OSCILLATION PREVENTING CONTROLLING METHOD FOR SUPPORTING BODY, OSCILLATION PREVENTING CONTROLLING METHOD FOR CRANE, OSCILLATION PREVENTING CONTROL DEVICE FOR SUPPORTING BODY, OSCILLATION PREVENTING CONTROL DEVICE FOR CRANE AND DETECTION SIGNAL CORRECTING METHOD

摘要

PROBLEM TO BE SOLVED: To make a predictive calculation for an oscillation preventing control by delaying timing for outputting a driving signal from a control circuit to an actuator by time of a difference of a period or a half period of oscillation and delay time. SOLUTION: An alternate long and short dash line shows an actual oscillation angle of a slung load, the oscillation center is a time point to and an oscillation period is T. A delay is generated by time T1 from a detection of an oscillation angle by an oscillation angle detecting device to an output and further a delay of time T2 for performing a calculation by a control circuit becomes necessary. Time T3 of a certain degree is required up to a point of time when an actuator is driven and a crane is actually moved after an arithmetic result is outputted. These delay time are taken into consideration and control output timing from the control circuit is adjusted so as to coincide with A" after just a half period and/or A' after just one period from oscillation preventing effective operation timing A.