| 摘要 |
PROBLEM TO BE SOLVED: To provide a hoisted load attitude control device which suppresses disturbances well and allows simplification of the structure and cost reduction.SOLUTION: The hoisted load attitude control device obtains a rotation force on a hoisted load M by utilizing a gyro effect of a plurality of gyroscopes operating synchronously and includes a gyro sensor 101 for detecting an angle of the hoisted load M to the position of the original point and an angular velocity in a horizontal plane, a gyro controller 200 which is inputted with the angle and the angular velocity of the hoisted load, detected from the output of the gyro sensor, and calculates and outputs a tilt angular velocity command for gimbals, means of creating a gyro torque on the basis of the tilt angular velocity command, an angular velocity of a flywheel, a moment of inertia and a disturbance torque and controlling the tilt of the gimbals and means of creating a deceleration gyro torque for reducing the speed produced by the gyro torque and stopping the rotation of the hoisted load when the angle of the hoisted load reaches a target angle. |
