STEADY REST, POSITION CONTROL DEVICE AND SLEWING STEADY REST, AND SLEWING POSITION CONTROL DEVICE FOR CRANE

摘要

PROBLEM TO BE SOLVED: To provide a steady rest and position control device for a crane capable of stably resting the sway of a load with high-accuracy and stopping at a target position even if environmental change such as wind or aged deterioration of a crane occurs.;SOLUTION: The device is made up of a crane quantity of state measurement device 3 for measuring a traverse motion swaying angle and the like of a load hoisted by a trolley 22, a speed control device 21 for controlling the speed of the trolley 22, a steady rest and position control device 1 for computing a speed control command 6 to the speed control device 21, and a quantity of state estimation and learning device 4 for estimating or learning parameter necessary to control on the basis of operational results in the time of stopping or starting, or the result of the last time. The steady rest and position control of the crane is executed on the basis of the crane quantity of state measured by the crane quantity of state measurement device 3 and the quantity estimated or learned by the estimation and learning device 4.;COPYRIGHT: (C)2003,JPO