| 摘要 |
PROBLEM TO BE SOLVED: To provide a swing angle and swing angular velocity from which offset is removed, by carrying out estimating operation of an offset of the swing angle in addition to the swing angle and swing angular velocity of a hoisting accessory using a disturbance observer operation method from measured swing angle of the hoisting accessory, trolley's acceleration, and rope length to the hoisting accessory. SOLUTION: Acceleration Ua(t) of a trolley 1 which transversely moves on garter 2 of a crane 19, rope length L to a hoisting accessory 9, and a swing angleϕ(t) of the hoisting accessory 9 are measured and transmitted to an operation device 18. An operation method called disturbance observer 20 is introduced into the operation device 18. The introducing of the disturbance observer 20 allows the swing angle and swing angular velocity from which an offset is removed to be carried out by estimating operation and allows accurate a swing- stop and positioning to be controlled, even when the offset of measured swing angle varies due to install of a swing angle measuring device, the offset of the measured swing angle due to tilting of a crane body caused by inclined road surface, and change of traverse position of the trolley 1 and rope length L.
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