To provide a suspended load control method for stabilizing the behavior of a suspended load after a holding command and quickly braking the suspended load.SOLUTION: A suspended load control method for releasing an electromagnetic brake of a gimbal motor in response to a holding command to tilt a gimbal according to turning of a suspended load, and braking the turning suspended load by a gyro effect, comprises: a first suspended-load angular-velocity determination step of determining whether a turning velocity of the suspended load is equal to or lower than a predetermined angular velocity or not; a suspended-load angular-velocity stable period determination step of determining whether the angular velocity is stable when the suspended load has the predetermined angular velocity or lower; and a power forcible-disconnection step of forcibly disconnecting power of the gimbal motor by means of an electromagnetic clutch when the suspended-load angular-velocity determination step and the suspended-load angular-velocity stable period determination step are suitable.SELECTED DRAWING: Figure 6
【課題】保持指令後に吊荷の挙動を安定させ、且つ素早く制動させる吊荷制御方法を提供する。【解決手段】保持指令によってジンバル用モータの電磁ブレーキを解放することで吊荷の旋回に応じてジンバルを傾動させ、ジャイロ効果によって、旋回中の吊荷を制動させる吊荷制御方法において、吊荷の旋回速度が所定角速度以下であるかを判定する第1の吊荷角速度判定工程と、吊荷が所定角速度以下である場合に、その角速度が安定しているかを判定する吊荷角速度安定期判定工程と、吊荷角速度判定工程及び吊荷角速度安定期判定工程が適合した場合に電磁クラッチによって、強制的にジンバル用モータの動力を切断する動力強制切断工程と、を含む方法。【選択図】図6
SUSPENDED LOAD CONTROL METHOD
吊荷制御方法
2024-03-13
Patent
Electronic Resource
Japanese
IPC: | B66C Krane , CRANES |
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