Stabilizer control method null of crane hanging

摘要

PROBLEM TO BE SOLVED: To make a speed pattern quickly adjustable up to the maximum, whereas it is the center rest speed pattern that discribesa smooth continuous curve, by controlling it so as to become such a pattern as consisting of those of accelerating, equi-velocity and decelerating intervals. ;SOLUTION: An accelerating interval consists of a running starting part and an acceleration and equi-velocity connecting part. In this running starting part, first of all, acceleration η is increased at a constant incline ranging from 0 to (1/2) η_max at optional time T₁, and next, the acceleration η is kept intact as long as time T₂=T/2-T₁ to be set out of a runout period T and the optional time T₁, and then the acceleration is increased at the constant incline to η_max at the T₁ time. The acceleration part is a process to hold the acceleration ηof a crane 1 to maximum acceleration η_max, but this holding time T₃ is found out of an equation. In the equi-velocity connecting part, an acceleration pattern is varied by a reverse pattern to the running starting part. At a constant speed interval, a lifting load 3 is not swung at all, and the acceleration η in a decelerating intervalturns to such one as an inverse code to the accelerating interval. Accordingly, a speed pattern describes a smooth continuous curve and thereby it is adjustable in a short time.;COPYRIGHT: (C)1997,JPO