SWING ANGLE CONTROL DEVICE OF CRANE

摘要

PROBLEM TO BE SOLVED: To provide a swing angle control device can highly perform swing angle control unaffected by a physical modeling error of a crane and a disturbance or the like. SOLUTION: A swing angle detector 22 detects an actual swing angle of a lifting load. A second observer 25 of a swing angle estimating device 23 corrects a state quantity based on a swing angle detected by the swing angle detector 22, while a first observer 24 estimates the swing angle of the lifting load. A swing suppressing controller 19 performs swing suppressing control based on a swing angle estimated by the swing estimating device 23. COPYRIGHT: (C)2010,JPO&INPIT