Title:
CRANE AND CONTROLLER FOR THE SAME
Document Type and Number:
WIPO Patent Application WO/2005/012155
Kind Code:
A1
Abstract:
A method and a device for controlling a crane drive apparatus so as to suppress sway of a load suspended by a rope of a crane, which sway occurs at the moment when the load is carried from a first position to a second position, the control being made by activating a controller having a filter by using a feed-forward control program. Specifically, the control is made such that a component near a resonance frequency is removed by the filter portion from a carry command in which the maximum value in at least one of a carry speed, carry acceleration, and carry jerk included in the carry command of the load is limited. The removal is made using resonance frequencies that are sequentially calculated from a rope length that is a distance from the center of the rope sway to the gravity center of the load and using parameters that relate to the control device of the crane drive apparatus and are previously calculated so as not to exceed the performance of the crane drive apparatus. After that, the carry command from which the component near the resonance frequency is removed is inputted into the crane drive apparatus and the apparatus is controlled so that the load does not greatly sway at the moment when the load is carried from the first point to the second point.
Inventors:
TERASHIMA KAZUHIKO (JP)
SUZUKI MAKIO (JP)
SUZUKI MAKIO (JP)
Application Number:
PCT/JP2004/011259
Publication Date:
February 10, 2005
Filing Date:
August 05, 2004
Export Citation:
Assignee:
SINTOKOGIO LTD (JP)
TERASHIMA KAZUHIKO (JP)
SUZUKI MAKIO (JP)
TERASHIMA KAZUHIKO (JP)
SUZUKI MAKIO (JP)
International Classes:
B66C13/06; B66C13/22; B66C23/00; (IPC1-7): B66C13/06; B66C13/22
Domestic Patent References:
| WO2002070388A1 | 2002-09-12 | |||
| WO2002000543A2 | 2002-01-03 |
Foreign References:
| US6442439B1 | 2002-08-27 | |||
| JPH01177982A | 1989-07-14 | |||
| JPH08253950A | 1996-10-01 | |||
| US5908122A | 1999-06-01 |
Other References:
TAKAGI, K. ET AL.: "Tower Crane no tsurini Rope-cho Hendo ni Taisuru Kifuku. Senkai Hoko no Gain Scheduled Bunsan Seigyo", TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS, SERIES C, vol. 69, no. 680, 25 April 2003 (2003-04-25), pages 914 - 922, XP002985399
See also references of EP 1652810A4
See also references of EP 1652810A4
Attorney, Agent or Firm:
Yamasaki, Yukuzo (Sogo Nagatacho Bldg. 8F, 11-28, Nagatacho 1-chom, Chiyoda-ku Tokyo 14, JP)
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