3 Position servo apparatus for preventing shakes in 3 axes overhead crane

摘要

PURPOSE: A position servo system for preventing swing of a three-axle overhead crane is provided to increase the productivity by restricting swing of transferred articles regardless of load and by moving the crane accurately and promptly. CONSTITUTION: An anti-swing position servo system is composed of a driving motor torque servo mechanism(66), an interference controller(64), a speed controller(65), a position controller(72), and an anti-swing controller(77). The anti-swing position servo system restricts swing of transferred articles and controls the position of a girder or a trolley respectively. The position servo system controls the height of the article suspended along the Z-axis, and adjusts the gain value of the anti-swing controller according to the length of the string in the Z-axis. Swing of the article is restricted during moving the three-axle overhead crane, and the crane is moved accurately and promptly.