Device for preventing sway of suspended load

Abstract

A device for preventing sway of a suspended load, which does not require complex calculation for removing a frictional resistance component. The device has a speed control device (14) for outputting a torque command based on a speed command, a torque command filter (16), and a load torque observer (4) for estimating load torque. The device outputs a value formed by adding a load torque estimation signal to an output of the torque command filter (16). The device also has a bypass filter (32) for outputting a signal TRFLHPF obtained by removing a frictional resistance component from the load torque estimation signal and also has a sway angle calculator (33) for outputting an estimated calculated value theta e of sway angle obtained by multiplying a sway angle calculator factor to the output signal TRFLHPF. A value inputted to the speed control device (14) is obtained by deducting a damping compensation signal NRFDP that is obtained by damping-compensating the estimated calculation value theta e of sway angle from a speed command created by a speed pattern creation circuit (11).

Description

technical field [0001] The present invention relates to a hoisting load swing prevention device for suppressing load swing during lateral movement of an unloader or bridge crane that unloads raw materials from a ship docked with iron ore or coal, for example. Background technique [0002] As a conventional swing prevention control technique for suspended loads, there is a "swing angle damping control method" described in Patent Document 1, for example. [0003] Figure 8 It is a block diagram of the traveling drive control device 220 described in patent document 1. [0004] Input the speed command signal of the speed command unit 221 into the linear command unit 222 to obtain the ramp speed command N RF0 . And, either one of the actually measured swing angle θ detected by the swing angle detector 229 of the rope and the swing angle Eθ calculated by the rope swing angle calculator 238 is selected by selecting the changeover switch 239 . Here, when the swing angle Eθ calcul...

AI Technical Summary

Problems solved by technology

[0017] However, generally in an unloader or a bridge crane, etc., it is difficult to install the swing angle detector 229 in the structure of the equipment.

[0018] In addition, when calculating the swing angle of the sling, the calculation of friction resistance removal requires the weight and friction coefficient of the trolley or hoisted load, so the calculation is complicated

[0019] Moreover, in order to obtain the angular frequency ω e It is necessary to measure the length Le of the lifting sling, and the calculation is still complicated

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