| 摘要 |
PROBLEM TO BE SOLVED: To provide a hoisting load horizontal movement control device for controlling a hoisting load to be moved in the horizontal direction along the ground or the like by joint use of boom expansion and contraction motion and winch hoisting and lowering motion. SOLUTION: A controller 20 controls switching of an expansion and contraction control valve 4 according to a control signal 20a for the expansion and contraction control valve calculated according to an expansion and contraction operating signal (a). On the other hand, according to the expansion and contraction operating signal (a), and a derricking angle detecting signalΘa, the controller calculates a reference valve switching amount f(a, L) of a winch control valve 7 not to change the lowering height H of a hook 11 when a telescopic boom 3 is driven to expand and contract according to the control signal 20a for the expansion and contraction control valve. The controller obtains a compensating valve switching amountδs of a winch control valve required to obtain the conformity of the wire driving target amount Sw-Sw0 with the fluctuation of the actual wire let-out length S-S0 not to change the lowering height according to the boom length signal La, the derricking angle signalΘa, and the let-out length signal Sa. Switching of the winch control valve 7 is controlled according to the control signal 20b of the winch control valve compensated by the compensating valve switching amountδs.
|
