| 摘要 |
PROBLEM TO BE SOLVED: To provide a superior wobble preventive control system for a jib crane with high accuracy. SOLUTION: A jib crane comprises a tower, a jib pivotably attached to the tower, a first actuator which generates the elevation angle adjusting motion of the jib, a second actuator which turns the tower, a first means for determining the position r<SB>A</SB>and/or the velocity r'<SB>A</SB>of a head of the jib by measurement, and a second means for determining the rotational angle and/or the rotational velocity of the tower by measurement. The control system controls the first and second actuators. In the control system, the acceleration in the radial direction of a load attributable to the turn of the tower is canceled by the elevation angle adjusting motion of the jib based on the rotational speed of the tower determined by the second means. COPYRIGHT: (C)2008,JPO&INPIT |
