SWAY-PREVENTING AND POSITIONING CONTROLLING METHOD FOR SECONDARY RESISTANCE DRIVE CRANE

• Main Authors: IMANAKA NARIKAZU, SUEMATSU HISASHI
• Format: Patent
• Language: English
• Published: 26.10.1999
• Edition: 6
• Subjects: CONTROLLING; CRANES; HAULING; HOISTING; LIFTING; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS,WINCHES, OR TACKLES; PERFORMING OPERATIONS; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES; TRANSPORTING

PROBLEM TO BE SOLVED: To control the sway-PREVENTING and positioning of a suspended cargo by simple modification and accurater and simpler operation, in a crane facility on the assumption of a secondary resistance control method. SOLUTION: In a sway-preventing and positioning controlling method for carrying a suspended cargo by a secondary resistance control system, the vibration stopping and positioning of a crane is controlled via the following respective processes: an initial acceleration process 1 for commencing the traverse travel of a crane by a carrying command in accordance with a distance up to a target carry spot, to rapidly accelerate a speed up to the highest to move a cargo at the highest speed, a first deceleration process 2 for forcedly decelerate the speed from the highest at timing obtained from the relation between a remaining distance up to the target spot and a moving speed at that time, a creep speed retaining process 3 for retaining the creep speed condition decelerated in the process 2, a second deceleration process 4 for more decelerating the speed from the creep speed to almost stop the speed based on the relation between a remaining distance up to the target spot and a moving speed at that time, and a feedback control process 5 for outputting the optimum control command to converge remaining sway to reduce position deviation, when the remaining sway and position deviation at a stopped position is without an allowable range.