| 摘要 |
PROBLEM TO BE SOLVED: To provide a swing prevention control method for a crane capable of sufficiently reducing residual swing after swing prevention without using a swing angle sensor, even when a transportation destination varies every time, initial winding rope length has a margin of error and the margin is changed. SOLUTION: This swing prevention control method for the crane 5 includes a traveling plan preparing step S1 of preparing a traveling plan of the crane 5 in the Input Shaping method; a transportation simulating step S2 of performing transportation simulation of the crane 5 based on the traveling plan to determine the amplitude of residual swing; and automatic operation control steps S5 to S7 to output an automatic operation command when the amplitude of residual swing is below a predetermined threshold value, performing transverse motion based on the traveling plan, and performing transportation to a target position by lifting and lowering of a rope. COPYRIGHT: (C)2007,JPO&INPIT
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