Title:
CRANE, AND CONTROL METHOD OF CRANE
Document Type and Number:
WIPO Patent Application WO/2022/130686
Kind Code:
A1
Abstract:
A crane is provided which can improve operability and reduce increases in braking distance with load sway suppression control. In calculation of a velocity command value of a horizontal moving device for suppressing sway of the hanging load on the basis of the rope length L the target velocity vpref(t) of the hanging load, the transmission function from the target velocity of the hanging load up to the velocity command value of the horizontal moving device is given by ωc^2/ωr^2⋅(s^2+2ζr⋅ωr⋅s+ωr^2)/(s^2+2ζc⋅ωc⋅s+ωc^2). Here, "ωc" and "ζc" represent control parameters, "ωr = sqrt(g/L)", "ζr = vl/(g/L)", "g" represents the acceleration of gravity, "L" represents the distance from the rotation center of the rope to the center of gravity of the hanging load, "vl" represents the hoisting speed, "^" represents exponentiation and "sqrt" represents square root. Furthermore, ωr, ζr, ωc and ζc satisfy δ = ωc/ωr and ζc = δ⋅ζr/2 + sqrt((δ⋅ζr/2)^2+1/2).
Inventors:
MOMOI YASUYUKI (JP)
ODAI MASAKI (JP)
IESHIGE KOJI (JP)
OIKAWA YUGO (JP)
ODAI MASAKI (JP)
IESHIGE KOJI (JP)
OIKAWA YUGO (JP)
Application Number:
PCT/JP2021/029694
Publication Date:
June 23, 2022
Filing Date:
August 12, 2021
Export Citation:
Assignee:
HITACHI INDUSTRY EQUIPMENT SYSTEMS CO LTD (JP)
International Classes:
B66C13/22
Domestic Patent References:
| WO2005012155A1 | 2005-02-10 |
Foreign References:
| JP2020090332A | 2020-06-11 | |||
| JP2018002391A | 2018-01-11 | |||
| US5219420A | 1993-06-15 | |||
| JPS5580681A | 1980-06-18 | |||
| JPH0940362A | 1997-02-10 |
Attorney, Agent or Firm:
POLAIRE I.P.C. (JP)
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