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32. 发明专利

JPH01162697A METHOD OF AUTOMATICALLY OPERATING CRANE 失效
公开(公告)号：JPH01162697A
公开(公告)日：1989-06-27
申请号：JP32167087
申请日：1987-12-18
申请人： KAWASAKI HEAVY IND LTD
发明人： KONO YUKINOBU , MURAI KENICHI , KOMORIYA YOICHI , KOMATSU NORIHIDE
IPC分类号： B66C13/48 , B66C23/00
摘要： PURPOSE: To restrain the occurrence of a cargo swing by deciding a target moving locus of a crane by an additional speed minimizing method in an accelerating/ decelerating section in a vertically moving section and a horizontally moving section for hanging up/hanging down a cargo. CONSTITUTION: A cargo swing angle, a depression/elevation angle, a turning angle and a hoisting quantity inputted from the input part 40, are inputted to a position control system 43 through a coordinate calculating system 41 to be compared with a signal from the locus generating part 44, and a control signal is outputted by position control of an additional speed minimizing method to be converted into a control command of depression/elevation, turning and hoisting operation of a master crane by the converting part 45 to be outputted as D/A convertion by the output part 46. In this case, since the position control of the additional speed minimizing method by the position control system 43 alone is no more than open loop control and cannot cope with disturbance, an actual cargo swing angle is fed back by a cargo swing preventive control system 42, and is added at an addition point 47 to restrain the cargo swing angle small. Thus, the occurrence of a cargo swing is restrained to the possible minimum level to move a hanging cargo in a smooth locus at a designated passing point.

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