摘要 |
PROBLEM TO BE SOLVED: To provide a method for controlling a stacker crane and a controller for the stacker crane for facilitating control handling and suppressing the deviation of the completion of traveling operation and elevating and operation of a load-carrying platform. SOLUTION: This crane controller accelerates the traveling speed Vx of the load-carrying platform by accelerationαat S100 during the traveling operation of the load-carrying platform. Elevating and lowering speed Vy is calculated by multiplying a ratio of a traveling distance dx required from a current position of the load-carrying platform to a target position of the load-carrying platform to an elevating and lowering distance dy required from the current position of the load-carrying platform to the target position of the load-carrying platform by the traveling speed Vx at S101 to drive and control the load-carrying platform based on the results of calculation. When the required traveling distance dx is reduced below a deceleration start distance Td set by a distance from the target position of the load-carrying platform, the deceleration of the load-carrying platform is started. COPYRIGHT: (C)2007,JPO&INPIT
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