SWING-STOP CONTROL METHOD FOR A CRANE

摘要

A swing-stop control method for a suspension crane comprising a running device for driving and running a trolley and a hoisting device, comprising the steps of inducing a conditional equation for damping the swing of a suspended load as a function of a driving speed command for the running device, a signal from a suspended load running direction speed detector and a measured length value of a hoisting rope for a suspended load and controlling the trolley running speed in accordance with a running speed command signal corrected such that a position error signal approaches 0 which is calculated using a position error function from an optimal position for the trolley obtained from the conditional equation so as to stop the swing, whereby the periodical swing of the suspended load is sufficiently controlled to thereby stop the suspended load at a target position with good accuracy and less swing. The swinging movement of a rope is controlled which is generated when the trolley is driven to be accelerated or decelerated, thereby making it possible to attain the automatic operation of the crane with the running speed of the trolley maintained high.