Title:
クレーンおよびクレーンの制御システム
Document Type and Number:
Japanese Patent JP7172243
Kind Code:
B2
Abstract:
A crane (1) that controls an actuator on the basis of a target speed signal Vd of cargo W comprises: a control device (31) having a feedback control unit (42a) that calculates a target path signal Pdα of the cargo from the target speed signal Vd by integration to correct the target path signal Pdα on the basis of the differential of current position coordinates p(n) of the cargo W corresponding to the target path signal Pdα; and a feedforward control unit (42b) that adjusts a weight coefficient of a transfer function G(s) expressing the characteristics of the crane (1) on the basis of a target path signal Pd1α that has been corrected. The target path signal Pd1α corrected by the feedback control unit (42a) is corrected using the transfer function G(s) for which the weight coefficient has been adjusted by the feedforward control unit (42b).
Inventors:
Yoshinari Minami
Application Number:
JP2018139849A
Publication Date:
November 16, 2022
Filing Date:
July 25, 2018
Export Citation:
Assignee:
Tadano Co., Ltd.
International Classes:
B66C13/22
Domestic Patent References:
| JP2006525928A | ||||
| JP2016221661A | ||||
| JP9264736A | ||||
| JP2013184826A |
Other References:
林喜章,山本元司,逆動力学に基づく旋回クレーン制御における軌道計画について,第23回日本ロボット学会学術講演会予稿集,日本,社団法人日本ロボット学会,2005年09月15日,1-3
Attorney, Agent or Firm:
Patent Attorney Corporation Yanouchi Foreign Patent Office
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