Method of swing stopping control and system of swing stopping control of suspended load of crane

Abstract

The invention provides a method of a swing stopping control and system of swing stopping control of suspended load of a crane. The method of swing stopping control of a suspended load of a crane including a hoist and a trolley solves an equation of motion, given as an equation with respect to the deviation angle of a suspended load from the vertical direction when the trolley travels, for the trolley acceleration to thereby obtain the value of the acceleration or deceleration of the trolley, obtains speed patterns corresponding to the values of the acceleration or deceleration, drives the trolley according to the obtained speed patterns, and carries out control so that the deviation angle of the suspended load from the vertical direction becomes zero at the time when the acceleration or deceleration of the trolley is ended. Thus, even if the length of a rope holding the suspended load up is changed, a required speed pattern is produced by relatively simple operation of trolley start deceleration when the traveling position deviation of the trolley relative to the target position equals to the deceleration start distance to perform swing stop of the suspended load, thereby permitting highly accurate positioning.

Description

technical field [0001] The present invention relates to a method of swing stop control and a traveling wheel for transporting a suspended load to a target when used in a suspension type crane used for loading and unloading parts at places such as ports, ironworks and various factories A swing stop control system that stops the swing of the suspended load of a suspension type crane while in position. Background technique [0002] When loading and unloading work by using a suspension type crane, from the viewpoint of improving the efficiency of loading and unloading work by reducing the cycle time, in general, it is not only necessary to make the suspended load accurately in a short time The positioning control to reach the target position also requires swing stop control that reduces the deviation angle of the ropes that suspend the load with respect to the vertical direction to zero when the suspended load is transported to the target position. In order to realize such swin...

AI Technical Summary

Problems solved by technology

Thus, in the case where the length of the rope changes, the related art cannot be directly applied to the case

[0008] In the related art according to JP-A-7-257876, there is a problem in that forming a speed pattern in which the speed of the road wheel changes during acceleration or deceleration of the road wheel requires complicated acceleration correction calculations

[0009] Furthermore, in the case of performing swing stop control generally compared to a suspended load that is a simple pendulum, the reference swing period set in advance changes the swing condition of the suspended load, making it difficult to set the swing period to an optimum value

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