CRANE

Abstract

A crane (1) is provided which can effectively correct a reaction delay of a drive device (50) and implement a more accurate vibration suppression drive (M11, M12, M21, M22, M41, M42). The crane (1) comprises a boom (13) suspending a suspended load (E), the drive device (50) driving the boom (13), and a control unit (40) controlling the drive device (50), wherein the control unit (40) inputs a control command containing a vibration suppression pattern (P11, P12, P21, P22, P41, P42) to the drive device (50) to cause the drive device (50) to perform a vibration suppression drive (M11, M12, M21, M22, M41, M42), and when a value of the control command is converted into a command value of acceleration of the boom (13), the vibration suppression pattern (P11, P12, P21, P22, P41, P42) comprises a modified triangular wave,which includes, in sequential order, a first gradient portion (q1, q5, q11, q18) which changes at a predetermined gradient in either a positive or negative direction, an offset portion (q2, q6, q12, q15, q19, q22) in which the command value is shifted in a direction opposite to the change in the first gradient portion (q1, q5, q11, q18), and a third gradient portion (q3, q7) which changes at a predetermined gradient in the direction opposite to the change in the first gradient portion (q1, q5, q11, q18).

Description

BACKGROUND OF THE INVENTIONField of the InventionThe present invention relates to a crane.Description of the Prior ArtJapanese Unexamined Patent Publication No. 2009-029617 discloses a control device that reduces vibration of a load of a crane by inputting a speed command obtained by numerically integrating a predetermined acceleration pattern into a driving device.SUMMARY OF THE INVENTIONHowever, in the control device in Japanese Unexamined Patent Publication No. 2009-029617, there is a problem in that an expected vibration suppression effect due to a response delay of the driving device cannot be obtained.An object of the present invention is to provide a crane that can effectively correct a response delay of a driving device and implement a more accurate vibration suppression drive.According to an aspect of the present invention, there is provided a crane including: a boom that hangs up a floating load; a driving device that drives the boom so that the floating load moves in a first direction; A control unit that controls the driving device, wherein the control unit inputs a control command including a vibration suppression pattern to the driving device to cause the driving device to perform vibration suppression driving, and when a value of the control command is converted into a command value of acceleration of the boom, the vibration suppression pattern includes a modified triangular wave including, in order, a first gradient portion that changes with a predetermined gradient in either a positive or negative direction, an offset portion in which the command value is shifted in a direction opposite to the change in the first gradient portion, and a second gradient portion that changes with a predetermined gradient in the direction opposite to the change in the first gradient portion.There is provided, according to another aspect of the present invention, a crane including: a boom that hangs up a floating load; and a driving device that drives the boom so that the floating load moves in a first direction, wherein the driving device performs vibration suppression driving in which a jerk of the boom changes with respect to a pattern of a plurality of square waves to reduce vibration of the floating load.According to the present invention, it is possible to provide the crane that can effectively correct a response delay of the driving device and implement a more accurate vibration suppression drive.BRIEF DESCRIPTION OF THE FIGURESFIG. 1 is a block diagram showing a crane according to the present embodiment. FIGS. 2A and 2B are time charts showing an example of movement of a boom and an example of a control command in a vibration suppression drive in Embodiment 1, respectively. FIG. 3 is a phase plane diagram showing the vibration suppression drive of FIG. 2. FIGS. 4A-1 and 4A-2, and 4B-1 and 4B-2 are time charts showing examples of movement of a boom and examples of a control command, respectively, in a vibration suppression drive in Embodiment 2. FIG. 5 is a phase plane diagram showing the vibration suppression drive of FIGS. 4A-1 to 4B-2. FIG. 6 is a diagram showing a vibration of a floating load caused by the vibration suppression drive of FIGS. 4A-1 to 4B-2. FIGS. 7A and 7B are time charts showing an example of movement of a boom and an example of a control command, respectively, in vibration suppression drive in Embodiment 3, and FIG. 7C is a phase plane diagram showing an example of movement of a phase point. FIGS. 8A and 8B are time charts showing an example of movement of a boom and an example of a control command, respectively, in vibration suppression drive in Embodiment 4, and FIG. 8C is a phase plane diagram showing an example of movement of a phase point. FIGS. 9A to 9C are time charts showing a vibration suppression drive in Embodiment 5 in consideration of an effect of a centrifugal force. FIGS. 10A and 10B are time charts showing an example of movement of a floating load via the vibration suppression drive in Embodiment 5 and an example of movement of the floating load when the vibration suppression drive is performed without considering the effect of the centrifugal force, respectively.DETAILED DESCRIPTION OF THE INVENTIONHereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.FIG. 1 is a block diagram showing a crane according to the present embodiment. A crane 1 according to the present embodiment includes a lower structure 11, a rotating platform 12 driven to rotate with respect to the lower structure 11, a boom 13 raised and lowered with respect to the rotating platform 12, and a hook 14 suspended from the boom 13 via a wire rope L. Although FIG. 1 schematically shows the lower structure 11, the lower structure 11 may be, for example, a traveling body such as a crawler, or may be a fixed structure.The crane 1 further includes a detection device 16 such as a camera that detects vibration of a floating load E, an operation operation unit 20 that can be operated by an operator, an input / output unit 30 that outputs information to the operator and inputs the information from the operator, a control unit 40 that performs operation control of the crane 1, and a drive device 50 that drives the boom 13. The operation operation unit 20, the input / output unit 30, and the control unit 40 may be disposed in, for example, a cabin 2 and a control room 3 on the rotating platform 12. The detection device 16 transmits detection information (video data or the like) about the swing of the floating load E to the control unit 40 via an I / O 64.The operation operation unit 20 includes an operation lever 21 for manually performing a turning operation of the turning platform 12, a raising / lowering operation of the boom 13, and a raising / lowering operation of the hook 14. the turning of the turning platform 12 corresponds to a turning of the boom 13. the operation operation unit 20 further includes an automatic operation start operation unit 22 for the crane 1 to transition to an automatic operation mode, and an operation unit 23 for transition to a vibration suppression mode for the crane 1 to transition to a vibration suppression mode. The automatic operation mode is an operation mode in which information on a transport destination of the floating load E is input in advance, and the rotation operation and the raising / lowering operation are automatically operated by operating the automatic operation start operation unit 22 in a state in which the floating load E is suspended, so that the floating load E can be automatically moved over the transport destination. The vibration suppression mode is an operation mode in which a vibration suppression operation of reducing the vibration of the floating load E is automatically performed. An operation signal of the operation lever 21, an operation signal of the automatic operation start operation unit 22, and an operation signal of the vibration suppression mode transition operation unit 23 are transmitted to the control unit 40 via an I / O 61.The input / output unit 30 includes a notification unit 31 that notifies the operator of information via display or sound, and an operation panel 32 via which the operator can input information via the operation. In addition, the control unit 40 includes an automatic operation setting processing unit 45 that inputs setting information (a movement start position of the floating load E, a movement path of the boom 13, a movement end position of the floating load E, and the like) to the automatic operation via the operation panel 32. The notification unit 31 receives a command from the control unit 40 via an I / O 62 to perform a notification process. The operation panel 32 receives an indication signal from the control unit 40 (more specifically, from the automatic operation setting processing unit 45) via the I / O 62, and outputs an operation signal to the control unit 40 (more specifically, from the automatic operation setting processing unit 45) via the I / O 62. There is a location where it is desired to avoid the passage of the boom 13 or to avoid the passage of the floating load E and the wire rope L during the turning operation, and the information on the movement path of the boom 13 can be set in a case where the passage of the location can be avoided by changing a lifting / lowering movement angle of the boom 13. The movement end position information may have a format in which position information such as a coordinate position is directly input, or may have a format input by using a rotation angle of the rotating platform 12 and the raising / lowering movement angle of the boom 13. Alternatively, a format may be used in which the hook 14 is moved by a manual operation, the designation operation is performed to move the position of the hook 14 to the movement end position, and the position of the hook 14 at this time is input as the movement end position in the automatic operation mode.The control unit 40 includes a mode switching control unit 41 that performs switching control of the operation mode, a manual operation control unit 42 that performs operation control of the crane 1 in a manual operation mode, an automatic operation control unit 43 that performs operation control of the crane 1 in an automatic operation mode, a vibration suppression mode operation control unit 44 that performs operation control of the crane 1 in the vibration suppression mode, and the automatic operation setting processing unit 45 that inputs the automatic operation setting information via the operation panel 32. The control unit 40 is a computer that includes a central processing unit (CPU), a storage device that stores a control program, and an interface that inputs and outputs a signal between the control unit 40 and an external device (a component of the crane 1). The mode switching control unit 41, the manual operation control unit 42, the automatic operation control unit 43, the vibration suppression mode operation control unit 44, and the automatic operation setting processing unit 45 may be software modules implemented by the CPU executing the control program. The control unit 40 exchanges a control command and information with the operation operation unit 20, the input / output unit 30, the detection device 16, and the drive device 50 via a bus and the I / O devices 61 to 63.The driving device 50 includes a rotational driving device 51 that rotates the boom 13, a raising / lowering driving device 52 that raises and lowers the boom 13, and an up / down driving device 53 that raises and lowers the floating load E.The rotary drive device 51 includes a rotary mechanism that rotatably supports the rotary platform 12, a first hydraulic motor that generates a rotational force of the rotary platform 12, a first control valve that controls a hydraulic pressure, and a first drive circuit that drives the first control valve in accordance with the control command from the control device 40. The first hydraulic motor is rotationally driven by a pressure of hydraulic oil discharged from a hydraulic pump and supplied via the first control valve. The first control valve changes an opening degree in response to a control signal from the first drive circuit, the pressure of the hydraulic oil supplied to the first hydraulic motor is changed in accordance with the opening degree, and a rotational movement (a rotational speed or a torque) of the first hydraulic motor is changed. The control signal is a hydraulic signal.The lifting / lowering drive device 52 includes a swing mechanism that supports the boom 13 in a lifting / lowering movement direction, a wire cable that supports the boom via a mast, a lifting / lowering winch that unwinds and unwinds the wire cable, a second hydraulic motor that rotationally drives the lifting / lowering winch, a second control valve that controls a hydraulic pressure, and a second drive circuit that drives the second control valve in accordance with the control command from the control unit 40. The second hydraulic motor is rotationally driven by a pressure of hydraulic oil discharged from a hydraulic pump and supplied via the second control valve. The second control valve changes an opening degree in response to a control signal from the second drive circuit, the pressure of the hydraulic oil supplied to the second hydraulic motor is changed in accordance with the opening degree, and a rotational movement (a rotational speed or a torque) of the second hydraulic motor is changed. The control signal is a hydraulic signal.The raising / lowering driving device 53 includes a mechanism that supports the wire rope L engaged with the hook 14 so as to be able to be unwound from and wound around a tip portion of the boom 13, a raising / lowering winch that rolls up and down the wire rope L, a third hydraulic motor that rotationally drives the raising / lowering winch, a third control valve that controls a hydraulic pressure, and a third driving circuit that drives the third control valve in accordance with the control command from the control unit 40. The third hydraulic motor is rotationally driven by a pressure of hydraulic oil discharged from a hydraulic pump and supplied via the third control valve. The third control valve changes an opening degree in response to a control signal from the third drive circuit, the pressure of the hydraulic oil supplied to the third hydraulic motor is changed in accordance with the opening degree, and a rotational movement (a rotational speed or a torque) of the third hydraulic motor is changed. The control signal is a hydraulic signal.The control unit 40 creates a rotation drive control command, a lift / lower movement drive control command, and a lift / lower drive control command in accordance with the operation of the operation lever 21 or in accordance with a result of automatic operation calculation processing. The rotational drive control command is a control command for designating a rotational movement (for example, a torque, a rotational speed, and the like) of the rotational drive device 51. The lifting / lowering movement drive control command is a control command for designating a lifting / lowering movement (for example, a torque of the lifting / lowering winch, a rotational speed, and the like) of the boom 13 via the lifting / lowering movement drive device 52. The lifting / lowering drive control command is a control command for designating a lifting / lowering movement (for example, a torque and a rotational speed of the lifting / lowering winch) of the hook 14 via the lifting / lowering drive device 53. Then, the control unit 40 outputs these control commands to the first drive circuit of the rotational drive device 51, the second drive circuit of the raising / lowering drive device 52 and the third drive circuit of the raising / lowering drive device 53 are off. Then, the first drive circuit to the third drive circuit control the respective control signals (hydraulic pressures) by performing, for example, feed-forward control and feedback control so that the movement indicated by the control command occurs. With such a control, the rotational movement, the raising / lowering movement, and the raising / lowering movement are implemented in accordance with the control command output from the control unit 40.Meanwhile, even in a case where the control is performed as described above, it is difficult to set a response delay of the rotational driving device 51, a response delay of the raising / lowering driving device 52, and a response delay of the raising / lowering driving device 53 to zero. When a value of the control command of the rotational driving device 51, a value of the control command of the raising / lowering driving device 52, or a value of the control command of the raising / lowering driving device 53 is abruptly changed, a deviation occurs between the value of the control command and an actual movement. The value of the control command for designating the speed or the torque may be converted into a command value of the acceleration that is a change rate of the command value of the speed.In the present embodiment, the rotational driving device 51, the raising / lowering driving device 52, and the raising / lowering driving device 53 are each driven by a hydraulic motor, and a configuration is shown in which the hydraulic motor is controlled via a control valve based on a control signal by hydraulic pressure. However, for example, a configuration in which the control signal for controlling the opening degree of the control valve is an electric signal may be used, or a configuration in which an electric motor is used instead of the hydraulic motor may be used. Also in the above-described configuration, the above-described response delay occurs similarly, and the deviation due to the response delay occurs between the command value and the actual movement when the value of the control command is abruptly changed.With the crane 1 having the above-described configuration, the floating load E can be raised from the ground by suspending the floating load E from the hook 14 suspended from the tip portion of the boom 13 and winding the wire rope L by using a driving force of the raising / lowering driving device 53. Thereafter, the rotating platform 12 and the boom 13 are rotated by a driving force of the rotational driving device 51, and the lifting / lowering movement angle of the boom 13 is changed by a driving force of the lifting / lowering driving device 52 as necessary, so that the floating load E can be moved to a position above the transport target. Then, the wire rope L is unwound by the driving force of the raising / lowering driving device 53, so that the floating load E can be lowered to the transport destination. The floating load E moves in a direction q via the rotation of the boom 13, and the floating load E moves in a direction r via the raising / lowering movement of the boom 13. the direction q is a tangential direction of a rotation circle of the tip portion of the boom 13, and the direction r is a direction perpendicular and horizontal to the direction q, that is, a horizontal component of a direction in which the tip portion of the boom 13 moves due to the raising / lowering movement of the boom 13. Hereinafter, the direction q is also referred to as a rotational direction, and the direction r is also referred to as a raising / lowering movement direction.(Embodiment 1)Next, a vibration suppression drive of Embodiment 1 when the floating load E is conveyed in a first direction will be described. Embodiment 1 shows an example in a case where the first direction is the rotational direction, and a change amount of a rotation angle is relatively small to the extent that a centrifugal force can be neglected or a rotation speed is small. The vibration suppression drive is implemented by the automatic operation control unit 43 when the operator designates a transport target point and selects the automatic operation mode.FIGS. 2A and 2B are time charts showing an example of movement of the boom and an example of the control command for rotational drive in the vibration suppression drive, respectively. FIG. 3 is a phase plane diagram showing the vibration suppression drive of FIG. 2. A jerk, the acceleration, and a speed in FIG. 2A represent an actual jerk, actual acceleration, and an actual speed of the tip portion of the boom 13, respectively, in the rotational direction. The jerk represents a jerk, i.e., a time derivative of acceleration. An acceleration command of FIG. 2B corresponds to an acceleration command obtained by converting the rotational motion of the rotary drive device 51 designated by the control command into the acceleration of the tip portion of the boom 13. A speed command in FIG. 2B corresponds to a speed command obtained by converting the rotational motion of the rotary drive device 51 designated by the control command into the speed of the tip portion of the boom 13. The above-described control commands are output from the control unit 40 (specifically, the automatic operation control unit 43) to the rotary drive device 51.As shown in FIG. 2A, when the floating load E is transported in the first direction, the vibration suppression drive includes a vibration suppression drive M 11 during acceleration and a vibration suppression drive M 12 during deceleration. The vibration suppression drive M 11 during acceleration is a drive in which the jerk changes with respect to a pattern of a plurality of rectangular waves K 11 to K 13. More specifically, the pattern of the jerk of the vibration suppression drive M 11 is a pattern in which the three rectangular waves K 11 to K 13 changing from a positive value to a negative value are consecutive. In this way, in a case where a temporal change of the jerk is set to the pattern of the square waves K 11 to K 13, as described in detail later, it is possible to effectively correct the response delay of the hydraulic motor. Then, accurate movement of the boom 13 is obtained by the effective correction, and thus it is possible to accurately implement a scheduled vibration suppressing effect.A high level value, a low level value, and a time length of the rectangular waves K 11 to K 13 of the jerk need only be determined as follows using a phase plane of FIG. 3. That is, a vibration θq (see FIG. 1 ) of the floating load E in the first direction may be represented as a circular motion of a phase point N on a predetermined phase plane (a plane in which a horizontal axis is an angular velocity dθq / dt of the vibration θq and a vertical axis is a normalized angular acceleration 1 / ω·d 2 θ / dt 2 of the vibration θq). Here, d / dt is a time derivative (indicated by a point in the drawing), ω is a phase angle speed of vibration (ω=2π / T), and T is a period of vibration θq determined by a length of the wire rope L suspended from the tip portion of the boom 13. The phase point N makes one round in the period T, and the center of the circular motion is an origin p0 of the phase plane when the tip of the cantilever 13 is stopped or moving at a constant speed. Meanwhile, when a constant jerk "j" or "-j" is added to the tip of the cantilever 13 in the first direction, the center of the circular motion of the phase point N moves to points p 1 and p 2 of "j / g" or "-j / g". Here, g is a gravitational acceleration.Therefore, as shown in FIG. 3, by appropriately selecting the high level value and the low level value of the rectangular waves K 11 to K 13 and the time length of the rectangular waves K 11 to K 13, it is possible to find paths of a plurality of arcs a to f along which the phase point N is shifted from the origin p 0 on the phase plane and returned to the origin p 0 again. The arcs a to f are arcs centered at any point on the horizontal axis. Further, it is also possible to select the arcs a to f such that the centers of the arcs a, c, and e are equal to each other, the centers of the arcs b, d, and f are equal to each other, and the central angles (corresponding to the time lengths) of the respective arcs a to f are substantially equal to each other. By calculating the rectangular waves K 11 to K 13 corresponding to the arcs a to f, the rectangular waves K 11 to K 13 of the vibration suppression drive M 11 for accelerating from a state in which the speed and the acceleration of the vibration θq are zero in one direction and transitioning to a state in which the speed and the acceleration of the vibration θq are again zero can be obtained. Arcs a, c, and e in FIG. 3 correspond to the high level values and the time lengths of the rectangular waves K 11 to K 13 of the jerk in FIG. 2A, respectively, and arcs b, d, and f in FIG. 3 correspond to the low level values and the time lengths of the rectangular waves K 11 to K 13 of the jerk in FIG. 2A, respectively.With the vibration suppression drive M 11 during acceleration, a motion is obtained in which the speed and the acceleration of the vibration θq are stable at zero after the floating load E is accelerated in the first direction.The vibration suppression drive M 12 during deceleration is a drive in which the jerk changes with respect to a pattern of multiple square waves K 14 to K 16 as shown in FIG. 2A. More specifically, the pattern of the jerk of the vibration suppression drive M 12 is a pattern in which the three rectangular waves K 14 to K 16 changing from a negative value to a positive value are consecutive. In this way, in a case where a temporal change of the jerk is set to the pattern of the rectangular waves K 14 to K 16, as described in detail later, it is possible to effectively correct the response delay of the hydraulic motor. Then, accurate movement of the boom 13 is obtained by the effective correction, and thus it is possible to accurately implement a scheduled vibration suppressing effect.The vibration suppression drive M 12 during deceleration performs the same calculation as the vibration suppression drive M 11 with the positive and negative signs reversed, and thus the rectangular waves K 14 to K 16 of the jerk corresponding to the path along which the phase point N is shifted from the origin p 0 on the phase plane and fed back to the origin p 0 can be obtained. With the vibration suppression drive M 12 during deceleration, a motion is obtained in which the speed and the acceleration of the vibration θq are stable at zero after the speed of the floating load E in the first direction is decelerated to zero.<KORREKTUR OF RESPONSE DELAY OF HYDRAULIC MOTOR>In a case where a control command for directly designating the movements of the vibration suppressing drives M 11 and M 12 in FIG. 2A is input as the control command for rotational drive, an actual rotational movement via the rotational drive device 51 differs from the movement in FIG. 2A due to the response delay of the hydraulic motor.The response delay of the hydraulic motor corresponds to a first order delay. Therefore, when a system that generates the acceleration based on the control command is expressed by a transfer function, the system is expressed by Expression (1).Here, U(s) is an acceleration control command, N(s) is actual acceleration, s is a complex frequency, and Td is a coefficient indicating the magnitude of the response deceleration. The coefficient Td is a constant depending on a structure of the hydraulic motor or the mechanism, and can be obtained through an experiment or a simulation.Here, in a case where there is a response delay and the control command U(s) in which the actual acceleration coincides with scheduled acceleration N(s) is obtained, U(s) is expressed by Expression (2).When expression (2) is returned to the time space, expression (3) is obtained.Here, u(t) is an acceleration control command in the time space, and n(t) is actual acceleration in the time space. Therefore, dn(t) / dt is the jerk in the time space.In Expression (3), when the jerk is constant, the first right-side term "Td·d(n(t)) / dt" is a constant. Further, when the jerk is constant, the response deceleration can be effectively corrected by a value of the acceleration control command u(t), and the accurate acceleration control of the rotary drive device 51 can be implemented.The vibration suppression drives M 11 and M 12 shown in FIG. 2A are drives in which the jerk changes in the pattern of a plurality of rectangular waves K 11 to K 13 and K 14 to K 16. Therefore, the vibration suppressing drives M 11 and M 12 correspond to a drive in which constant driving is repeated in multiple sections, and it is possible to perform effective correction of the response delay by correcting the response delay using Expression (3). Therefore, it is possible to accurately control the acceleration of the rotary drive device 51 by using the vibration suppression drives M 11 and M 12, and it is possible to accurately suppress the vibration of the floating load E.The value of the corrected acceleration control command is a value obtained by adding the jerk×of the coefficient Td to a target acceleration. Therefore, as shown in FIG. 2B, the acceleration control command includes a control command of a vibration suppression pattern P 11 corresponding to the vibration suppression drive M 11 and a control command of a vibration suppression pattern P 12 corresponding to the vibration suppression drive M 12.The vibration suppression pattern P 11 includes a plurality of modified triangular waves H 11 to H 13 in which a first gradient portion q 1 changing with a first gradient (corresponding to a predetermined gradient) in the positive direction, an offset portion q 2 in which a control value is shifted in a direction opposite to the change in the first gradient portion q 1, and a second gradient portion q 3 changing with a second gradient (corresponding to the predetermined gradient) in the direction opposite to the change in the first gradient portion q 1 are consecutive. Similarly, the vibration suppression pattern P 12 includes a plurality of modified triangular waves H 14 to H 16 in which a first gradient portion q 5 that changes with the first gradient, an offset portion q 6 in which a control value is shifted in the direction opposite to the change in the first gradient portion q 5, and a second gradient portion q 7 that changes with a second gradient in a direction opposite to the change in the first gradient portion q 5 are consecutive. The shift in the offset portions q 2 and q 6 means that a value is abruptly changed at a certain time, and the shift includes shift in which a value is discretely changed and shift in which a value is changed at a steep inclination in an extremely short time. The same applies to the displacement or the change of the displaced portion described below.The modified triangular waves H 11 to H 13 may be regarded as a waveform including the shifted portion q 0 that changes in the same direction as the change in the first gradient portion q 1 in the previous stage of the first gradient portion q 1, and in which the shifted portion q 0, the first gradient portion q 1, the shifted portion q 2, and the second gradient portion q 3 are consecutive. Similarly, the modified triangular waves H 14 to H 16 may be regarded as a waveform including the shifted portion q 4 that changes in the same direction as the change in the first gradient portion q 5 in the previous stage of the first gradient portion q 5, and in which the shifted portion q 4, the first gradient portion q 5, the shifted portion q 6, and the second gradient portion q 7 are consecutive.In Embodiment 1, an absolute value of a gradient of the first gradient portion q 1 and an absolute value of a gradient of the second gradient portion q 3 are equal to each other. Moreover, an absolute value of a gradient of the first gradient portion q 5 and an absolute value of a gradient of the second gradient portion q 7 are equal to each other. Moreover, the absolute value of the gradient of the first gradient portion q 1 of the modified triangular wave H 11 and the absolute value of the gradient of the first gradient portion q 5 of the modified triangular wave H 14 are equal to each other. Further, the three modified triangular waves H 11 to H 13 have the same shape and size, and the three modified triangular waves H 14 to H 16 have the same shape and size. The offset amounts of the offset portions q 0 and q 4, the gradients of the first gradient portions q 1 and q 5, the offset amounts of the offset portions q 2 and q 6, and the gradients of the second gradient portions q 3 and q 7 may have different orders of magnitude for each of the plurality of modified triangular waves H 11 to H 16.A control command for designating the rotational movement in FIG. 2B is input from the control unit 40 (specifically, the automatic operation control unit 43) to the rotational driving device 51 so that the rotational movement in FIG. 2A occurs. Then, the vibration of the floating load E during acceleration or deceleration can be reduced while the floating load E is being transported in the first direction, and thus the transportation in which the vibration of the floating load E after the transportation is reduced can be implemented.In Embodiment 1, the example in which the first direction in which the floating load E is conveyed is the rotational direction q (see FIG. 1 ) has been described, but the first direction in which the floating load E is conveyed may be the raising / lowering direction r (see FIG. 1 ) perpendicular and horizontal to the rotational direction q. In this case, the same control as the control of the rotary drive device 51 of Embodiment 1 needs to be performed only on the raising / lowering drive device 52. Moreover, when the first direction in which the floating load E is conveyed is a composite direction of the directions q and r, both the rotational driving device 51 and the raising / lowering driving device 52 need only be controlled so that the movement in FIG. 2A is obtained as a movement in the composite direction. Alternatively, the vibration of the floating load E in the rotation direction q and the vibration of the floating load E in the raising / lowering movement direction r may be handled independently of each other, and the same control as in Embodiment 1 may be performed independently of each other on the rotational driving device 51 and the raising / lowering driving device 52. By these controls, the same vibration suppression drive can be implemented even when the floating load E is transported in an arbitrary direction.As described above, with the vibration suppression drives M 11 and M 12 of Embodiment 1, the vibration of the floating load E can be reduced while the floating load E is being transported. The positive and negative signs of the waveforms shown in FIGS. 2A and 2B may all be reversed, and in this case, the rotational motion occurs in the opposite direction.Further, the vibration suppression drive M 11 of Embodiment 1 corresponds to a drive in which the jerk of the cantilever 13 changes with respect to the pattern of the three rectangular waves K 11 to K 13. Similarly, the vibration suppression drive M 12 of Embodiment 1 corresponds to a drive in which the jerk of the cantilever 13 changes with respect to the pattern of the three rectangular waves K 14 to K 16. The acceleration control command for implementing such vibration suppression drives M 11 and M 12 includes a control command in which the acceleration command value changes with respect to the vibration suppression pattern P 11 in which the three modified triangular waves H 11 to H 13 are consecutive, and a control command in which the acceleration command value changes with respect to the vibration suppression pattern P 12 in which the three modified triangular waves H 14 to H 16 are consecutive. With such a configuration, the path of the phase point N in FIG. 3 can be used, and thus the three square waves K 11 to K 13 included in the drive pattern of the cantilever 13 and the three modified triangular waves H 11 to H 13 included in the control command can have the same waveform. In this way, the movement of the boom 13 of the vibration suppression drive M 11 can be regarded as repetition of similar acceleration changes, and thus effective vibration suppression can be implemented by stably driving the boom 13 with the power applied to the boom 13 in a time direction. The same applies to the vibration suppression drive M 12 during deceleration and the vibration suppression pattern P 12 during deceleration. Moreover, when the vibration suppression drive M 11 is changed during acceleration from the drive including the three square waves K 11 to K 13 to a drive including more than three square waves, the control becomes complicated, and the movement of the boom 13 also becomes complicated. However, in the present embodiment, with the drive including the three square waves K 11 to K 13, effective vibration suppression can be implemented with relatively simple control and operation. The same applies to the vibration suppression drive M 12 during deceleration. The number of times the modified triangular shaft is repeated a plurality of times sequentially from a state in which the boom 13 is stopped to a state in which the boom 13 accelerates to a predetermined constant speed or from a state in which the boom 13 has the constant speed to a state in which the boom 13 starts decelerating to stop is three times. By setting such a number of times, effective vibration suppression can be implemented with relatively simple control and operation.Further, with the control command including the vibration suppression drives M 11 and M 12 and the vibration suppression patterns P 11 and P 12 of Embodiment 1, the vibration after the acceleration via the vibration suppression drive M 11 is significantly reduced. Therefore, there are few restrictions on the time for starting the vibration suppression drive M 12 during deceleration. A period from an end point of the vibration suppression drive M 11 to a start point of the vibration suppression drive M 12 is a time during which the floating load E moves at a certain speed, and a moving distance of the floating load E can be adjusted by changing a length of the period. Therefore, with the vibration suppressing drives M 11 and M 12 of Embodiment 1, a distance for transporting the floating load E can be easily adjusted.(Embodiment 2)Next, a vibration suppression drive of Embodiment 2 in which the vibration suppression is performed in situ without much moving the floating load E will be described. The vibration suppressing drive is performed by the vibration suppressing mode operation control unit 44 when the operator selects the vibration suppressing mode.FIGS. 4A-1 and 4A-2, and 4B-1 and 4B-2 are time charts showing examples of movement of a boom and examples of a control command in a vibration suppression drive, respectively. FIGS. 4A-1 and 4B-1 show the drive in the raising / lowering movement direction of the boom 13 and the control command thereof, and FIGS. 4A-2 and 4B-2 show the drive in the rotation direction of the boom 13 and the control command thereof.As shown in FIGS. 4A-1 and 4A-2, when the vibration of the floating load E is suppressed in place, the vibration suppression drive includes a vibration suppression drive M 21 caused by the raising / lowering movement of the boom 13, and a vibration suppression drive M 22 caused by the rotation of the boom 13. In Embodiment 2, the vibration suppressing drives M 21 and M 22 are performed at different timings, but the vibration suppressing drives M 21 and M 22 may be performed at overlapping timings depending on a period start point of vibration in each direction.The vibration suppression drive M 21 in the raising / lowering movement direction r is a drive in which the jerk in the raising / lowering movement direction r changes with respect to a pattern of a plurality of rectangular waves K 21 to K 23. More specifically, the vibration suppression drive M 21 is a drive of changing the jerk, in terms of a rectangular wave pattern, from zero in order to a first value j 1 representing a negative jerk, a second value j 2 representing a positive jerk, and a third value j 3 representing a negative jerk, and returning to zero. In the example of FIGS. 4A-1, the first value j1is equal to the third value j3, but the first value j1and the third value j3may be different values.The first value j 1 to the third value j 3 and the time lengths of the rectangular waves K 21 to K 23 may be obtained as shown in the phase plane diagram of FIG. 5. That is, as shown in FIG. 5, the three arcs a to c along which the phase point N is returned from a point p 21 corresponding to the initial vibration to the origin p 0 need only be obtained to apply the rectangular waves K 21 to K 23 having values of the jerk corresponding to the centers and the central angles of the three arcs a to c and the time length. The positive and negative signs of the first value j 1 to the third value j 3 may be reversed depending on the timing of the control, and in this case, the positive and negative signs of the point p 21 are also reversed.The vibration suppression drive M 22 in the rotation direction q is a drive in which the jerk in the rotation direction q changes with respect to a pattern of a plurality of rectangular waves K 24 to K 26. More specifically, the vibration suppression drive M 22 is a drive of changing the jerk, in terms of a rectangular wave pattern, from zero in order to a first value j 4 representing a positive jerk, a second value j 5 representing a negative jerk, and a third value j 6 representing a positive jerk, and returning the jerk to zero. In the example of FIGS. 4A-2, the first value j4is equal to the third value j6, but the first value and the third value may be different values.The first value j 4 to the third value j 6 and the time lengths of the rectangular waves K 24 to K 26 can be obtained in the same manner as in a case of the vibration suppression drive M 21 in the lifting / lowering movement direction r described with reference to FIG. 5. The positive and negative signs of the first value j 4 to the third value j 6 may be reversed depending on the timing of the control.The acceleration control command is a value obtained by adding the jerk×of the coefficient Td to the target acceleration as described above. Therefore, as shown in FIGS. 4B- 1 and 4B- 2, the control command of the jerk in the raising / lowering movement direction r of the boom 13 and the control command of the jerk in the rotation direction q of the boom 13 are commands including the control commands of the vibration suppression patterns P 21 and P 22 corresponding to the vibration suppression drives M 21 and M 22.The vibration suppression pattern P 21 is a pattern in which a first modified triangular wave H 21 in which a first gradient portion q 11 changing with the first gradient in the negative direction, an offset portion q 12 in which the control value is shifted in a direction opposite to the change in the first gradient portion q 11, and a 2 athgradient portion q 13 changing with a second gradient having a smaller absolute value than the first gradient portion q 11 in the direction opposite to the change in the first gradient portion q 11 are consecutive from a second modified triangular wave H 22 in which a 2 bthgradient portion q 14 changing with the second gradient in the positive direction, an offset portion q 15, in which the control value is followed in a direction shifted from the change in the 2b-th gradient portion q14 and a third gradient portion q16 changing with a third gradient in a direction opposite to the change in the 2b-th gradient portion q14 are consecutive.The vibration suppression pattern P 22 is a pattern in which a first modified triangular wave H 23 in which a first gradient portion q 18 that changes with the first gradient, an offset portion q 19 in which the control value is shifted in a direction opposite to the change in the first gradient portion q 18, and a 2 athgradient portion q 20 that changes with the second gradient having a smaller absolute value than the first gradient portion q 18 in the direction opposite to the change in the first gradient portion q 18 are consecutive in a positive region from a second modified triangular wave H 24 in which a 2 bthgradient portion q 21 that changes with the second gradient, an offset portion q 22 in which the control value is shifted in a direction, which is opposite to the change in the 2b-th gradient portion q21, and a third gradient portion q23, which changes with the third gradient in the direction opposite to the change in the 2b-th gradient portion q21, are consecutive in a negative region, is followed.The control commands for designating the raising / lowering movement and the rotating movement in FIGS. 4B-1 and 4B-2 are input from the control unit 40 (specifically, the vibration suppression mode operation control unit 44) to the raising / lowering drive device 52 and the rotating drive device 51, so that the raising / lowering movement and the rotating movement in FIGS. 4A-1 and 4A-2 occur. The vibration of the floating load E can be suppressed in place by using the movement.FIG. 6 is a view showing the vibration of the floating load E based on the vibration suppression drive of FIG. 4. In FIG. 6, a vertical axis indicates a position in the raising / lowering movement direction r, and a horizontal axis indicates a position in the rotation direction q. The floating load E swung along a large elliptical trajectory S 1 before the vibration suppression drive vibrates along a small vibration trajectory S 2 due to the above-described vibration suppression drives M 21 and M 22.As described above, with the control command including the vibration suppressing drives M 21 and M 22 and the vibration suppressing patterns P 21 and P 22 of Embodiment 2, the vibration of the floating load E in situ can be reduced. Further, such an effect can be implemented by a small amount of drive of the boom 13. Moreover, in Embodiment 2, the number of times that the rectangular waves K 21 to K 23 or the rectangular waves K 24 to K 26 are repeated a plurality of times sequentially from a state in which the boom 13 is stopped to a state in which the boom 13 accelerates to a predetermined constant speed or from a state in which the boom 13 has the constant speed to a state in which the boom 13 starts decelerating to stop is three times. By setting such a number of times, effective vibration suppression can be implemented with relatively simple control and operation.(Embodiment 3)FIGS. 7A and 7B are time charts showing an example of movement of a boom and an example of a control command for rotational drive in vibration suppression drive in Embodiment 3, respectively, and FIG. 7C is a phase plane diagram showing an example of movement of a phase point. The vibration suppression drive of Embodiment 3 is a drive of performing the vibration suppression while the floating load E is being conveyed in the first direction. The vibration suppression drive is implemented by the automatic operation control unit 43 by selecting the automatic operation mode after the operator designates the transport destination.As shown in FIG. 7A, the vibration suppression drive of Embodiment 3 is a drive in which the jerk in the rotation direction changes with respect to a pattern of multiple square waves K 31 to K 34. Specifically, the pattern of the vibration suppression drive is a pattern in which a positive square wave K 31 and a negative square wave K 32 are consecutive, and a negative square wave K 33 and a positive square wave K 34 are consecutive with a period T 31 in which the acceleration and the jerk are zero interposed therebetween. Further, in the pattern, high level values "j" of the positive square waves K31 and K34 are equal to each other, low level values "-j" of the negative square waves K32 and K33 are equal to each other, and the absolute values of both values are equal to each other.The high level value or the low level value of the rectangular waves K 31 to K 34 and the time length thereof and the time length of the period T 31 can be obtained as shown in the phase plane diagram of FIG. 7C. That is, as shown in FIG. 7C, a path is obtained in which the phase point N moves along arcs a and b centered on points p 31 and p 32 corresponding to the jerks "j" and "-j", moves along arc c centered on the origin p 0, moves along arcs d and e centered on the points p 31 and p 32 again, and is then returned to the origin p 0. Then, only the rectangular waves K31 to K34 having the values of jerk corresponding to the centers p31 and p32 of the arcs a to e and the time length corresponding to the central angle need be applied. Moreover, since the sheet c mainly affects a transport distance of the floating load E, the size and the central angle of the sheet c need only be determined based on the set transport distance.The acceleration control command is a value obtained by adding the jerk×of the coefficient Td to the target acceleration as described above. Therefore, as shown in FIG. 7B, the control command for the jerk in the rotational direction of the boom 13 includes a control command of the vibration suppression pattern corresponding to the vibration suppression drive in FIG. 7A. The pattern for vibration suppression is a pattern in which the modified triangular wave H 31 protruding in the positive direction and the modified triangular wave H 32 protruding in the negative direction are located with the period T 31 interposed therebetween.A control command for designating the rotational movement in FIG. 7B is input from the control unit 40 (specifically, the automatic operation control unit 43) to the rotational driving device 51 so that the rotational movement occurs in FIG. 7A. Then, the vibration suppression can be performed while the floating load E is being conveyed in the first direction by using the movement.As described above, with the vibration suppression drive of Embodiment 3, it is possible to reduce the vibration of the floating load E at the transport target while the floating load E is being transported. Further, with the vibration suppression drive of Embodiment 3, the transportation of the floating load E and the vibration suppression can be implemented with a small change in jerk. As in a case of Embodiment 1, the positive and negative signs of all jerk waveforms may be reversed, and in this case, the rotational motion occurs in the opposite direction.(Embodiment 4)FIGS. 8A and 8B are time charts showing an example of movement of a boom and an example of a control command for rotational drive in vibration suppression drive in Embodiment 4, respectively, and FIG. 8C is a phase plane diagram showing an example of movement of a phase point. The vibration suppression drive of Embodiment 4 is a drive of performing the vibration suppression while the floating load E is being conveyed in the first direction. The vibration suppression drive is implemented by the automatic operation control unit 43 by selecting the automatic operation mode after the operator designates the transport destination.As shown in FIG. 8A, the vibration suppression drive of Embodiment 4 is a drive in which a vibration suppression drive M 41 during acceleration and a vibration suppression drive M 42 during deceleration are performed with an arbitrary period T 41 interposed therebetween. Specifically, the vibration suppression drive M 41 during acceleration is a drive in which, as a waveform of the jerk, positive square waves K 41 and K 42 are present with a period T 42 interposed therebetween, and then negative square waves K 43 and K 44 are present with a period T 43 interposed therebetween. The vibration suppression drive M 42 during deceleration is a drive in which, as a waveform of jerk, negative square waves K 45 and K 46 are located with a period T 44 interposed therebetween, and then positive square waves K 47 and K 48 are located with a period T 45 interposed therebetween.The high level values of the positive square waves K 41, K 42, K 47, and K 48 and the low level values of the negative square waves K 43, K 44, K 45, and K 46 are set so that the absolute values thereof are equal to each other, but one or more of the positive square waves K 41, K 42, K 47, and K 48 and the negative square waves K 43, K 44, K 45, and K 46 may be set so that the absolute values thereof are different from each other. The time lengths of the rectangular waves K 41 to K 48 are set to be equal to each other, but one or more of the time lengths may be set to have a difference from the other time lengths.The high level value or the low level value of the rectangular waves K41 to K44 and the time length thereof and the time length of the periods T42 and T43 can be obtained as shown in the phase plane diagram of FIG. 8C. That is, as shown in FIG. 8C, only the arcs a to e in which the phase point N moves along the arcs a to e from the origin p 0 and is returned to the origin p 0 need be obtained. Here, the arcs a, c, d, and f are arcs centered on points p 41 and p 42 corresponding to the values of the jerk. Arcs b and e are arcs centered on the origin p0. When the arcs a to e are determined, the values and the periods of the square waves K41 to K44 and the periods T42 and T43 need only be determined from the values of the jerk corresponding to the points p41 and p42 and the time lengths corresponding to the central angles. The high level value or the low level value of the square waves K45 to K48, and the time length thereof and the time length of the periods T44 and T45 can also be obtained in the same manner.The acceleration control command is a value obtained by adding the jerk×of the coefficient Td to the target acceleration as described above. Therefore, as shown in FIG. 8B, the control command of the jerk in the rotational direction of the boom 13 is a pattern in which there are a pattern P 41 for vibration suppression during acceleration and a pattern P 42 for vibration suppression during deceleration with the distance T 41 interposed therebetween.The pattern P 41 for vibration suppression during acceleration is a pattern in which the control value varies along an offset portion q 41 athat is offset in the positive direction, a first gradient portion q 41 bthat varies with a first gradient in the positive direction, an offset portion q 42 athat is offset in the negative direction, a flat portion q 42 bthat varies with a constant value, an offset portion q 43 athat is offset in the positive direction, a second gradient portion q 43 bthat varies with a second gradient in the positive direction, an offset portion q 43 cthat is offset in the negative direction, a third gradient portion q 43 dthat varies with a third gradient in the negative direction, an offset portion q 44 athat is offset in the positive direction, a flat portion q44b having a constant value, an offset portion q45a offset in the negative direction, a fourth gradient portion q45b changing with a fourth gradient in the negative direction, and an offset portion q45c offset in the positive direction sequentially change. The pattern includes a modified triangular wave H 41 (the second gradient portion q 43 b, the offset portion q 43 c, and the third gradient portion q 43 d) protruding in the positive direction.The vibration suppression pattern P 42 during deceleration is a pattern in which the control value varies along an offset portion q 41 hoffset in the negative direction, a fifth gradient portion q 41 ichanged with a fifth gradient in the negative direction, an offset portion q 42 hoffset in the positive direction, a flat portion q 42 iwith a constant value, an offset portion q 43 hoffset in the negative direction, a sixth gradient portion q 43 ichanged with a sixth gradient in the negative direction, an offset portion q 43 joffset in the positive direction, a seventh gradient portion q 43 kchanged with a seventh gradient in the positive direction, an offset portion q 44 hoffset in the negative direction, a flat portion q44i having a constant value, an offset portion q45h offset in the positive direction, an eighth gradient portion q45i changing with an eighth gradient in the positive direction, and an offset portion q45j offset in the negative direction sequentially change. The pattern includes a modified triangular wave H 42 (the sixth gradient portion q 43 i, the offset portion q 43 j, and the seventh gradient portion q 43 k) protruding in the negative direction.Here, the absolute values of the first gradient to the eighth gradient are equal to each other, but one or more of the first gradient to the eighth gradient may have an absolute value different from the others. The time lengths of the first gradient section q 41 bto the eighth gradient section q 45 iare set to be equal to each other, but one or more of the time lengths may be different from the others.The control command of FIG. 8B is input from the control unit 40 (specifically, the automatic operation control unit 43) to the rotary drive device 51, so that the rotary motion of FIG. 8A occurs. Then, the vibration suppression can be performed while the floating load E is being conveyed in the first direction by using the movement.As described above, with the vibration suppression drive of Embodiment 4, the vibration suppression of the floating load E can be implemented after the acceleration and during the deceleration for stopping while the floating load E is being transported. Further, in the vibration suppression drive of Embodiment 4, since the vibration after the acceleration due to the vibration suppression drive M 41 during the acceleration is zero, the time for starting the vibration suppression drive M 42 during the deceleration can be freely set thereafter. The distance for transporting the floating load E is a function of a period from an end point of the vibration suppression drive M 41 to a start point of the vibration suppression drive M 42. Therefore, with the vibration suppressing drives M 41 and M 42 of Embodiment 4, a distance for transporting the floating load E can be easily adjusted. As in a case of Embodiment 1, the positive and negative signs of all jerk waveforms may be reversed, and in this case, the rotational motion occurs in the opposite direction.(Embodiment 5)FIGS. 9A to 9C are time charts showing a vibration suppressing drive of Embodiment 5. The vibration suppression drive of Embodiment 5 shows an example of the vibration suppression drive when the boom 13 rotates at a relatively large angle or at a fast speed. In large angle rotation, the swing motion occurs in the raising / lowering motion direction r due to the centrifugal force. As a result, the oscillating motion in the rotational direction q is changed (a change in magnitude and phase). The vibration suppression drive of Embodiment 5 is obtained by mixing the vibration suppression drive for a change component of the vibration motion in the rotational direction q (FIG. 9A ) in addition to the vibration suppression drive in the rotational direction q of Embodiment 1 (FIG. 2A ). Further, the vibration suppression drive of Embodiment 5 is also a vibration suppression drive of decreasing the vibration in the raising / lowering movement direction r caused by the centrifugal force.FIG. 9A is a time chart showing a vibration suppressing drive of decreasing the vibration of the change component of the movement in the rotational direction q caused by the centrifugal force. FIG. 9B is a time chart showing a control command for rotational drive, and corresponds to a control command in which a control command when centrifugal force is ignored and a control command of the change component in FIG. 9A are linearly combined. FIG. 9C is a timing chart showing a control command for raising / lowering motion driving. In FIG. 9B, the control command when the centrifugal force is ignored is shown by a two-dot chain line, and the control command of the two-dot chain line is the same as the control command in FIG. 2B.The vibration suppression drive of Embodiment 5 is obtained by combining the vibration suppression drive of Embodiment 2 and the vibration suppression drive of Embodiment 1. Therefore, the control command of Embodiment 5 is a command in which the control command of Embodiment 2 and the control command of Embodiment 1 are combined. The above-described combination means a linear combination.A pattern of the vibration suppression drive of Embodiment 5 can be obtained as follows. That is, first, as shown in Embodiment 1, the vibration suppressing motion in the rotational direction q is calculated by ignoring the influence of the centrifugal force. Next, the vibration suppressing movements of decreasing, in place, the vibration in the raising / lowering movement direction r caused by the influence of the centrifugal force and the vibration of the change component in the rotation direction q as shown in Embodiment 2 are calculated. Then, the vibration suppressing motion of Embodiment 5 can be obtained by combining these vibration suppressing motions. Although not shown, since the combination is performed, the vibration suppression drive in the rotation direction q of Embodiment 5 also has a pattern in which the jerk changes along the plurality of rectangular waves. Similarly, the vibration suppression drive in the lifting / lowering movement direction r of Embodiment 5 also has a pattern in which the jerk changes along the plurality of rectangular waves. Moreover, as shown in FIG. 9B, the control command for rotational drive is a pattern in which a plurality of modified triangular shafts H 51 to H 53 and H 54 to H 56 including the combined portion are consecutive. The lifting / lowering motion drive control command has the same pattern as in Embodiment 2, as shown in FIG. 9C.The rotational drive control command in FIG. 9B and the lifting / lowering movement control command in FIG. 9C are input from the control unit 40 (specifically, the automatic operation control unit 43) to the rotational drive device 51 and the lifting / lowering drive device 52, respectively, so that it is possible to perform the vibration suppression in the two directions of the rotational direction q and the lifting / lowering movement direction r while the floating load E is being transported.FIGS. 10A and 10B are time charts showing an example of movement of the floating load E via the vibration suppression drive in Embodiment 5 and an example of movement of the floating load E when the vibration suppression drive is performed without considering the centrifugal force, respectively. When the rotation angle is large and a large centrifugal force is applied to the floating load E, a relatively large residual vibration W 2 remains in the floating load E in a case where the vibration suppression drive that does not consider the centrifugal force is performed. On the other hand, by performing the vibration suppression drive of Embodiment 5 in consideration of the centrifugal force, it is possible to reduce residual vibration W 1 of the floating load E.Each embodiment of the present invention has been described above. However, the present invention is not limited to the above-described embodiment. For example, in the above-described embodiment, the change in the jerk of the tip portion of the cantilever 13 with respect to the pattern of the square wave has been described. However, the rectangular wave is not limited to an accurate rectangular wave, and may include, for example, a sufficiently small (for example, 3% or less) rise time or fall time with respect to the period T of the vibration, or may include roundness for a sufficiently small (for example, 5% or less) period at a rectangular corner portion with respect to the period T of the vibration. The rise time and the fall time mean a time of a portion from 10% to 90% from a lower end to an upper end of each rectangular wave.In the above-described embodiment, some patterns have been described in which each gradient or the absolute value of each gradient is the same for the plurality of gradient sections included in the drive command of the vibration suppression pattern. However, the term "equal" is not limited to "strictly equal", and a range including a small error may be considered equal. For example, when the average of the gradient values of the acceleration [m / s 2] / time [s] in each of the two gradient sections is in a range of ±10%, ±20 percent, or ±30 percent with respect to each other, the gradients of the two gradient sections may be considered to be equal to each other. Theoretically, in a case where the residual vibration of the floating load E becomes zero when the gradients are equal, even if the above-described error is included, the residual vibration of the floating load E can be sufficiently reduced. However, the smaller the error, the smaller the residual vibration.In the above-described embodiment, the crane 1 in which the boom 13 can be driven in the rotational direction q and the lifting / lowering movement direction r has been described. However, the present invention can be similarly applied to a crane in which the boom 13 can be driven in only one direction. Moreover, the present invention can be similarly applied to a crane in which a boom is extensible and retractable in addition to the drives of the turning and the raising / lowering motion. Moreover, the boom may have a configuration including a first boom connected to the rotary platform so as to be capable of being raised and lowered and a second boom (for example, an auxiliary boom) connected to the first boom so as to be capable of being raised and lowered.In the above-described embodiment, the configuration in which the hydraulic motor as the driving device 50 of the boom 13 generates driving power has been described, and the hydraulic motor is controlled by the control signal of the hydraulic pressure. However, the present invention may be applied to a configuration in which, for example, the control signal for controlling the opening degree of the control valve is an electric signal, or may be applied to a configuration in which an electric motor is used instead of the hydraulic motor. Moreover, in the above-described embodiment, the configuration in which the driving device 50 performs the feed-forward control and the feedback control to drive the boom 13 has been described, but the driving device according to the embodiment of the present invention may be configured to perform only the feedback control, or may be configured not to involve the feed-forward control and the feedback control.Moreover, in the above-described embodiment, the crawler crane has been described as an example of the crane 1, but the present invention is not limited thereto, and the present invention can be applied to all cranes that transport the floating load by driving the boom that hangs the floating load, such as a revolving tower crane, a ceiling crane, an auxiliary boom crane, a retractable crane, a storage and retrieval machine, a gantry crane, and an unloader, in addition to other mobile cranes, such as a wheel crane, a truck crane, a terrain crane, and an all-terrain crane.Brief Description of the Reference Numerals1 Crane 11 lower structure 12 Rotary platform 13 Boom 14 Hook 16 Detection device 20 Operation operation unit 21 Operation lever 22 Operation start operation unit 23 Operation unit for transition to vibration suppression mode 30 Input / output unit 31 Notification unit 32 Operation panel 40 Control unit 41 Mode switching control unit 42 Manual operation control unit 43 Automatic operation control unit 44 Operation control unit for vibration suppression mode 45 Setting processing unit for automatic operation 50 Drive device 51 Rotary drive device 52 Raising / lowering drive device 53 Raising / lowering drive device L Wire rope E Floating load θq Swing in the rotational direction θr Swing in the orthogonal direction M 11, M 12, M 21, M 22, M 41, M 42: Vibration suppression drive P 11, P 12, P 21, P 22, P 22, P 41, P 42: vibration suppression pattern K 11 to K 16, K 21 to K 26, K 31 to K 34, K 41 to K 48: square wave H 11 to H 16, H 31, H 32, H 41, H 42, H 51 to H 56: modified triangular wave H 21, H 23: first modified triangular wave H 22, H 24: second modified triangular wave q 1, q 5: first gradient portion q 2, q 6: shifted portion q 3, q 7: second gradient portion q 11, q 18: first gradient portion q 12, q 19: shifted portion q 13, q 20, 2 a-th gradient portion q 14, q 21, 2 b-th gradient portion q 15, q 22: shifted portion q 16, q 23: third gradient portionReferences included in the specificationThis list of documents cited by the applicant has been produced in an automated manner and is only included for the better information of the reader. The list is not part of the German patent application or utility model application. The DPMA does not take any adhesion for any faults or omissions.Patent Literature citedJP 2009-029617 [0002, 0003]

Claims

A crane (1) comprising: a boom (13) that hangs up a floating load (E); a driving device (50) that drives the boom (13) so that the floating load (E) moves in a first direction; and a control device (40) that controls the driving unit (50), wherein the control unit (40) inputs a control command including a pattern (P11, P12, P21, P22, P41, P42) for vibration suppression to the driving device (50) to cause the driving device (50) to execute a vibration suppression drive (M11, M12, M21, M22, M41, M42) for reducing vibration of the floating load (E), and when a value of the control command is converted into a command value of acceleration of the boom (13), the vibration suppression pattern (P11, P12, P21, P22, P41, P42) includes a modified triangular wave including, in consecutive order, a first gradient portion (q1, q5, q11, q18) changing with a predetermined gradient in either a positive or negative direction, an offset portion (q2, q6, q12, q15, q19, q22) in which the command value is shifted in a direction opposite to the change in the first gradient portion (q1, q5, q11, q18), and a third gradient portion (q3, q7) changing with a predetermined gradient in the direction, which is opposite to the change in the first gradient section (q1, q5, q11, q18).A crane (1) comprising: a boom (13) that hangs up a floating load (E); and a driving device (50) that drives the boom (13) so that the floating load (E) moves in a first direction, wherein the driving device (50) performs vibration suppression driving (M 11, M 12, M 21, M 22, M 41, M 42) in which a jerk of the boom (13) changes with respect to a pattern of a plurality of square waves to reduce vibration of the floating load (E).The crane (1) according to claim 1, wherein the vibration suppression pattern (P11, P12, P21, P22, P41, P42) is a pattern in which the modified triangular wave is repeated a plurality of times in succession.The crane (1) according to claim 3, wherein the number of times among the plurality of times from a state in which the boom (13) is stopped to a state in which the boom (13) starts accelerating at a predetermined constant speed, or from a state in which the boom (13) has the constant speed to a state in which the boom (13) starts decelerating to stop is three times.The crane (1) according to claim 1, wherein the vibration suppression pattern (P11, P12, P21, P22, P41, P42) is a pattern in which a first modified triangular wave (H21, H23) in which the first gradient portion (q1, q5, q11, q18) changing with the first gradient in either the positive or negative direction, an offset portion (q2, q6, q12, q15, q19, q22) in which a control value is shifted in the direction opposite to the change in the first gradient portion (q1, q5, q11, q18), and a 2ath gradient portion changing with a second gradient having a smaller absolute value than the first gradient in the direction, which is opposite to the change in the first gradient section (q1, q5, q11, q18), changes, successively, from a second modified triangular wave (H22, H24) in which a 2bth gradient section changing with the second gradient, an offset section (q2, q6, q12, q15, q19, q22) in which the control value is shifted in a same direction as the change in the first gradient section (q1, q5, q11, q18), and a third gradient section (q16, q23) changing with a third gradient in the same direction as the change in the first gradient section (q1, q5, q11, q18) are successively followed.The crane (1) according to claim 2, wherein the vibration suppression drive (M11, M12, M21, M22, M41, M42) is a drive of changing the jerk of the boom (13), with respect to a pattern of rectangular waves, a plurality of times, into a first value representing the jerk in a first direction and a second value representing the jerk in a direction opposite to the first direction.The crane (1) according to claim 6, wherein the number of times among the plurality of times from a state in which the boom (13) is stopped to a state in which the boom (13) starts accelerating at a predetermined constant speed, or from a state in which the boom (13) has the constant speed to a state in which the boom (13) starts decelerating to stop is three times.The crane (1) according to claim 2, wherein the vibration suppression drive (M11, M12, M21, M22, M41, M42) is a drive of changing the jerk of the boom (13), with respect to a pattern of three square waves, from zero, in order, to a first value representing the jerk in a first direction, a second value representing the jerk in a direction opposite to the first direction, and a third value representing the jerk in the first direction, and returning the jerk of the boom (13) to zero.

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