JP2014118303A - Method and device of suppressing oscillation in cargo handling machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To efficiently suppress oscillation in long members, such as a derricking boom, a trolley garter, leg parts of a crane main body, upper part connecting material and a lower part bridge girder.SOLUTION: A cargo handling machine comprises a plurality of long members 30, 31, and 23c requiring for suppression in oscillation. At least one tension member 40 is arranged from one end to the other end of at least one of the long members so as to actively, semi-actively or passively control force exerted to the tension member and/or damping force, and thereby suppressing oscillation in the at least one long member. In addition, at least one tension member 40 is arranged from one end to the other end of at least one of the long members and an actuator 50 for pushing and sticking the tension member 40 from the lateral direction is arranged at a middle section of the tension member so as to actively, semi-actively or passively control force exerted to the actuator 50 and/or damping force, and thereby suppressing oscillation in at least one another long member.

Description

  The present invention relates to a vibration suppression method and apparatus for a cargo handling machine, and more particularly, a hoisting boom for a large bridge crane such as a container crane that is capable of traveling along a quay and delivers a load (for example, a container) such as a ship. The present invention relates to a vibration suppression method and apparatus for a cargo handling machine suitable for use in a trolley garter, a leg of a crane body, an upper connecting member, a lower bridge girder, an unloader, and the like.

  As shown in FIG. 1 (perspective view), FIG. 2 (front view showing a state of handling a container), and FIG. 3 (side view), one of the cargo handling machines is a container ship (ship) ) There is a container crane 20 for unloading and loading the container (load) 12 from 10.

  The container crane 20 has a container-specific hanging tool (spreader and a spreader) attached to a long horizontal girder (which is referred to as a hoisting boom or simply a boom) 30 supported by a leg portion 26 of a crane body 22 that travels on a rail 16 with a traveling device 24. This crane is provided with a trolley 32 that hangs down 34 and is also called a bridge crane because it has a bridge shape. This container crane is also called a gantry crane.

  At least two rails 16 are laid on the apron 14 of the container pier (harbour), and are installed in parallel along the quay. As a result, the container crane 20 can travel in parallel with the container ship 10 berthed on the quay, and the trolley 32 on the boom 30 moves in the traveling direction of the container crane 20, that is, the rail 16. By traversing at right angles to the laying direction, cargo handling with respect to the container 12 is possible over the entire area on the container ship 10.

  When the marine vessel 10 comes to berth, the boom 30 jumps upward and retracts as shown by a two-dot chain line in FIG.

  Further, the legs 26 traveling on the rails 16 are separately arranged on the sea side and the land side, and wheels and lower ends of the four corners of the sea side leg and the land side leg are respectively provided with wheels. A traveling device 24 composed of a motor for driving the wheels is provided.

  In the figure, 23a is a sea-side upper beam, 23b is a land-side upper beam, 23c is an upper connecting member, 23d is a diagonal member, 28 is a lower bridge girder, 31 is a trolley garter, 36 is mounted on the trolley 32 together with a spreader 34. The cockpit 38 is a machine room disposed in the crane body 22.

  In such a traveling crane in which the leg portion 26 has the gate-shaped crane body 22, it is necessary to determine the position in the traveling direction for a cargo handling operation for traveling and hanging the load 12. Accordingly, the position of the crane structure is determined by using a driving force such as acceleration and deceleration and a braking force by a control device such as a traveling motor. The same applies to the positioning of the trolley 32. At this time, the crane structure vibrates due to the movement and acceleration / deceleration of the mass of the crane body 22 and the trolley 32.

  Conventionally, for this vibration, waiting for the vibration to settle due to the damping of the main body, operating the inertia force in the reverse direction to actively stop the vibration, equipped with a vibration damping device To stop vibration.

  For example, in Patent Document 1, in order to control the swing vibration of the boom of the crane structure, it is proposed to control the swing vibration by controlling a traveling device that operates at right angles to the boom axis direction. Yes.

JP 2004-59159 A

  In port handling machines represented by container cranes in recent years, as the container ship 10 becomes larger, the container crane becomes larger, its natural frequency decreases, and the swinging vibration period of the boom 30 also increases. It takes a long time to be settled, and once it vibrates, it takes a long time to determine the position of the crane body 22, and even when the driver on the trolley 32 handles the boom 30 near the tip of the boom 30, the vibration can improve workability. There were problems such as worsening.

  Further, since the boom structure of the container crane is a mechanical device in which the trolley 32 runs on the boom 30, the mass and the center of gravity of the structure change. Further, since the load 12 is suspended from the trolley 32, the mass thereof is not constant. For this reason, the vibration of the boom structure always changes, and the conventional vibration damping design method cannot cope with it.

  The present invention has been made to solve such problems, and efficiently suppresses vibrations of long members such as hoisting booms, trolley garters, crane body legs, upper connecting members, and lower bridge girders. Is an issue.

  The present invention relates to a cargo handling machine having a plurality of long members that are required to suppress vibrations. At least one tension member is passed from at least one end to the other end of the long member, and the force applied to the tension member is By actively or semi-actively or passively controlling the damping force, vibration of the at least one long member is suppressed, and at least from one end to the other end of the long member, An actuator for pushing and stretching the tension member from the side is arranged in the middle of the tension member, and the force and / or damping force applied to the actuator is active or semi-active. Or the said subject is solved by suppressing the vibration of this at least one other elongate member by passively controlling.

  Here, the tension member can be stretched so as not to intersect the central axis of the long member.

  Alternatively, the tension member can be stretched so as to intersect the central axis of the elongated member.

  Moreover, the said elongate member can be divided | segmented into a some area in a longitudinal direction, and the said tension member can be passed over for every area.

  Moreover, the said elongate member can be divided | segmented into a some area in a longitudinal direction, and the said actuator can be arrange | positioned for every area.

  Further, the long member can be divided so that the ratio of rigidity and damping of the long member in each section is constant.

  Moreover, the said tension member can be divided | segmented for every area.

  Further, the acceleration, relative displacement, or strain applied to the long member can be detected, and the force and / or damping force applied to the tension member can be controlled actively, semi-actively or passively.

  In addition, the structure of the long member is modeled as at least one mass point, and the position information of the moving body moving on the long member is moved to the modeled mass point closest to the position of the moving body. Vibration analysis is performed by adding the mass of the body, and control can be performed to suppress displacement and acceleration of the long member.

  Further, the elongate boom, the trolley garter, the leg of the crane main body, the upper connecting member, or the lower bridge girder provided with a trolley that is a moving body for suspending and supporting the load with the long member, and can do.

  The present invention also relates to a cargo handling machine having a plurality of long members that need to suppress vibration, at least one tension member spanned from at least one end to the other end of the long member, and the tension member. Means for suppressing vibration of the at least one elongate member by actively or semi-actively or passively controlling the force and / or damping force applied to the elongate member, and at least one other end of the elongate member At least one tension member stretched from the other end to the other end, an actuator disposed at an intermediate portion of the tension member to push the tension member from the side, and a force and / or damping applied to the actuator Means for suppressing vibration of the at least one other elongated member by controlling force actively, semi-actively or passively. There is provided an apparatus.

  Here, the actuator can be a hydraulic cylinder that generates a force applied to the tension member or gives a damping force proportional to the moving speed of the piston by a control law.

  The actuator may be a hydraulic damper with a built-in or external spring that applies force to the tension member.

  Further, the diameter of the orifice formed in the piston of the hydraulic damper can be made variable.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to suppress efficiently vibration of elongate members, such as a hoisting boom, a trolley garter, the leg part of a crane main body, an upper connection material, a lower bridge girder.

The perspective view which shows the container crane which is an example of the application object of this invention Front view showing the state where the container is also being handled Same side view The top view which shows the whole structure of the 1st reference form The top view which expands and shows the principal part configuration similarly Similarly, a schematic diagram for explaining a modification of the control method Sectional drawing which shows an example of the hydraulic damper which can be used by this invention The top view which shows the principal part structure of 2nd reference form The top view which shows the principal part structure of the 3rd reference form The top view which shows the principal part structure of the 4th reference form The top view which shows the principal part structure of the 5th reference form The top view which shows the principal part structure of the 6th reference form The top view which shows the principal part structure of the 7th reference form The top view which shows the principal part structure of the 8th reference form The figure which shows the vibration model for performing the modification of the control method Similarly, a diagram for explaining a specific example The figure which shows the example which changed the vibration model similarly The top view which shows the principal part structure of 9th reference form The top view which shows the principal part structure of 10th reference form Figure showing the same split model The top view which shows the principal part structure of 11th reference form Sectional drawing which shows the other example of the hydraulic damper which can be used by this invention The top view which shows the principal part structure of a 12th reference form The top view which shows the principal part structure of 13th reference form The top view which shows the principal part structure of 1st Embodiment of this invention. The top view which shows the principal part structure of 2nd Embodiment of this invention. (A) Top view which shows principal part structure of 3rd Embodiment of this invention, (B) Front view, (C) Side view, (D) Plan view of bridge girder part (A) Plan view, (B) Front view, (C) Side view, (D) Plan view of the bridge girder showing the configuration of the main part of the fourth embodiment of the present invention

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  First, a reference embodiment showing a part of the present invention will be described. The first reference form is shown in FIG. 4 (overall plan view) and FIG. 5 (enlarged plan view of the main part). In this reference embodiment, the present invention is applied to vibration control of a hoisting boom 30 having a double box structure of a container crane as shown in FIGS. 1 to 3.

  4 and 5, the boom 30 vibrates while being displaced in the y direction parallel to the quay. The vibration frequency in this vibration mode changes depending on the position and mass of the trolley 32 that is displaced along the boom 30 in the longitudinal direction of the boom 30 (the x direction in the figure). A pair of left and right (up and down in the figure) paired with pretension from the line action point part (on the left side of the figure) 42 to the line fulcrum part 44 of the sea-side upper beam 23a (right side of the figure) that is the base of the boom. This is detected as a difference in tension of the wire (tensile member) 40.

  The line fulcrum portion 44 is provided with, for example, a hydraulic cylinder 50 for applying a force to the line 40, and outputs a control force corresponding to the detected tension difference to the hydraulic cylinder 50 to actively vibrate the boom 30. To suppress. The hydraulic cylinder 50 can also apply a damping force proportional to the moving speed of the piston by a control law.

  That is, the vibration model of the boom structure can be expressed by the following equation.

ここで、Ｍ：質量行列
Ｋ：剛性行列
Ｃ：減衰行列
ｘ：構造物の任意場所の変位ベクトル（状態変数）
Ｆ：外力ベクトル

Where M: mass matrix
K: Stiffness matrix
C: Decay matrix
x: Displacement vector at any location of the structure (state variable)
F: External force vector

The tension difference is considered as a difference in displacement of each node in the vibration model of equation (1). For example, in the case of the boom tip x ₁ , the measured tension difference F is expressed by the following equation using aE calculated and given in advance.

F = aEx ₁ (2)
Where a: coefficient
E: Young's modulus

That is, x ₁ is obtained, and a control law is given by designing the Kalman filter.

  In the present embodiment, since the line 40 is parallel to the boom 30, only the moment acts on the boom structure.

  According to this embodiment, it can be realized with a simple control device.

  Note that the position of the trolley 32 and the mass of the load 12 are taken into the control device of the container crane 20. From this information, a vibration model can be calculated as appropriate, a control model can be constructed each time, and an optimal control law can be calculated, for example, to determine a control force or a damping force.

  Specifically, as illustrated in FIG. 6, an acceleration sensor 46 is attached to the boom tip 30a as a vibration sensor, the horizontal α-axis acceleration α of the boom structure is measured, the acceleration is evaluated, and the control force It is also possible to control the damper or the hydraulic cylinder by calculating u (vector).

  That is, for example, with respect to the equation (1), when the structure displacement or the like is evaluated by the evaluation function J of the quadratic form expressed by the following equation (4) and the optimum control law is calculated, the feedback as in the equation (5) A control law is given.

(Ｆ＝)ｕ＝−Ｇｘ ・・・（５）
ここで、ｕ：制御力（ベクトル）
Ｑ，Ｒ：重み行列

(F =) u = -Gx (5)
Where u: control force (vector)
Q, R: Weight matrix

  Since it is necessary to give a state variable x (vector) for control, the acceleration α in FIG. 6 is measured to estimate x (vector).

  Also give an observer.

  For example, an x hat (vector) given by the following equation is an estimated value of x (vector).

ここで、Ｄ：観測できる状態量ｙを示す行列
Ｋ：カルマンフィルタによるゲイン（行列）

Where D: matrix indicating the observable state quantity y
K: Gain by Kalman filter (matrix)

  By such a method, the acceleration α on the boom 30 can be measured, and the state variable x (vector) can be estimated and controlled.

  Further, instead of the hydraulic cylinder 50, as shown in FIG. 7 (A), a hydraulic damper 52 having a spring 52B built in a cylinder 52A filled with hydraulic oil, or an operation as shown in FIG. 7 (B). Passive vibration suppression can be performed using a hydraulic damper 54 in which a spring 54B is externally attached to a cylinder 54A filled with oil. In the figure, 52C and 54C are pistons in which orifices 52D and 54D are formed.

  Furthermore, the damping force can be quasi-actively controlled by making the diameters of the orifices 52D and 54D variable, or by changing the magnetic force of the flow path using the working fluid as an MR fluid.

  Next, the principal part structure of the 2nd reference form applied to the vibration suppression of the hoisting boom 30 of the mono box structure of a container crane is shown in FIG. Since the basic configuration and operation are the same as those in the first reference embodiment, description thereof is omitted.

  In addition, instead of operating the two line cords 40 independently, as in the third reference embodiment shown in FIG. 9, a substantially triangular arm 62 that is rotatable around a fulcrum 62a, The arm 62 can be controlled as a unit by a control mechanism 60 such as a balance rod provided with an actuator 64 (for example, composed of a hydraulic cylinder and a damper).

  According to the present embodiment, only one set of the force generator and the damping element is sufficient, and the configuration is simple.

  In each of the first to third reference forms, the line 40 is stretched in parallel with the central axis of the boom 30. However, as in the fourth reference form shown in FIG. It may be arranged so as to be inclined away from the boom 30 toward the sea-side upper beam 23a.

  By tilting the cable 40 in this way, a shearing force acts on the boom structure at the same time as the moment, and a damping effect is more effectively generated.

  Furthermore, as in the fifth reference embodiment shown in FIG. 11, when the line action point portions 42 of both lines 40 are made to coincide, only the shearing force acts.

  Further, the line 40 may be crossed as in the sixth reference embodiment shown in FIG.

  Thus, by making the line 40 cross | intersect, an angle can be attached to the direction where force acts with respect to the boom 30, and an effect can be heightened.

  Hereinafter, as in the sixth reference embodiment, a type in which the lines 40 intersect is generically referred to as a crossing type, and the other types are collectively referred to as a non-crossing type.

  Further, as in the seventh reference embodiment shown in FIG. 13, the line 40 can be used as a sensor for a navigation bridge (hereinafter referred to as a ship bridge) 10a of a ship. In other words, when the crane as a whole has the boom 30 placed horizontally on the sea side, it may collide with an obstacle such as the ship bridge 10a if it travels by mistake. In order to avoid this in advance, when the line 40 comes into contact with the ship bridge 10a or the like, the line 40 only on one side is displaced in the horizontal direction, so that there is interference with the ship 10 when the displacement amount exceeds a certain value. Therefore, the traveling of the crane body 22 can be stopped to prevent the boom 30 from colliding with the ship bridge 10a or the like. Whether the boom 30 vibrates or interferes with the ship can be determined by the presence or absence of fluctuations in the line 40 on both sides.

  In particular, when a damper is used as the actuator, it is possible to provide an impact absorbing action when contacting the ship bridge 10a and the like.

  Next, the traversing wire rope 70 of the trolley 32 can be used as the vibration control line 40. That is, as in the eighth reference embodiment shown in FIG. 14, the tension can be controlled by the tension device 72 of the traversing (moving) wire rope 70 of the trolley 32 that moves on the boom 30. In the figure, 74 is a sheave.

  Next, a modification of the control method according to the present invention will be described.

  As a control system construction method, a method of modeling by calculating vibration mode coordinates from the finite element method is conceivable. The target model can be decomposed into a mass element, a spring element, and a damping element. Since the objective is to improve the damping of boom vibrations, the control function can be constructed with existing techniques by setting the objective function in that way. At this time, it is difficult in real time to design a control system by adding a position information of the trolley 32 to construct a finite element method model for each position of the trolley 32 and disassemble it into a vibration mode coordinate system. This can be solved as follows.

  First, the vibration mode coordinates of the boom alone are created. This can be built in advance on the desk by design values or the like. This model can be shown by a schematic diagram as shown in FIG. The decomposed masses m1 to mn, springs k1 to kn, and damping c1 to cn can be expressed by a simple matrix. Assuming that the mass of the trolley 32 is mt, this is added to the position of the decomposed mass from the current trolley position information. For example, if the trolley position is the boom tip, the model is obtained by adding mt to m1.

  Although the size of the matrix depends on the decomposition of the vibration mode, it is empirically known that the frequency up to the problem frequency is sufficient, so it falls within the 20th order. If it is about the 20th order, the calculation can be performed in real time, so that it is possible to cope with the problem that the mass position changes.

  Further, the vibration model of control may be switched in advance given by the equation.

Specifically, as illustrated in FIG. 16, when the stop position of the trolley 32 is 2.5 m pitch, the trolley stops at the ith position, and the trolley weight m _t is divided as follows.

  In the above equation (1), since the mass matrix M is variable, according to the position of the trolley 32 detected by the trolley position detection means 33, as shown in FIG. 17, the vibration model is changed to change the Kalman filter K and the control gain. Give G.

  In each of the reference forms, the number of the line element for one control target part is singular, but the non-crossing ninth reference form shown in FIG. 18 and the crossing type shown in FIG. As in the tenth reference embodiment, a relay beam 30c may be provided on the side surface of the control target part (boom 30 in the figure), and the number of line elements for one control target part may be plural.

  That is, although it is actually difficult to arrange a single long tension member from the tip of the boom to the base of the boom, as illustrated in FIG. 18 and FIG. 19, the line 40 is divided and the beam 30c on which they act is boomed. It can respond by taking out from 30. Further, the division of the boom 30 makes it possible to control the vibration mode of the higher order mode of the boom. Furthermore, since the boom rigidity is not uniform, a uniform damping force can be applied by dividing the boom according to the boom rigidity.

を一定とするように分割すれば良い。 Hereinafter, taking the intersection type shown in FIG. 19 as an example, how to place the beam 30c as a support point in the case of a plurality of elements will be described. As shown in the split model in FIG. 20, the spring constant is K _i , the Young's modulus is E, and the cross-sectional second moment is I _i .
When K _i = EI _i , the vibration model shown in the following equation

May be divided so as to be constant.

  Alternatively, the support point may be a point where the cross-sectional secondary moment changes.

  As mentioned above, the type which pulls a tension member (wire 40) like the 1st-10th reference form is named generically.

  Next, an eleventh reference embodiment will be described. In this reference embodiment, as shown in FIG. 21, a hydraulic cylinder 50 is provided in the middle portion of the hoisting boom 30 to push and stretch the wire 40 from the side.

  A sheave 51 is provided at the tip of the hydraulic cylinder 50.

  In FIG. 21, the boom 30 vibrates while being displaced in the y direction parallel to the quay. The vibration frequency in this vibration mode varies depending on the position and mass of the trolley 32 that is displaced along the boom 30 in the longitudinal direction of the boom 30 (the x direction in the figure). The control force corresponding to the detected pressure difference is output to the hydraulic cylinder 50, and the vibration of the boom 30 is actively suppressed.

  In this reference embodiment, a sheave 51 is provided at a portion where the hydraulic cylinder 50 contacts the line 40, so that a force in the boom longitudinal direction (left-right direction in the figure) does not act between the hydraulic cylinder 50 and the line 40. Smooth operation is guaranteed.

  Instead of detecting the pressure of the hydraulic cylinder 50, a force sensor may be provided on the shaft of the sheave 51.

  The other points are the same as in the first reference embodiment, and thus the description thereof is omitted.

  In the reference embodiment, the hydraulic cylinder 50 is used as the actuator. However, the type of the actuator is not limited to this, and hydraulic oil as shown in FIG. Using a hydraulic damper 56 having a spring 56B built in a filled cylinder 56A, or a hydraulic damper 58 having a spring 58B externally attached to a cylinder 58A filled with hydraulic oil, as shown in FIG. Passive vibration control can also be performed. In the figure, 56C and 58C are pistons in which orifices 56D and 58D are formed.

  Furthermore, the damping force can be quasi-actively controlled by making the diameters of the orifices 56D and 58D variable, or by changing the magnetic force of the flow path using the working fluid as an MR fluid.

  In the eleventh reference embodiment, the line 40 is stretched so as not to intersect the central axis of the boom 30, but the twelfth reference embodiment shown in FIG. 23 and the thirteenth reference embodiment shown in FIG. As described above, the line 40 may intersect with the central axis of the boom 30.

  As described above, as in the 11th to 13th reference embodiments, the type in which the middle of the tension member (the line 40) is pushed from the side by the actuator 50 is collectively referred to as a tension type.

  Hereinafter, an embodiment of the present invention in which the tension type and the tension type are used together will be described in detail.

  In the first embodiment of the present invention, as shown in FIG. 25, the boom 30 and the rear half of the trolley 31 are controlled by a cross-type tension type, and the middle part of the trolley 31 is controlled by a non-cross-type tension type. Is.

  Also, in the second embodiment of the present invention, as shown in FIG. 26, in contrast to the first embodiment, the latter half of the boom 30 and the trolley 31 is a non-intersecting thrust type, and the middle of the trolley 31 is used. Vibration is controlled by a cross-type tension type.

  As shown in FIGS. 27 (A) (plan view), (B) (front view), (C) (side view), (D) (plan view of the bridge girder), the third embodiment of the present invention is a crane. The upper connecting member 23c of the main body 22 is damped by a non-crossing tension type, the leg portion 26 is damped by a crossing tension type, and the bridge girder 28 is damped by a non-crossing tension type.

  Further, in the fourth embodiment of the present invention, as shown in FIGS. 28A (plan view), (B) (front view), (C) (side view), and (D) (plan view of the bridge girder). The leg 26 of the crane body 22 is damped by a cross-type tension type, and the bridge girder 28 is damped by a non-cross-type tension type.

  Thus, effective vibration suppression is possible by properly using the tension type and the tension type and / or the non-crossing type and the crossing type according to the vibration suppression target.

  In each of the embodiments, the wire 40 or the traversing wire rope 70 is used as the tensile material. However, the tensile material is not limited to these, and may be a chain, a pipe, a rod, or the like. .

  Further, the application target is not limited to a bridge crane such as a container crane, and can be similarly applied to, for example, an unloader. The load is not limited to containers.

10 ... Container ship
10a ... ship bridge 12 ... container (load)
14 ... Apron 16 ... Rail 20 ... Container crane 22 ... Crane body 23a ... Sea side upper beam (base of boom)
23c ... Upper connecting member 24 ... Traveling device 26 ... Leg part 28 ... Bridge girder (lower bridge girder)
30 ... (undulation) Boom 30a ... Boom tip 30c ... Beam (support point)
31 ... trolley 32 ... trolley 33 ... trolley position detecting means 34 ... spreader (hanging tool)
40 ... line (tension member)
DESCRIPTION OF SYMBOLS 42 ... Line action point part 44 ... Line fulcrum part 46 ... Acceleration sensor 50 ... Hydraulic cylinder 51 ... Sheave 52, 54, 56, 58 ... Hydraulic damper 60 ... Control mechanism 62 ... Arm 62a ... Support point 70 ... Wire for transverse (movement) rope

Claims (14)

In a cargo handling machine having a plurality of long members that require vibration suppression,
Span at least one tension member from one end to the other end of at least one of the elongated members;
By actively or semi-actively or passively controlling the force applied to the tension member and / or the damping force, the vibration of the at least one elongated member is suppressed,
Span at least one tension member from one end of the elongate member to the other end,
An actuator for pushing and pulling the tension member from the side is arranged in the middle of the tension member,
Vibration suppression of a cargo handling machine characterized by suppressing vibration of the at least one other long member by actively, semi-actively or passively controlling a force and / or damping force applied to the actuator. Method.   The method for suppressing vibrations of a cargo handling machine according to claim 1, wherein the tension member is stretched so as not to intersect a central axis of the elongated member.   The method for suppressing vibration of a cargo handling machine according to claim 1, wherein the tension member is stretched so as to intersect with a central axis of the long member.   The method for suppressing vibration of a cargo handling machine according to any one of claims 1 to 3, wherein the long member is divided into a plurality of sections in the longitudinal direction, and the tension member is passed over each section.   The method for suppressing vibration of a cargo handling machine according to any one of claims 1 to 3, wherein the long member is divided into a plurality of sections in the longitudinal direction, and the actuator is arranged in each section.   6. The method for suppressing vibration of a cargo handling machine according to claim 4, wherein the long member is divided so that a ratio of rigidity and damping of the long member in each section is constant.   The method for suppressing vibration of a cargo handling machine according to any one of claims 4 to 6, wherein the tension member is divided for each section.   2. The acceleration, relative displacement, or strain applied to the long member is detected, and the force and / or damping force applied to the tension member is actively, semi-actively or passively controlled. The vibration suppression method for a cargo handling machine according to any one of claims 1 to 7.   The structure of the elongate member is modeled as at least one mass point, and the position of the moving body is determined from the position information of the moving body moving on the elongate member to the modeled mass point closest to the position of the moving body. The method for suppressing vibration of a cargo handling machine according to any one of claims 1 to 8, wherein vibration analysis is performed by adding mass to control to suppress displacement and acceleration of the long member.   The long member is at least one of a hoisting boom, a trolley garter, a leg portion of a crane body, an upper connecting member, or a lower bridge girder in which a trolley as a moving body for hanging and supporting a load is disposed. The method for suppressing vibrations of a cargo handling machine according to any one of claims 1 to 9. In a cargo handling machine having a plurality of long members that require vibration suppression,
At least one tension member spanned from one end to the other end of at least one of the elongated members;
Means for suppressing vibration of the at least one elongate member by actively or semi-actively or passively controlling the force and / or damping force applied to the tension member;
At least one tension member spanned from at least one other end of the elongate member to the other end;
An actuator disposed in an intermediate portion of the tension member for pushing and stretching the tension member from the side;
Means for suppressing vibration of the at least one other elongated member by actively or semi-actively or passively controlling the force and / or damping force applied to the actuator;
A vibration suppression device for a cargo handling machine, comprising:   The said actuator is a hydraulic cylinder which produces | generates the force added to the said tension member, or gives the damping force proportional to the moving speed of a piston with a control law, The vibration suppression of the cargo handling machine of Claim 11 characterized by the above-mentioned. apparatus.   The vibration suppressing device for a cargo handling machine according to claim 11, wherein the actuator is a hydraulic damper with a built-in or external spring that applies force to the tension member.   The vibration suppression device for a cargo handling machine according to claim 13, wherein a diameter of an orifice formed in a piston of the hydraulic damper is variable.

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