To provide a crane capable of reducing load swinging even when moving time is short, during an inching operation, or when a rope is long.SOLUTION: A speed command value of load swinging suppression control for suppressing load swinging of a suspended load is calculated on the basis of a suspended load target speed command value and at least the length of a rope. A horizontal movement device is driven in accordance with the speed command value of load swinging suppression control when the input time of the suspended load target speed command value reaches control start waiting time or the suspended load target speed command value starts speed reduction, and in accordance with the suspended load target speed command value in other cases.SELECTED DRAWING: Figure 8
【課題】移動時間が短い場合やインチング操作時、ロープ長が長い場合でも荷振れを低減することが可能なクレーンを提供する。【解決手段】吊荷目標速度指令値と少なくともロープの長さとから吊荷の荷振れを抑制するための荷振れ抑制制御の速度指令値を演算し、吊荷目標速度指令値の入力時間が制御開始待ち時間に到達、或いは吊荷目標速度指令値が減速を開始した場合は荷振れ抑制制御の速度指令値に従い、それ以外の場合は吊荷目標速度指令値に従い水平移動装置を駆動する。【選択図】図8
CRANE AND CRANE CONTROL METHOD
クレーン、及びクレーン制御方法
21.01.2022
Patent
Elektronische Ressource
Japanisch
IPC: | B66C Krane , CRANES |
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