To provide a crane device, a swing control method, and a swing control program capable of quickly controlling the swing (shake) of a suspended load by simple arithmetic processing.SOLUTION: A crane device S includes a saddle 2, a hoisting unit 6, and a control unit 8 for controlling them. The hoisting unit 6 has a hoisting drum and an equalizer. The equalizer is provided with an equalizer sheave, a swing structure, and an inclination sensor capable of detecting an equalizer inclination angle θ. The control unit 8 accelerates a saddle 2 and/or a crab 4 with the positive acceleration toward a direction of decreasing an absolute value of the inclination angle θ so as to increase an absolute value of the speed of the saddle and/or the crab based on a value of the inclination angle θ when the absolute value of the inclination angle θ tends to increase. The control unit decelerates the saddle 2 and/or the crab 4 with negative acceleration so as to decrease the absolute value of the speed thereof toward a direction of decreasing the absolute value of the inclination angle θ when the absolute value of the inclination angle θ tends to decrease.SELECTED DRAWING: Figure 1

    【課題】吊荷の揺動(振れ)の制御をシンプルな演算処理で素早く行うことのできるクレーン装置、揺動制御方法及び揺動制御プログラムを提供する。【解決手段】サドル2、巻上ユニット6、それらを制御する制御ユニット8を有するクレーン装置Sであって、巻上ユニット6は、巻上ドラム、エコライザーを有し、エコライザーには、エコライザーシーブ、揺動構造、エコライザー傾斜角θを検出可能な傾斜センサが設けられており、制御ユニット8は、傾斜角θの値に基づき、傾斜角θの絶対値が増加傾向にある間は、傾斜角θの絶対値が減少する方向に向けてサドル2及び/又はクラブ4をその速度の絶対値が増加するように正の加速度をもって加速し、傾斜角θの絶対値が減少傾向にある間は、傾斜角θの絶対値が減少する方向に向けてサドル2及び/又はクラブ4をその速度の絶対値が減少するように負の加速度をもって減速する制御を行うクレーン装置。【選択図】図1


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    Title :

    CRANE DEVICE, SWING CONTROL METHOD, AND SWING CONTROL PROGRAM


    Additional title:

    クレーン装置、揺動制御方法及び揺動制御プログラム


    Contributors:

    Publication date :

    2022-05-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B66C Krane , CRANES



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