CRANE CONTROL APPARATUS AND METHOD INCLUDING DISTURBANCE OBSERVER

摘要

PURPOSE: A crane control device and a method for including a disturbance observer, which controls the location of weight of an overhead travelling crane, is provided to trace a target trace by applying a disturbance observer to a linear crane control device. CONSTITUTION: A crane control device with a disturbance observer comprises an overhead travelling crane(1). The overhead travelling crane comprises a frame(3), a boom(5) and a trolley(10). The frame is installed on the ground. The boom is arranged on the top of frame in a horizontal direction. The trolley is arranged in order to horizontally move toward the boom. A winch has a function of winding or unwinding a wire(20) is located on the trolley. A spreader(30) settled a weight(31) same as a container is formed on the side free end of the wire.