Rope steadying control method and apparatus for crane or the like

摘要

PCT No. PCT/JP96/01132 Sec. 371 Date May 15, 1997 Sec. 102(e) Date May 15, 1997 PCT Filed Apr. 25, 1996 PCT Pub. No. WO96/33943 PCT Pub. Date Oct. 31, 1996An object of this invention is to provide a high performance and low cost crane rope steadying control method and apparatus for which mechanical or optical swing angle detecting means are not necessary. The invention provides a rope steadying control method for a crane or the like having a trolley driving apparatus for causing a load suspended by a rope of a crane or the like to travel, wherein swinging of a load suspended by a rope is stopped by calculating a swing load signal I2W* proportional to the rope swing angle and the load by computationally estimating a motor torque estimate signal tau M* not including load torque fluctuations caused by swinging of the rope on the basis of gain coefficients and equivalent time constants of the control system and the drive system, and comparing this estimate signal tau M* with an actual load torque tau M and negatively feeding back to a trolley speed command NS of the trolley driving apparatus (1) a speed signal NW produced by carrying out phase lead/lag compensation on the difference between a swing angle detection estimated value theta 1* proportional to this swing load signal and a swing angle set value eta S.