Crane

Abstract

To provide a crane capable of effectively correcting response delay of a drive device and achieving highly accurate vibration control.SOLUTION: A crane includes a boom for suspending a load, a drive device for driving the boom so that the load moves in a first direction, and a control unit for controlling the drive device. By inputting a control command including a vibration suppression pattern to the drive device, the control unit causes the drive device to execute vibration suppression drive to reduce the swing of the load. When the value of the control command is converted into a command value for the acceleration of the boom, a vibration suppression pattern (P11) includes modified triangular waves (H11 to H13) each including consecutively, in order, a first gradient portion (q1) that changes at a predetermined gradient in either positive or negative direction, an offset portion (q2) in which the command value is displaced in the opposite direction to the change in the first gradient portion, and a second gradient portion (q3) that changes at a predetermined gradient in the opposite direction to the change in the first gradient portion.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a crane.

Background Art

[0002] Patent Document 1 discloses a control device that reduces the sway of a load of a crane by inputting a speed command obtained by numerically integrating a predetermined acceleration pattern to a drive device.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the above conventional control device has a problem that the assumed vibration damping effect cannot be obtained due to the response delay of the drive device.

[0005] An object of the present invention is to provide a crane that can effectively correct the response delay of a drive device and realize a more accurate vibration damping drive.

Means for Solving the Problems

[0006] A crane according to an aspect of the present invention includes a boom that suspends a suspended load, a drive device that drives the boom so that the suspended load moves in a first direction, a control unit that controls the drive device, and the control unit executes vibration damping drive for reducing the swing of the suspended load by inputting a control command including a vibration damping pattern to the drive device, when the value of the control command is converted into a command value of the acceleration of the boom, the vibration damping pattern It includes a first gradient section that changes at a predetermined gradient in either the positive or negative direction in sequence, an offset section where the command value is displaced in the direction opposite to the change of the first gradient section, and a second gradient section that changes at a predetermined gradient in the direction opposite to the change of the first gradient section, which are continuous to form a deformed triangular wave.

[0007] A crane according to another aspect of the present invention a boom for suspending a suspended load, a driving device for driving the boom so that the suspended load moves in a first direction, is provided, the driving device reduces the swing of the suspended load by performing vibration damping driving in which the Jerk of the boom changes in a pattern of a plurality of rectangular waves.

Advantages of the Invention

[0008] According to the present invention, it is possible to effectively correct the response delay of the driving device and provide a crane capable of realizing vibration damping driving with higher accuracy.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

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Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Mode for Carrying Out the Invention

[0010] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0011] FIG. 1 is a block diagram showing the crane of this embodiment. The crane 1 of this embodiment includes a lower structure 11, an upper slewing body 12 that slews with respect to the lower structure 11, a boom 13 that rises and falls with respect to the upper slewing body 12, and a hook 14 suspended from the boom 13 via a wire rope L. Although shown in a simplified manner in FIG. 1, the lower structure 11 may be a traveling body such as a crawler, or may be a fixed structure.

[0012] The crane 1 further includes a detection device 16 such as a camera for detecting the swing of the suspended load E, an operation unit 20 that can be operated by an operator, an input / output unit 30 for outputting information to the operator and inputting information from the operator, a control unit 40 for controlling the operation of the crane 1, and a drive device 50 for driving the boom 13. The operation unit 20, the input / output unit 30, and the control unit 40 may be arranged, for example, in the operator's cab 2 and the control room 3 on the upper slewing body 12. The above detection device 16 sends detection information (video data, etc.) of the swing of the suspended load E to the control unit 40 via the I / O 64.

[0013] The operation control unit 20 has an operation lever 21 for manually performing the slewing operation of the upper slewing body 12, the hoisting and lowering operation of the boom 13, and the hoisting and lowering operation of the hook 14. The slewing of the upper slewing body 12 also corresponds to the slewing of the boom 13. The operation control unit 20 further includes an automatic operation start operation unit 22 for shifting the crane 1 to the automatic operation mode, and a vibration damping mode shift operation unit 23 for shifting to the vibration damping mode. In the automatic operation mode, the information of the conveyance destination of the suspended load E is input in advance, and by operating the automatic operation start operation unit 22 with the suspended load E lifted, the slewing operation and the hoisting and lowering operation are automatically performed, and the suspended load E can be automatically moved above the conveyance destination. The vibration damping mode is an operation mode in which the vibration damping operation for reducing the swing of the suspended load E is automatically performed. The operation signal of the operation lever 21, the operation signal of the automatic operation start operation unit 22, and the operation signal of the vibration damping mode shift operation unit 23 are sent to the control unit 40 via the I / O 61.

[0014] The input / output unit 30 includes a notification unit 31 that notifies the operator of information by display or sound, and an operation panel 32 through which the operator can input information by operating. Further, the control unit 40 includes an automatic driving setting processing unit 45 that causes the automatic driving setting information (such as the moving start position of the suspended load E, the moving path of the boom 13, the moving end position of the suspended load E, etc.) to be input via the operation panel 32. The notification unit 31 receives a command from the control unit 40 via the I / O 62 and performs a notification operation. The operation panel 32 receives a display signal from the control unit 40 (specifically, the automatic driving setting processing unit 45) via the I / O 62, and outputs an operation signal to the control unit 40 (specifically, the automatic driving setting processing unit 45) via the I / O 62. Information on the moving path of the boom 13 may be set in cases where there are locations where it is desired to avoid the passage of the boom 13 during slewing operation, or locations where it is desired to avoid the passage of the suspended load E and the wire rope L, and the passage of such locations can be avoided by changing the elevation angle of the boom 13. The information on the moving end position may be in a form in which position information such as coordinate positions is directly input, or in a form in which it is input based on the slewing angle of the upper slewing body 12 and the elevation angle of the boom 13. Alternatively, a form may be adopted in which the position of the hook 14 is moved to the moving end position by manually moving the hook 14 and performing a specified operation, and the position of the hook 14 at that time is input as the moving end position in the automatic driving mode.

[0015] 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 controls the operation of the crane 1 in the manual operation mode, an automatic operation control unit 43 that controls the operation of the crane 1 in the automatic operation mode, a vibration damping mode operation control unit 44 that controls the operation of the crane 1 in the vibration damping mode, and the above-described automatic operation setting processing unit 45 that inputs the setting information of the automatic operation via the operation panel 32. The control unit 40 is a computer including a CPU (Central Processing Unit), a storage device that stores a control program, and an interface that inputs and outputs signals between the control unit 40 and external devices (components of the crane 1). The mode switching control unit 41, the manual operation control unit 42, the automatic operation control unit 43, the vibration damping mode operation control unit 44, and the automatic operation setting processing unit 45 may be software modules realized by the CPU executing the control program. The control unit 40 exchanges control commands and information with the operation operation unit 20, the input / output unit 30, the detection device 16, and the drive device 50 via the bus and I / O 61 to 63.

[0016] The drive device 50 includes a slewing drive device 51 that slews the boom 13, a luffing drive device 52 that luffs the boom 13, and a hoisting drive device 53 that hoists and lowers the suspended load E.

[0017] The slewing drive device 51 has a rotation mechanism that rotatably supports the upper slewing body 12, a first hydraulic motor that generates the rotational power of the upper slewing body 12, a first control valve that controls the hydraulic pressure, and a first drive circuit that drives the first control valve in response to a control command from the control unit 40. The first hydraulic motor is rotationally driven by the pressure of the hydraulic oil discharged from the hydraulic pump and supplied via the first control valve. The first control valve changes the opening degree by a pilot signal from the first drive circuit, and the pressure of the hydraulic oil supplied to the first hydraulic motor changes according to the opening degree, and the rotational motion (rotation speed and torque) of the first hydraulic motor changes. The above pilot signal is a hydraulic signal.

[0018] The boom lifting drive device 52 includes a rotation mechanism that rotatably supports the boom 13 in the lifting direction, a wire rope that supports the boom via the mast, a lifting winch that winds and unwinds the wire rope, a second hydraulic motor that rotationally drives the lifting winch, a second control valve that controls the hydraulic pressure, and a second drive circuit that drives the second control valve in response to a control command from the control unit 40. The second hydraulic motor is rotationally driven by the pressure of the hydraulic oil discharged from the hydraulic pump and supplied via the second control valve. The second control valve changes the opening degree according to the pilot signal from the second drive circuit, and the pressure of the hydraulic oil supplied to the second hydraulic motor changes according to the opening degree, and the rotational movement (rotation speed and torque) of the second hydraulic motor changes. The above pilot signal is a hydraulic signal.

[0019] The hoisting drive device 53 includes a mechanism that supports the wire rope L engaged with the hook 14 so that it can be wound out and wound in from the tip of the boom 13, a hoisting winch that winds and unwinds the wire rope L, a third hydraulic motor that rotationally drives the hoisting winch, a third control valve that controls the hydraulic pressure, and a third drive circuit that drives the third control valve in response to a control command from the control unit 40. The third hydraulic motor is rotationally driven by the pressure of the hydraulic oil discharged from the hydraulic pump and supplied via the third control valve. The third control valve changes the opening degree according to the pilot signal from the third drive circuit, and the pressure of the hydraulic oil supplied to the third hydraulic motor changes according to the opening degree, and the rotational movement (rotation speed and torque) of the third hydraulic motor changes. The above pilot signal is a hydraulic signal.

[0020] The control unit 40 creates control commands for swing drive, heave drive, and hoist drive in response to the operation of the operation lever 21 or the result of arithmetic processing for automatic driving. The control command for swing drive is a control command that specifies the rotational movement (e.g., torque, rotational speed, etc.) of the swing drive device 51. The control command for heave drive is a control command that specifies the heaving movement of the boom 13 by the heave drive device 52 (e.g., torque of the heave winch, rotational speed, etc.). The control command for hoist drive is a control command that specifies the hoisting movement of the hook 14 by the hoist drive device 53 (e.g., torque of the hoist winch, rotational speed, etc.). Then, the control unit 40 outputs these control commands to the first drive circuit of the swing drive device 51, the second drive circuit of the heave drive device 52, and the third drive circuit of the hoist drive device 53. Then, the first to third drive circuits perform, for example, feedforward control and feedback control to control each pilot signal (hydraulic pressure) so that the movement indicated by the control command occurs. By such control, rotational movement, heaving movement, and hoisting movement according to the control command output from the control unit 40 are realized.

[0021] On the other hand, even when performing the above control, it is difficult to make the response delay of the swing drive device 51, the response delay of the heave drive device 52, and the response delay of the hoist drive device 53 zero. And when the value of the control command for the swing drive device 51, the value of the control command for the heave drive device 52, or the value of the control command for the hoist drive device 53 changes rapidly, a deviation occurs between the value of the control command and the actual movement. Note that the value of the control command that specifies speed or torque can be converted into the command value of acceleration, which is the change rate of the speed command value.

[0022] In the present embodiment, each of the turning drive device 51, the tilting drive device 52, and the lifting drive device 53 is driven by a hydraulic motor, and the hydraulic motor is controlled via a control valve based on a pilot signal by hydraulic pressure. However, for example, a configuration in which the pilot signal for controlling the opening degree of the control valve is an electric signal may be applied, or a configuration using an electric motor instead of the hydraulic motor may be applied. Also in such a configuration, the response delay described above occurs in the same manner, and when the value of the control command changes rapidly, a deviation due to the response delay occurs between the command value and the actual movement.

[0023] According to the crane 1 having the above configuration, by hanging the suspended load E on the hook 14 suspended from the tip of the boom 13 and winding up the wire rope L by the driving force of the lifting drive device 53, the suspended load E can be lifted from the ground. Thereafter, by turning the upper slewing body 12 and the boom 13 by the driving force of the turning drive device 51 and changing the tilting angle of the boom 13 by the driving force of the tilting drive device 52 if necessary, the suspended load E can be moved above the transport destination. Then, by paying out the wire rope L by the driving force of the lifting drive device 53, the suspended load E can be lowered to the transport destination. By turning the boom 13, the suspended load E moves in the direction q, and by tilting the boom 13, the suspended load E moves in the direction r. The direction q is the tangential direction of the turning circle at the tip of the boom 13, and the direction r is a direction orthogonal to the turning direction q and horizontal, that is, the horizontal component of the direction in which the tip of the boom 13 moves due to the tilting of the boom 13. Hereinafter, the direction q is also referred to as the turning direction, and the direction r is also referred to as the tilting direction.

[0024] (Embodiment 1) Subsequently, the vibration damping drive in Embodiment 1 when transporting the suspended load E in the first direction will be described. In Embodiment 1, the first direction is the turning direction, and examples in which the amount of change in the turning angle is relatively small to the extent that centrifugal force can be ignored or the turning speed is low are shown. The vibration damping drive is performed by the automatic operation control unit 43 when the driver designates the point of the transport destination and then selects the automatic operation mode.

[0025] FIG. 2 is a time chart showing an example of the movement (A) of the boom in the above vibration damping drive and the control command (B) of the turning drive. FIG. 3 is a phase plane diagram for explaining the vibration damping drive of FIG. 2. The Jerk, acceleration, and velocity in FIG. 2(A) represent the actual Jerk, acceleration, and velocity of the tip of the boom 13 in the turning direction, respectively. Jerk represents the jerk, that is, the time derivative of acceleration. The acceleration command in FIG. 2(B) corresponds to the rotational motion of the turning drive device 51 specified by the control command converted into the acceleration of the tip of the boom 13. The velocity command in FIG. 2(B) corresponds to the rotational motion of the turning drive device 51 specified by the control command converted into the velocity of the tip of the boom 13. The above control command is output from the control unit 40 (specifically, the automatic operation control unit 43) to the turning drive device 51.

[0026] As shown in FIG. 2(A), the vibration damping drive when transporting the suspended load E in the first direction includes the vibration damping drive M11 during acceleration and the vibration damping drive M12 during deceleration. The vibration damping drive M11 during acceleration is a drive in which the Jerk changes in the pattern of a plurality of rectangular waves K11 to K13. More specifically, the pattern of the Jerk of the vibration damping drive M11 is a pattern in which three rectangular waves K11 to K13 that change from a positive value to a negative value are continuous. By setting the time change of the Jerk to the pattern of the rectangular waves K11 to K13 in this way, although the details will be described later, effective correction of the response delay of the hydraulic motor becomes possible. And by effective correction, an accurate movement of the boom 13 can be obtained, and thus it becomes possible to accurately realize the planned vibration damping action.

[0027] The high-level value, low-level value, and time length of the rectangular waves K11 to K13 of the Jerk may be determined as follows using the phase plane of FIG. 3. That is, the swing θq (see FIG. 1) of the suspended load E in the first direction is a predetermined phase plane (the horizontal axis is the angular velocity dθq / dt of the swing angle θq, and the vertical axis is the angular acceleration 1 / ω·d 2 θ / dt 2It can be represented as the circular motion of the phase point N on a plane. Here, d / dt is the time derivative (represented by a dot in the figure), ω is the phase angular velocity of the vibration (ω = 2π / T), T is the period of the vibration θq, which is determined by the length of the wire rope L suspended from the tip of the boom 13. The phase point N makes one full revolution in the period T. If the tip of the boom 13 is stationary or moving at a constant speed, the center of the above circular motion is the origin p0 of the phase plane. On the other hand, when a constant Jerk “j” or “-j” in the first direction is applied to the tip of the boom 13, the center of the circular motion of the phase point N moves to the points p1, p2 of “j / g” or “-j / g”. g is the acceleration due to gravity.

[0028] Therefore, by appropriately selecting the high-level values and low-level values of the rectangular waves K11~K13, and the time lengths of the rectangular waves K11~K13, as shown in FIG. 3, it is possible to find the paths of a plurality of arcs a~f on the phase plane where the phase point N is displaced from the origin p0 and then returns to the origin p0 again. The arcs a~f are arcs centered on an arbitrary point on the horizontal axis. Furthermore, it is also possible to select the arcs a~f such that the center points of the arcs a, c, e are equal, the center points of the arcs b, d, f are equal, and the central angles (corresponding to the time lengths) of each of the arcs a~f are approximately equal. Then, by calculating the rectangular waves K11~K13 corresponding to the arcs a~f, the rectangular waves K11~K13 of the vibration damping drive M11 that causes the velocity and acceleration of the vibration θq to accelerate to one side from the state where they are zero and then transition back to the state where the velocity and acceleration of the vibration θq are zero can be obtained. The arcs a, c, e in FIG. 3 respectively correspond to the high-level values and time lengths of the rectangular waves K11~K13 of the Jerk in FIG. 2(A), and the arcs b, d, f in FIG. 3 respectively correspond to the low-level values and time lengths of the rectangular waves K11~K13 of the Jerk in FIG. 2(A).

[0029] According to the vibration damping drive M11 during the acceleration, a motion can be obtained in which the suspended load E is accelerated in the first direction and then the velocity and acceleration of the vibration θq become zero and stabilize.

[0030] When decelerating, the vibration damping drive M12 is a drive in which the jerk changes in the pattern of a plurality of rectangular waves K14 to K16. More specifically, the pattern of the jerk of the vibration damping drive M12 is a pattern in which three rectangular waves K14 to K16 that change from a negative value to a positive value are continuous. By setting the time change of the jerk to the pattern of the rectangular waves K14 to K16 in this way, although details will be described later, it becomes possible to effectively correct the response delay of the hydraulic motor. And by the effective correction, the accurate movement of the boom 13 can be obtained, and thus it becomes possible to accurately realize the planned vibration damping action.

[0031] When decelerating, the vibration damping drive M12 performs the same operation as the vibration damping drive M11 with the positive and negative reversed, thereby obtaining the rectangular waves K14 to K16 of the jerk corresponding to the path in which the phase point N is displaced from the origin p0 and returns to the origin p0 on the phase plane. According to the vibration damping drive M12 during deceleration, after decelerating the suspended load E in the first direction to zero speed, a motion in which the speed and acceleration of the swing θq become zero and stabilize can be obtained.

[0032] <Correction of Response Delay of Hydraulic Motor> If a control command that directly specifies the motions of the vibration damping drives M11 and M12 in FIG. 2(A) is input as a control command for the turning drive, due to the response delay of the hydraulic motor, the actual turning motion by the turning drive device 51 will deviate from the motion in FIG. 2(A).

[0033] The response delay of the hydraulic motor corresponds to a first-order delay. Therefore, if the system that generates acceleration based on the control command is represented by a transfer function, it becomes as follows in Equation (1). N(s) = 1 / (Td·s + 1)·U(s) ··· (1) Here, U(s) is the control command for acceleration, N(s) is the actual acceleration, s is the complex frequency, and Td is a coefficient representing the magnitude of the response delay. The coefficient Td is a constant that depends on the structure of the hydraulic motor and the mechanism, and can be obtained by experiments or simulations.

[0034] Here, when there is a response delay, if a control command U(s) is obtained such that the actual acceleration matches the planned acceleration N(s), U(s) is given by the following equation (2). U(s) = (Td·s + 1)N(s) ··· (2) When equation (2) is transformed back to the time domain, it becomes equation (3). u(t) = Td·d(n(t)) / dt + n(t) ··· (3) Here, u(t) is the control command for acceleration in the time domain, and n(t) is the actual acceleration in the time domain. Thus, dn(t) / dt is the Jerk in the time domain. In equation (3), if the Jerk is constant, the first term on the right side, "Td·d(n(t)) / dt", becomes a constant. Furthermore, if the Jerk is constant, it becomes possible to correct the effective response delay with the control command value u(t) of the acceleration, and accurate acceleration control of the turning drive device 51 can be realized.

[0035] The vibration control drives M11 and M12 shown in Fig. 2(A) are drives in which the Jerk changes in the patterns of a plurality of rectangular waves K11~K13 and K14~K16. Therefore, the vibration control drives M11 and M12 correspond to drives in which a plurality of sections of drives with a constant Jerk are connected in series, and an effective response delay correction can be performed by correcting the response delay of the above equation (3). Thus, accurate acceleration control of the turning drive device 51 becomes possible with the vibration control drives M11 and M12, and high-precision vibration control of the suspended load E can be realized.

[0036] The value of the corrected control command for acceleration is the value obtained by adding Jerk × coefficient Td to the target acceleration. Therefore, as shown in Fig. 2(B), the control command for acceleration includes the control command for the vibration control pattern P11 corresponding to the vibration control drive M11 and the control command for the vibration control pattern P12 corresponding to the vibration control drive M12.

[0037] The vibration damping pattern P11 includes a plurality of deformed triangular waves H11 to H13 in which a first gradient part q1 that changes in a first gradient (corresponding to a predetermined gradient) in the positive direction, an offset part q2 in which the control value is displaced in the direction opposite to the change of the first gradient part q1, and a second gradient part q3 that changes in a second gradient (corresponding to a predetermined gradient) in the direction opposite to the change of the first gradient part q1 are continuous. Similarly, the vibration damping pattern P12 includes a plurality of deformed triangular waves H14 to H16 in which a first gradient part q5 that changes in a first gradient, an offset part q6 in which the control value is displaced in the direction opposite to the change of the first gradient part q5, and a second gradient part q7 that changes in a second gradient in the direction opposite to the change of the first gradient part q5 are continuous. The displacement in the offset parts q2 and q6 means that the value changes abruptly at a certain timing, and the displacement includes both a discrete change in value and a displacement in which the value changes in a very short time in a steep slope. The same applies to the displacement or change in the offset part shown below.

[0038] Note that the deformed triangular waves H11 to H13 include an offset part q0 that changes in the same direction as the change of the first gradient part q1 before the first gradient part q1, and may be regarded as a waveform in which the offset part q0, the first gradient part q1, the offset part q2, and the second gradient part q3 are continuous. Similarly, the deformed triangular waves H14 to H16 include an offset part q4 that changes in the same direction as the change of the first gradient part q5 before the first gradient part q5, and may be regarded as a waveform in which the offset part q4, the first gradient part q5, the offset part q6, and the second gradient part q7 are continuous.

[0039] In Embodiment 1, the gradients of the first gradient part q1 and the second gradient part q3 have the same absolute value. Also, the gradients of the first gradient part q5 and the second gradient part q7 have the same absolute value. Also, the gradients of the first gradient part q1 of the deformed triangular wave H11 and the first gradient part q5 of the deformed triangular wave H14 have the same absolute value. Also, the three deformed triangular waves H11 to H13 have the same shape and size, and the three deformed triangular waves H14 to H16 have the same shape and size. Note that the offset amounts of the offset parts q0 and q4, the gradients of the first gradient parts q1 and q5, the offset amounts of the offset parts q2 and q6, and the gradients of the second gradient parts q3 and q7 may have different magnitudes for each of the plurality of deformed triangular waves H11 to H16.

[0040] Then, a control command for specifying the turning motion in FIG. 2(B) is input from the control unit 40 (specifically, the automatic driving control unit 43) to the turning drive device 51, thereby causing the turning motion in FIG. 2(A). Then, while transporting the suspended load E in the first direction, vibration of the suspended load E can be reduced during acceleration and deceleration, and conveyance with reduced swing of the suspended load E after conveyance can be realized.

[0041] In addition, in the first embodiment, an example in which the first direction for transporting the suspended load E is the turning direction q (see FIG. 1) is shown. However, the first direction for transporting the suspended load E may be the undulating direction r (see FIG. 1) that is orthogonal to the turning direction q and horizontal. In this case, the same control as the control of the turning drive device 51 in the first embodiment may be performed on the undulating drive device 52. Further, if the first direction for transporting the suspended load E is the combined direction of the directions q and r, both the turning drive device 51 and the undulating drive device 52 may be controlled so that the motion in FIG. 2(A) can be obtained as the motion in the above combined direction. Alternatively, the swing of the suspended load E in the turning direction q and the swing of the suspended load E in the undulating direction r may be handled independently, and the same control as in the first embodiment may be independently performed on the turning drive device 51 and the undulating drive device 52, respectively. By these controls, the same vibration control drive can be realized regardless of the direction in which the suspended load E is transported.

[0042] As described above, according to the vibration control drives M11 and M12 of the first embodiment, as described above, the swing of the suspended load E can be reduced while transporting the suspended load E. Note that all the positive and negative signs of the waveforms shown in FIGS. 2(A) and 2(B) may be reversed, and in that case, a turning motion in the opposite direction occurs.

[0043] Furthermore, the vibration control drive M11 of Embodiment 1 corresponds to a drive in which the Jerk of the boom 13 changes in the pattern of three rectangular waves K11 to K13. Similarly, the vibration control drive M12 of Embodiment 1 corresponds to a drive in which the Jerk of the boom 13 changes in the pattern of three rectangular waves K14 to K16. And the control commands for the acceleration to realize such vibration control drives M11 and M12 include a control command in which the command value of the acceleration changes in the vibration control pattern P11 where three modified triangular waves H11 to H13 are continuous, and a control command in which the command value of the acceleration changes in the vibration control pattern P12 where three modified triangular waves H14 to H16 are continuous. According to such a configuration, since the path of the phase point N in FIG. 3 can be adopted, the three rectangular waves K11 to K13 included in the drive pattern of the boom 13 and the three modified triangular waves H11 to H13 included in the control command can be made into similar waveforms. Thereby, the movement of the boom 13 of the vibration control drive M11 can be made into a repetition of similar acceleration changes, and thus, the power applied to the boom 13 can be evenly distributed in the time direction, and effective vibration control can be realized by the stable drive of the boom 13. The same applies to the vibration control drive M12 during deceleration and the vibration control pattern P12 during deceleration. Also, if the vibration control drive M11 during acceleration is changed from a drive including three rectangular waves K11 to K13 to a drive including more than three rectangular waves, the control becomes complicated and the movement of the boom 13 also becomes complicated. However, in this embodiment, by using a drive including three rectangular waves K11 to K13, effective vibration control can be realized with relatively simple control and operation. The same applies to the vibration control drive M12 during deceleration. Note that from the state where the boom 13 stops and accelerates to a state of reaching a predetermined constant speed, or from the state where the boom 13 starts decelerating from a constant speed until the boom stops, the number of times the modified triangular waves are continuous is three times. By setting the number of times in such a way, effective vibration control can be realized with relatively simple control and operation.

[0044] Furthermore, according to the vibration control drives M11 and M12 of Embodiment 1 and the control commands having the vibration control patterns P11 and P12, the swing is greatly reduced after acceleration by the vibration control drive M11. Therefore, there are fewer restrictions on the timing for starting the vibration control drive M12 during deceleration. The period from the end of the vibration control drive M11 to the start of the vibration control drive M12 is the time during which the suspended load E moves at a certain speed, and the moving distance of the suspended load E can be adjusted by changing the magnitude of this period. Therefore, according to the vibration control drives M11 and M12 of Embodiment 1, it becomes easier to set the distance for transporting the suspended load E.

[0045] (Embodiment 2) Subsequently, the vibration control drive of Embodiment 2, in which the suspended load E is vibrated in place without being largely moved, will be described. This vibration control drive is implemented by the vibration control mode operation control unit 44 when the driver selects and operates the vibration control mode.

[0046] FIG. 4 is a time chart showing an example of the movement (A-1), (A-2) of the boom and the control commands (B-1), (B-2) in the above vibration control drive. FIGS. 4(A-1) and (B-1) show the drive in the lifting and lowering direction of the boom 13 and its control command, and FIGS. 4(A-2) and (B-2) show the drive in the turning direction of the boom 13 and its control command.

[0047] As shown in FIGS. 4(A-1) and (A-2), the vibration control drive when vibrating the suspended load E in place includes the vibration control drive M21 due to the lifting and lowering of the boom 13 and the vibration control drive M22 due to the turning of the boom 13. In Embodiment 2, the vibration control drives M21 and M22 are performed with a shifted timing, but depending on the cycle start point of the swing in each direction, they may be performed at overlapping timings.

[0048] The vibration control drive M21 in the undulation direction r is a drive in which the Jerk in the undulation direction r changes in the pattern of a plurality of rectangular waves K21 to K23. More specifically, the vibration control drive M21 is a drive that changes the Jerk from zero to, in order, a first value j1 representing a negative Jerk, a second value j2 representing a positive Jerk, and a third value j3 representing a negative Jerk in the pattern of a rectangular wave and then returns to zero. In the example of Fig. 4(A-1), the first value j1 = the third value j3, but they may be different values.

[0049] The first value j1 to the third value j3 and the time lengths of the rectangular waves K21 to K23 can be obtained as shown in the phase plane diagram of Fig. 5. That is, as shown in Fig. 5, three arcs a to c in which the phase point N returns from the point p21 corresponding to the initial vibration to the origin p0 are obtained, and rectangular waves K21 to K23 having Jerk values and time lengths corresponding to the center points and central angles of the three arcs a to c may be applied. Note that the positive and negative of the first value j1 to the third value j3 may be reversed depending on the control timing, and in this case, the positive and negative of the point p21 will also be reversed.

[0050] The vibration control drive M22 in the turning direction q is a drive in which the Jerk in the turning direction q changes in the pattern of a plurality of rectangular waves K24 to K26. More specifically, the vibration control drive M22 is a drive that changes the Jerk from zero to, in order, a first value j4 representing a positive Jerk, a second value j5 representing a negative Jerk, and a third value j6 representing a positive Jerk in the pattern of a rectangular wave and then returns to zero. In the example of Fig. 4(A-2), the first value j4 = the third value j6, but they may be different values.

[0051] The first value j4 to the third value j6 and the time lengths of the rectangular waves K24 to K26 can be obtained in the same manner as in the case of the vibration control drive M21 in the undulation direction r described with reference to Fig. 5. Note that the positive and negative of the first value j4 to the third value j6 may also be reversed depending on the control timing.

[0052] As described above, the control command for acceleration is a value obtained by adding Jerk × coefficient Td to the target acceleration. Therefore, as shown in FIGS. 4(B-1) and 4(B-2), the control command for Jerk in the lifting direction r of the boom 13 and the control command for Jerk in the turning direction q of the boom 13 are commands including the control commands for the vibration control patterns P21 and P22 corresponding to the vibration control M21 and M22.

[0053] The vibration control pattern P21 includes a first gradient section q11 that changes with a first gradient in the negative direction, an offset section q12 in which the control value is displaced in the direction opposite to the change of the first gradient section q11, and a second gradient section q13 that changes with a second gradient whose absolute value is smaller than that of the first gradient section q11 in the direction opposite to the change of the first gradient section q11. After the continuous first deformed triangular wave H21, there is a second gradient section q14 that changes with a second gradient in the positive direction, an offset section q15 in which the control value is displaced in the direction opposite to the change of the second gradient section q14, and a third gradient section q16 that changes with a third gradient in the direction opposite to the change of the second gradient section q14. It is a pattern followed by a continuous second deformed triangular wave H22.

[0054] The vibration control pattern P22 includes a first gradient section q18 that changes with a first gradient in the positive region, an offset section q19 in which the control value is displaced in the direction opposite to the change of the first gradient section q18, and a second gradient section q20 that changes with a second gradient whose absolute value is smaller than that of the first gradient section q18 in the direction opposite to the change of the first gradient section q18. After the continuous first deformed triangular wave H23, there is a second gradient section q21 that changes with a second gradient in the negative region, an offset section q22 in which the control value is displaced in the direction opposite to the change of the second gradient section q21, and a third gradient section q23 that changes with a third gradient in the direction opposite to the change of the second gradient section q21. It is a pattern followed by a continuous second deformed triangular wave H24.

[0055] Then, by inputting the control commands for specifying the lifting motion and the turning motion in FIGS. 4(B-1) and 4(B-2) from the control unit 40 (specifically, the vibration control mode operation control unit 44) to the lifting drive device 52 and the turning drive device 51, the lifting motion and the turning motion in FIGS. 4(A-1) and 4(A-2) occur. And by this motion, the suspended load E can be vibration-controlled on the spot.

[0056] Figure 6 is a diagram showing the swing of the suspended load E based on the vibration control drive of FIG. 4. In FIG. 6, the vertical axis represents the position in the undulation direction r, and the horizontal axis represents the position in the turning direction q. Before the vibration control drive, the suspended load E that was swinging along a large elliptical locus S1 will swing along a locus S2 with a small swing due to the above-described vibration control drives M21 and M22.

[0057] As described above, according to the vibration control drives M21 and M22 of Embodiment 2 and the control command having the vibration control patterns P21 and P22, the swing of the suspended load E can be reduced on the spot. Furthermore, such an effect can be achieved with a small driving amount of the boom 13. Also, in Embodiment 2, from the state where the boom 13 is stopped to the state where it accelerates to a predetermined constant speed, or from the state where the boom 13 starts decelerating from the constant speed to the state where the boom stops, the number of times the rectangular waves j1 to j3, or the rectangular waves j4 to j6 are continuously repeated is 3 times. By setting such a number of times, effective vibration control can be realized with relatively simple control and operation.

[0058] (Embodiment 3) FIG. 7 shows a time chart (A) showing the movement of the boom in the vibration control drive of Embodiment 3, a time chart (B) showing the control command for the turning drive, and a phase plane diagram (C) showing the movement of the phase points. The vibration control drive of Embodiment 3 is a drive that performs vibration control while transporting the suspended load E in the first direction. The vibration control drive is implemented by the automatic operation control unit 43 by the driver selecting the automatic operation mode after designating the destination point.

[0059] As shown in Fig. 7(A), the vibration control drive of Embodiment 3 is a drive in which the Jerk in the turning direction changes in the patterns of a plurality of rectangular waves K31 to K34. Specifically, the pattern of the vibration control drive is a pattern in which the positive rectangular wave K31 and the negative rectangular wave K32 are continuous, and the negative rectangular wave K33 and the positive rectangular wave K34 are continuous with a period T31 where the acceleration and Jerk are zero in between. Further, in this pattern, the high-level values "j" of the positive rectangular waves K31 and K34 are equal, the low-level values "-j" of the negative rectangular waves K32 and K33 are equal, and the absolute values of both are equal.

[0060] The high-level values, low-level values, and time lengths of the rectangular waves K31 to K34, and the time length of the period T31 can be obtained as shown in the phase plane diagram of Fig. 7(C). That is, as shown in Fig. 7(C), the phase point N moves along arcs a and b centered at points p31 and p32 corresponding to Jerk "j" and "-j", then moves along an arc c centered at the origin p0, and then moves along arcs d and e centered at points p31 and p32 again and returns to the origin p0 to obtain the path. Then, rectangular waves K31 to K34 having the Jerk values corresponding to the center points p31 and p32 of the arcs a to e and the time lengths corresponding to the central angles may be applied. Also, since the arc c mainly affects the conveying distance of the suspended load E, the size and central angle of the arc c may be determined based on the set conveying distance.

[0061] As described above, the control command for acceleration is a value obtained by adding Jerk × coefficient Td to the target acceleration. Therefore, as shown in Fig. 7(B), the control command for the Jerk in the turning direction of the boom 13 includes the control command of the vibration control pattern corresponding to the vibration control drive of Fig. 7(A). And the vibration control pattern is a pattern in which the deformed triangular wave H31 convex in the positive direction and the deformed triangular wave H32 convex in the negative direction are positioned with the period T31 in between.

[0062] Then, a control command for specifying the turning motion in FIG. 7(B) is input from the control unit 40 (specifically, the automatic driving control unit 43) to the turning drive device 51, thereby causing the turning motion in FIG. 7(A). And by this motion, it is possible to damp the suspended load E while transporting it in the first direction.

[0063] As described above, according to the vibration damping drive of the third embodiment, it is possible to reduce the swing of the suspended load E at the transport destination while transporting the suspended load E. Further, according to the vibration damping drive of the third embodiment, it is possible to realize the transport and vibration damping of the suspended load E with a small change in Jerk. Note that, similar to the case of the first embodiment, all the positive and negative of the Jerk waveform may be reversed, and in that case, a turning motion in the opposite direction occurs.

[0064] (Embodiment 4) FIG. 8 shows a time chart (A) showing the movement of the boom in the vibration damping drive of the fourth embodiment, a time chart (B) showing the control command of the turning drive, and a phase plane diagram (C) showing the movement of the phase point. The vibration damping drive of the fourth embodiment is a drive that performs vibration damping while transporting the suspended load E in the first direction. The vibration damping drive is performed by the automatic driving control unit 43 when the driver selects the automatic driving mode after designating the point at the transport destination.

[0065] As shown in FIG. 8(A), the vibration damping drive of the fourth embodiment is a drive in which the vibration damping drive M41 during acceleration and the vibration damping drive M42 during deceleration are performed with an arbitrary period T41 in between. Specifically, the vibration damping drive M41 during acceleration is a drive in which positive rectangular waves K41 and K42 are positioned with a period T42 in between as the waveform of Jerk, and then negative rectangular waves K43 and K44 are positioned with a period T43 in between. The vibration damping drive M42 during deceleration is a drive in which negative rectangular waves K45 and K46 are positioned with a period T44 in between as the waveform of Jerk, and then positive rectangular waves K47 and K48 are positioned with a period T45 in between.

[0066] The high-level values of the positive rectangular waves K41, K42, K47, K48 and the low-level values of the negative rectangular waves K43, K44, K45, K46 are set such that their absolute values are equal to each other, but one or more of them may be set to have a different absolute value from the others. Also, the time lengths of the rectangular waves K41 to K48 are set to be the same as each other, but one or more of them may be set to have a difference from the other time lengths.

[0067] The high-level value or low-level value of the rectangular waves K41 to K44, and their time lengths, and the time lengths of the periods T42 and T43 can be obtained as shown in the phase plane diagram of Fig. 8(C). That is, as shown in Fig. 8(C), arcs a to e are obtained such that the phase point N moves along the arcs a to e from the origin p0 and returns to the origin p0 again. Here, the arcs a, c, d, f are arcs centered on the points p41, p42 corresponding to the values of Jerk. The arcs b, e are arcs centered on the origin p0. Then, once the arcs a to e are determined, the values and periods of the rectangular waves K41 to K44, and the periods T42, T43 can be determined from the values of Jerk corresponding to the above points p41, p42 and the time lengths corresponding to the central angles. The high-level value or low-level value of the rectangular waves K45 to K48, and their time lengths, and the time lengths of the periods T44, T45 can also be obtained in the same way.

[0068] As described above, the control command for acceleration is a value obtained by adding Jerk × coefficient Td to the target acceleration. Therefore, as shown in Fig. 8(B), the control command for Jerk in the turning direction of the boom 13 is a pattern in which the vibration damping pattern P41 during acceleration and the vibration damping pattern P42 during deceleration are positioned with the period T41 in between.

[0069] The vibration damping pattern P41 during acceleration is a pattern in which the control value changes along, in order, an offset portion q41a that offsets in the positive direction, a first gradient portion q41b that changes with a first gradient in the positive direction, an offset portion q42a that offsets in the negative direction, a flat portion q42b with a constant value, an offset portion q43a that offsets in the positive direction, a second gradient portion q43b that changes with a second gradient in the positive direction, an offset portion q43c that offsets in the negative direction, a third gradient portion q43d that changes with a third gradient in the negative direction, an offset portion q44a that offsets in the positive direction, a flat portion q44b with a constant value, an offset portion q45a that offsets in the negative direction, a fourth gradient portion q45b that changes with a fourth gradient in the negative direction, and an offset portion q45c that offsets in the positive direction. The pattern includes a deformed triangular wave H41 (second gradient portion q43b, offset portion q43c, third gradient portion q43d) that is convex in the positive direction.

[0070] The vibration damping pattern P42 during deceleration is a pattern in which the control value changes along, in order, an offset portion q41h that offsets in the negative direction, a fifth gradient portion q41i that changes with a fifth gradient in the negative direction, an offset portion q42h that offsets in the positive direction, a flat portion q42i with a constant value, an offset portion q43h that offsets in the negative direction, a sixth gradient portion q43i that changes with a sixth gradient in the negative direction, an offset portion q43j that offsets in the positive direction, a seventh gradient portion q43k that changes with a seventh gradient in the positive direction, an offset portion q44h that offsets in the negative direction, a flat portion q44i with a constant value, an offset portion q45h that offsets in the positive direction, an eighth gradient portion q45i that changes with an eighth gradient in the positive direction, and an offset portion q45j that offsets in the negative direction. The pattern includes a deformed triangular wave H42 (sixth gradient portion q43i, offset portion q43j, seventh gradient portion q43k) that is convex in the negative direction.

[0071] Here, the absolute values of the first to eighth gradients are the same as each other, but one or more of them may have a different absolute value from the others. The time lengths of the first gradient portion q41b to the eighth gradient portion q45i are set to be the same as each other, but the time length of one or more of them may be different from the others.

[0072] Then, when the control command in FIG. 8(B) is input from the control unit 40 (specifically, the automatic driving control unit 43) to the turning drive device 51, the turning motion in FIG. 8(A) occurs. And by this motion, it is possible to damp the suspended load E while transporting it in the first direction.

[0073] As described above, according to the vibration damping drive of Embodiment 4, it is possible to damp the suspended load E while transporting it, and at the time of acceleration and deceleration stop. Further, according to the vibration damping drive of Embodiment 4, due to the vibration damping drive M41 at the time of acceleration, the swing becomes zero after acceleration, so the timing to start the vibration damping drive M42 during deceleration can be freely set. The distance for transporting the suspended load E is a function of the period from the end of the vibration damping drive M41 to the start of the vibration damping drive M42. Therefore, according to the vibration damping drives M41 and M42 of Embodiment 1, it becomes easy to set the distance for transporting the suspended load E. Note that, as in the case of Embodiment 1, all the positive and negative of the Jerk waveform may be reversed, and in that case, a turning motion in the opposite direction occurs.

[0074] (Embodiment 5) FIG. 9 shows a time chart for explaining the vibration damping drive of Embodiment 5. The vibration damping drive of Embodiment 5 shows an example of the vibration damping drive when the boom 13 is turned at a relatively large angle or at a high speed. In a turn at a large angle, a swinging motion in the undulation direction r occurs due to centrifugal force. Also, correspondingly, a change (change in magnitude and phase) occurs in the swinging motion in the turning direction q. The vibration damping drive of Embodiment 5 is a mixture of the vibration damping drive in the turning direction q of Embodiment 1 (FIG. 2(A)) and the vibration damping drive (FIG. 9(A)) for the change component of the swinging motion in the turning direction q described above. Further, the vibration damping drive of Embodiment 5 also performs a vibration damping drive for reducing the swing in the undulation direction r caused by centrifugal force.

[0075] FIG. 9(A) is a time chart showing vibration control driving for reducing the fluctuation of the component of the motion in the turning direction q caused by centrifugal force. FIG. 9(B) is a time chart showing the control command for turning driving, which corresponds to the control command obtained by linearly combining the control command when centrifugal force is ignored and the control command for the changing component in FIG. 9(A). FIG. 9(C) is a time chart showing the control command for undulation driving. In FIG. 9(B), the control command when centrifugal force is ignored is indicated 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. 2(B).

[0076] The vibration control driving in Embodiment 5 is obtained by superimposing the vibration control driving in Embodiment 2 and the vibration control driving in Embodiment 1. Therefore, the control command in Embodiment 5 is obtained by superimposing the control command in Embodiment 2 and the control command in Embodiment 1. The above-mentioned superimposition means linear combination.

[0077] The pattern of the vibration control driving in Embodiment 5 can be obtained as follows. That is, first, as shown in Embodiment 1, the vibration control motion in the turning direction q is calculated ignoring the influence of centrifugal force. Next, for the fluctuation in the undulation direction r caused by the influence of centrifugal force and the fluctuation of the changing component generated in the turning direction q, the vibration control motion for reducing the fluctuation in place is calculated as shown in Embodiment 2. Then, the vibration control motion in Embodiment 5 can be obtained by superimposing these. Although illustration is omitted, since it is a superimposition, the vibration control driving in the turning direction q in Embodiment 5 also has a pattern in which the Jerk changes along a plurality of rectangular waves. Similarly, the vibration control driving in the undulation direction r in Embodiment 5 also has a pattern in which the Jerk changes along a plurality of rectangular waves. Also, as shown in FIG. 9(B), the control command for turning driving has a pattern in which a plurality of deformed triangular waves H51 to H53, H54 to H56 are connected including the superimposed part. The control command for undulation driving is the same as the pattern in Embodiment 2 as shown in FIG. 9(C).

[0078] Then, by inputting the control command for the turning drive in FIG. 9(B) and the control command for the lifting drive in FIG. 9(C) from the control unit 40 (specifically, the automatic driving control unit 43) to the turning drive device 51 and the lifting drive device 52 respectively, it becomes possible to perform vibration damping in two directions of the turning direction q and the lifting direction r while transporting the suspended load E.

[0079] FIG. 10 is a time chart showing an example (A) of the movement of the suspended load E by the vibration damping drive in Embodiment 5 and an example (B) of the movement of the suspended load E when performing vibration damping drive ignoring the centrifugal force. When the turning angle is large and a large centrifugal force is applied to the suspended load E, when performing vibration damping drive without considering the centrifugal force, a relatively large residual vibration W2 remains in the suspended load E. On the other hand, by performing the vibration damping drive of Embodiment 5 considering the centrifugal force, the residual vibration W1 of the suspended load E can be reduced.

[0080] The above describes each embodiment of the present invention. However, the present invention is not limited to the above embodiments. For example, in the above embodiment, it was described that the Jerk at the tip of the boom 13 changes in a rectangular wave pattern. However, the above rectangular wave is not limited to a strict rectangular wave, and for example, it may include a rise time or a fall time that is sufficiently small (for example, within 3%) with respect to the vibration period T, or a roundness of a period that is sufficiently small (for example, within 5%) with respect to the vibration period T may be included at the corners of the rectangle. The rise time and the fall time mean the time in the 10% to 90% section from the lower end to the upper end of each rectangular wave.

[0081] Also, in the above embodiment, several patterns were shown for the plurality of gradient portions included in the drive command of the vibration damping pattern, where each gradient, or the absolute value of each gradient, is the same. However, the term "same" is not limited to strict identity, and a range including a small error may be regarded as the same. For example, the acceleration [m / s in each of the two gradient portions 2When the average of the gradient values with respect to [ / time [s]] is within the range of ±10%, ±20%, or ±30% of each other, the gradients of the two gradient portions may be regarded as the same. Theoretically, when the residual vibration of the suspended load E becomes zero when the gradients are the same, even if there are errors as described above, the residual vibration can be sufficiently reduced. However, the smaller the error, the smaller the residual vibration can be made.

[0082] In addition, in the above-described embodiment, the crane 1 capable of driving in the turning direction q and the lifting direction r of the boom 13 was shown. However, the present invention is similarly applicable to a crane capable of driving the boom 13 only in one direction. Further, the present invention is similarly applicable to a crane capable of extending and retracting the boom in addition to turning and lifting. Further, the boom may have a configuration including a first boom connected to the upper slewing body so as to be able to lift and a second boom (for example, a jib) connected to the first boom so as to be able to lift.

[0083] In addition, in the above-described embodiment, as the drive device 50 of the boom 13, a configuration in which power for driving is generated by a hydraulic motor and the hydraulic motor is controlled by a pilot signal based on hydraulic pressure was shown. However, the present invention is applicable to a configuration in which, for example, the pilot signal for controlling the opening degree of the control valve is an electric signal, or a configuration in which an electric motor is used instead of the hydraulic motor. Further, in the above-described embodiment, the drive device 50 is shown to drive the boom 13 by performing feedforward control and feedback control. However, the drive device according to the present invention may be configured to perform only feedback control, or may be configured without feedforward control and feedback control.

[0084] In the above embodiment, a crawler crane was exemplified as an example of the crane 1. However, the present invention is not limited to this, and in addition to other mobile cranes such as wheel cranes, truck cranes, rough terrain cranes, and all terrain cranes, the present invention can also be applied to various cranes that drive a boom for suspending a suspended load to transport the suspended load, such as tower cranes, overhead cranes, jib cranes, retractable cranes, stacker cranes, gantry cranes, and unloaders.

Explanation of Signs

[0085] 1 Crane 11 Lower Structure 12 Upper Slewing Body 13 Boom 14 Hook 16 Detection Device 20 Operation Control Unit 21 Operation Lever 22 Automatic Operation Start Operation Unit 23 Vibration Damping Mode Shift Operation Unit 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 Vibration Damping Mode Operation Control Unit 45 Automatic Operation Setting Processing Unit 50 Driving Device 51 Slewing Driving Device 52 Luffing Driving Device 53 Hoisting Driving Device L Wire Rope E Suspended Load θq Swing in the Slewing Direction θr Swing in the Orthogonal Direction M11, M12, M21, M22, M41, M42 Vibration Damping Drive P11, P12, P21, P22, P41, P42 Vibration Damping Patterns K11~K16, K21~K26, K31~K34, K41~K48 Square Waves H11~H16, H31, H32, H41, H42, H51~H56 Deformed triangular wave H21, H23 First deformed triangular wave H22, H24 Second deformed triangular wave q1, q5 First gradient part q2, q6 Offset part q3, q7 Second gradient part q11, q18 First gradient part q12, q19 Offset part q13, q20 Second a-gradient part q14, q21 Second b-gradient part q15, q22 Offset part q16, q23 Third gradient part

Claims

1. A boom for suspending a suspended load, a driving device for driving the boom so that the suspended load moves in a first direction, a control unit for controlling the driving device, comprising: The control unit inputs a control command including a vibration damping pattern to the driving device, so that the driving device executes vibration damping driving to reduce the swing of the suspended load. When the value of the control command is converted into a command value of the acceleration of the boom, The vibration damping pattern is: In order, a first gradient part that changes with a predetermined gradient in either the positive or negative direction, an offset part in which the command value is displaced in the direction opposite to the change of the first gradient part, and a second gradient part that changes with a predetermined gradient in the direction opposite to the change of the first gradient part, including a continuous deformed triangular wave. A crane.

2. A boom for suspending a suspended load, a driving device for driving the boom so that the suspended load moves in a first direction, comprising: The driving device reduces the swing of the suspended load by executing vibration damping driving in which the jerk of the boom changes in a pattern of a plurality of rectangular waves. A crane.

3. The vibration damping pattern is a pattern in which the deformed triangular waves are continuous a plurality of times. The crane according to Claim 1.

4. The number of times of the plurality of times from when the boom starts to accelerate from a stopped state to a state of reaching a predetermined constant speed, or from when the boom starts to decelerate from a constant speed to a state where the boom stops is 3 times. The crane according to Claim 3.

5. The vibration damping pattern is: After a first gradient part that changes with a first gradient in either the positive or negative direction, an offset part in which the control value is displaced in the direction opposite to the change of the first gradient part, and a second a gradient part that changes with a second gradient whose absolute value is smaller than that of the first gradient in the direction opposite to the change of the first gradient part, a continuous first deformed triangular wave, A pattern in which a second b gradient part that changes with the second gradient, an offset part in which the control value is displaced in the same direction as the change of the first gradient part, and a third gradient part that changes with a third gradient in the same direction as the change of the first gradient part, a continuous second deformed triangular wave follow. The crane according to Claim 1.

6. The vibration damping driving is driving in which the jerk of the boom is changed in a pattern of a plurality of rectangular waves to a first value representing the jerk in a first direction and a second value representing the jerk in the direction opposite to the first direction. The crane according to Claim 2.

7. The number of times of the plurality of times is three times from the state where the boom has stopped and is accelerated to a predetermined constant speed, or from the state where the boom starts to decelerate from the constant speed to the state where the boom stops. The crane according to claim 6.

8. The vibration damping drive is a drive that changes the jerk of the boom from zero in turn to a first value representing the jerk in the first direction, a second value representing the jerk in the direction opposite to the first direction, and a third value representing the jerk in the first direction in three rectangular wave patterns and returns it to zero. The crane according to claim 2.

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