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    • 3. 发明公开
    • CRANE AND CONTROLLER FOR THE SAME
    • KRAN UND STEUERUNGDAFÜR
    • EP1652810A1
    • 2006-05-03
    • EP04771286.4
    • 2004-08-05
    • SINTOKOGIO, LTD.Terashima, Kazuhiko
    • Terashima, KazuhikoSuzuki, Makio, Sintokogio, Ltd., Shinshiro S.
    • B66C13/06B66C13/22
    • B66C13/063
    • A method and a system for controlling a crane drive unit so as to suppress sway of a load suspended by a rope of a crane, which sway occurs when the load has been transported from a first position to a second position, the control being made by operating a controller having a filter unit by using a feedforward control program. The method is to control the crane drive unit so that the load does not greatly sway when it is transported from the first position to the second position by removing a component near a resonance frequency by the filter unit from a transportation command for the load, in which command the maximum value among at least one of a transportation speed, transportation acceleration, and transportation jerk is limited, under the resonance frequency sequentially computed from a rope length that is a distance from the center of rotation of the sway of the rope to the center of gravity of the load and under parameters that relate to a control unit of the crane drive unit and that are previously calculated so as not to exceed the performance of the crane drive unit, and by inputting in the crane drive unit the transportation command, from which the component near the resonance frequency is removed.
    • 一种用于控制起重机驱动单元的方法和系统,以便抑制由起重机的绳索悬挂的负载的摆动,当负载已经从第一位置运送到第二位置时,发生摇摆,该控制由 通过使用前馈控制程序来操作具有过滤单元的控制器。 该方法是控制起重机驱动单元,使得当通过过滤单元从负载的运输命令中移除靠近谐振频率的分量时,负载从第一位置运送到第二位置时不会很大地摇摆, 在从与绳索的摆动的旋转中心距的绳索长度顺序计算出的共振频率下,在运输速度,运输加速度和运输冲击中的至少一个中指定最大值被限制 负载重心和与起重机驱动单元的控制单元相关的参数,并且预先计算为不超过起重机驱动单元的性能,并且通过在起重机驱动单元中输入运输指令, 从谐振频率附近的分量被去除。