| 摘要 |
PROBLEM TO BE SOLVED: To restrain the swing of a lifting mechanism by detecting the reaction by the swing of the lifting mechanism as the drive torque of a traveling motor, detecting the magnitude and phase of the swing of the lifting mechanism on the basis of this torque value, and controlling the moving speed of a crane so that the detected swing is converged to zero. SOLUTION: In the swing prevention control of a lifting mechanism, the signal from a vector control inverter 3 is inputted to an initial swing angle arithmetic means 5 to measure the amplitude and phase of the initial swing of the lifting mechanism. The swing angle is calculated from the amplitude and phase of the initial swing and the acceleration 17 of movement of the crane obtained from the operation characteristic 7 of the crane by a swing angle arithmetic means 6, and a swing prevention speed correction 18 is calculated by a swing prevention control means 8 on the basis of the swing angle. After the swing prevention speed correction 18 is integrated by a position correction control means 9, and a position correction 19 is calculated so that the integrated value is zero, the speed correction 18, the position correction 19 and a speed command 12 are composed to instruct the speed to the vector control inverter 3.
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