| 摘要 |
PROBLEM TO BE SOLVED: To control shortening of a cycle time, improvement of positioning accuracy, and restraint of load swing generating a speed pattern synchronized with one period of a swing period due to wire length corrected by the weight of a hanging load and the ability of a drive device and accelerating from start to a fixed speed at a constant speed. SOLUTION: An actuator is driven following to a fixed speed pattern, and a crane is controlled to run and traverse. In an acceleration section A, it is started from the stop condition to being movement, the length of a wire is corrected considering the weight of a hanging load and the ability of the actuator, and an acceleration pattern at acceleration not generating swing on the hanging load is generated. In a next constant speed movement section B, remaining swing of load of the hanging load is restrained to make the moving speed to maximum, and the cycle time is shortened. In a deceleration section C, swing of the hanging load is restrained, and in a D section, it is decelerated and stopped considering the mechanical operation delay time of the crane, and the first positioning accuracy is improved. Further a swing condition monitoring section E and a finely positioning section F are provided.
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