern is applied to the temporary acceleration pattern or the temporary speed pattern by going back the time that is the integral multiple of a swing period of the suspended cargo so as to calculate the acceleration pattern or the speed pattern for conveying the suspended cargo 5. The suspended cargo 5 is conveyed by using the calculated acceleration pattern or the temporary acceleration pattern.SELECTED DRAWING: Figure 1
【課題】旋回式クレーンの振れ止め制御において、クレーン停止時においての残留振れをなくすことで、吊り荷の搬送時間の短縮化することができる、旋回式クレーンの振れ止め制御方法を提供する。【解決手段】ブーム11を有する旋回式クレーン1を用いて吊り荷5を始点から終点まで搬送する際に、終点到着後の吊り荷5の振れ止めをフィードフォワード制御する、旋回式クレーン1の振れ止め制御方法であって、始点から終点まで吊り荷5を搬送させる仮加速度パターン又は仮速度パターンを用いて、残留振れ量を推定し、推定された残留振れ量を打ち消す補償パターンを算定し、この補償パターンを終点到着後、吊り荷の振れ周期の整数倍の時間を遡って仮加速度パターン又は仮速度パターンに印加して、吊り荷5を搬送させる加速度パターン又は速度パターンを算定し、算定された加速度パターン又は仮加速度パターンを用いて吊り荷5を搬送する。【選択図】 図1
SWING STOP CONTROL METHOD OF REVOLVING CRANE
旋回式クレーンの振れ止め制御方法
2023-06-14
Patent
Electronic Resource
Japanese
IPC: | B66C Krane , CRANES |
SWING STOP DEVICE FOR CRANE AND CRANE INCLUDING THE SAME
European Patent Office | 2023
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