PROCEDIMIENTO Y DISPOSITIVO PARA EL CONTROL HORIZONTAL DEL PUNTO DE ARTICULACION DE CARGA DE UNA GRUA ARTICULADA.

摘要

A method and apparatus for controlling the horizontal motion of a double articulated crane comprises determining the angle about a common axis between a base member pivotally mounted on a crane post and a head member carrying a load application point on an outer end thereof. The angle can vary from 0 DEG to 360 DEG . A desired movement direction value is then set on a direction selector movable on a direction indicator. The value corresponds to a target position for the load application point. The desired movement direction value is adjusted by small increments to reach the target however. The desired movement direction value is broken up into two components, one aligned with the axis of the head and the other aligned with a perpendicular axis. The values of these two compartments are calculated as a function of the sin or cos of an angle of misalignment between the longitudinal axis and the direction of the selector. The pivotal speed of the base member about the crane post and the head member about the common axis between the base and the head members is then calculated and utilized to drive the equipment for rotating the members.