| 摘要 |
<p>The invention relates to a procedure for controlling the traversing motion of a crane when the length (L) of its hoisting cable changes. In the procedure, the traversing motion of the crane is controlled by using motor acceleration periods (u1) determined on the basis of control commands and the length (L) of the hoisting cable is measured. According to the invention, when the length (L) of the hoisting cable changes, at least one motor acceleration period (uk) proportional at least to the hoisting speed (L') of the load and to the angular velocity ( THETA ') of the load oscillation is generated. <IMAGE></p> |
