método para controlar um guindaste de lança, e, dispositivo de controle de guindaste de lança.

摘要

Disclosed is a jib crane control method to find a linear fractional transformation (LFT) expression for a low-dimensional model that takes variation in the rope length of the jib crane's suspended load into consideration and provide feedback control with a gain-scheduled control system using the linear fractional transformation (LFT) expression. The pertinent feedback control command and an operating command from an operating lever are linearly coupled and the ratio between the feedback control command and the operating command is changed so that swaying of the suspended load is limited and the suspended load is moved to the target position even when the rope length of the suspended load varies. It is thereby possible to provide control that follows the operating commands from an operator and to enable positioning of the suspended load with excellent operating feel while controlling vibration of the jib crane. Disclosed are a jib crane control method and device that can eliminate delay in actual operation relative to the operating commands from the operator while controlling vibration of the suspended load and controlling vibration of the mast.