JPH05319780A - Bracing control device for crane - Google Patents

Abstract

PURPOSE:To perform bracing of a suspension cargo during high speed running and to increase a speed to a target value. CONSTITUTION:A bracing control device for a crane performs bracing of a suspension cargo 3 through control of the speed of a crane truck 1a according to a plurality of speed command values responding to an acceleration, a high speed bracing, and a deceleration pattern. The bracing control device for a crane comprises a bracing acceleration deceleration regulating amount computer 40 to compute a bracing acceleration deceleration regulating amount U of a high speed bracing pattern based on the swing angle of a suspension cargo 3, measurements of a swing angular velocity, and the length of hoisting wire rope, and a high speed bracing speed command value computer 50 to add and subtract deceleration, set based on the maximum allowable swing angle of the suspension cargo 3, to and from the bracing acceleration deceleration regulating amount U according to positive and negative of a deviation between a target speed and a present set speed, and compute a speed command value VH of the high speed bracing pattern by adding a value, obtained by multiplying the adding or the subtracting result by a computing period, to and from a present set speed or a speed detecting value.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steady rest control device for a crane used for cargo handling work in a harbor, various factories and the like, and more particularly, to a suspended load while making the speed of an automatically operated crane truck follow a target speed. The present invention relates to a control device that controls to perform steady rest.

[0002]

2. Description of the Related Art FIG. 13 shows a model of a crane to be controlled. The crane 1 includes a horizontally movable crane truck (trolley) 1a and a hoist capable of hoisting down from the truck 1a. The load 3 is moved by the wire rope 2 to perform cargo handling. In the figure, Q is the starting position, R is the target position, and _Xm is the starting position Q.
To a target position R, a target position value _Xc is a position detection value that is a distance detection value from the starting position Q to the current position, X is a remaining driving distance, L is a hoisting wire rope length, and θ is The swing angle of the suspended load 3 and θ ′ represent the swing angular velocity.

In the operation control of the crane 1 of this type, (1) the carriage 1a is moved from its own position to the target position R in a short time and positioned, and (2) the carriage 1a reaches the target position R. It is strongly desired to control the swinging load 3 so that the swinging load 3 stops when the load is applied. For this reason, in the past, for example, in a speed pattern to be taken by the trolley 1a as shown in FIG. 14, during high-speed traveling, a predetermined steady rest acceleration is added to the current speed as shown by W in the drawing to suspend the vehicle. The load 3 is steady. In the figure, V _M indicates the maximum speed (target speed).

[0004]

However, according to the above control method, the speed of the trolley 1a at the time when the steady rest ends is deviated from the speed before the steady rest due to the addition of the steady rest acceleration. However, there is a problem in that the speed deviation varies depending on the shake state. For this reason, the trolley speed during high-speed traveling after the steady rest is too fast or faster than the target speed,
Otherwise, it will be too late. If the speed is too fast, it can be limited by a preset upper limit value, but on the contrary, if it is too slow, it takes a lot of time to move the crane 1 or the suspended load 3, resulting in poor work efficiency. There was a problem.

The present invention has been made to solve the above problems, and an object of the present invention is to eliminate the vibration of the suspended load during high-speed traveling and to achieve the target speed. It is to provide a crane steady rest control device.

[0006]

In order to achieve the above object, a first aspect of the present invention is to detect a self-position detection value and a speed detection value of a crane truck, a swing angle and a swing angular velocity of a hoisting wire rope unwound from the crane truck. Based on the measured value of the length and the length, calculate a plurality of speed command values according to the acceleration pattern, the high-speed steady pattern, and the deceleration pattern, which are the speed patterns from the starting position to the target position, and according to these speed command values. In a control device for steadying a suspended load by controlling the speed of a crane truck, based on the swing angle, the measured value of the swing angular velocity, and the hoisting wire rope length, the steady rest acceleration / deceleration adjustment amount in a high-speed steady rest pattern is set. The steady-state acceleration / deceleration adjustment amount calculator for calculation and the deceleration set based on the maximum allowable swing angle of the suspended load are used to determine the deviation between the target speed and the current set speed. High-speed steady that calculates the speed command value in the high-speed steady pattern by adding or subtracting the steady-state acceleration / deceleration adjustment amount according to the above and multiplying the result by the calculation cycle to the current set speed or speed detection value And a speed command value calculator.

According to a second aspect of the present invention, in the control device premised on the first aspect of the present invention, in a high-speed steady-state pattern by fuzzy reasoning based on the swing angle of the suspended load, the measured value of the swing angular velocity, and the hoisting wire rope length. The fuzzy steady rest acceleration / deceleration adjustment amount calculator that calculates the fuzzy steady rest acceleration / deceleration adjustment amount, and the deceleration set based on the maximum allowable runout angle of the suspended load are set to the positive / negative of the deviation between the target speed and the current set speed. Accordingly, the acceleration / fuzzy steady rest acceleration / deceleration adjustment amount is added / subtracted, and the product of the result and the calculation cycle is added to the current set speed or speed detection value to calculate the speed command value in the high-speed steady pattern. And a steady rest speed command value calculator.

[0008]

According to the first aspect of the invention, the steady rest acceleration / deceleration adjustment amount is corrected by deceleration according to the positive / negative of the deviation between the target speed and the current set speed, and this acceleration / deceleration adjustment amount is detected as the current set speed or speed detection. The speed command value in the high-speed steady rest pattern is calculated by adding the value to the value. Thus, a speed command value is generated to increase the speed when the vehicle speed is lower than the target speed, and to decrease the speed when the vehicle speed is higher than the target speed. For this reason, it is possible to reach the target speed while steadying the suspended load. In the second invention, the acceleration / deceleration adjustment amount is calculated as an acceleration fuzzy steady rest acceleration / deceleration adjustment amount by fuzzy inference.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. First, FIG. 1 is a block diagram showing an embodiment of the first invention, and a control device of this embodiment includes a remaining running distance calculator 10, a shake cycle calculator 20, a speed pattern generator 30,
Consists of a steady rest acceleration / deceleration adjustment amount calculator 40, a high speed steady rest speed command value calculator 50, a speed pattern switching calculator 60, a controller 70, and a shake angle measuring device 80 for detecting the shake angle θ of the suspended load 3. ing.

The function of each component will be described in detail below.
The remaining driving distance calculator 10 determines the own position detection value X _c of the carriage 1a.
And the remaining driving distance X is calculated from the target position value X _m , and
The shake cycle calculator 20 calculates the shake cycle T of the suspended load 3 from the hoisting wire rope length L and the gravitational acceleration g (= 9.8 [m / s ² ]) to T = 2π√ (L / g). Calculate by At the start of crane operation, the speed pattern generator 30 determines a basic speed pattern P as shown by an imaginary line in FIG. 2 from the detected position value X _c , the target position value X _m, and the shake cycle T, and accelerates the same. An acceleration pattern speed command value V _α (in other words, acceleration α) and a deceleration pattern speed command value V _β (in other words, deceleration β) in the pattern are determined in consideration of the shake cycle T and the like.

The steady-state acceleration / deceleration adjustment amount calculator 40 calculates the target speed following type high speed shown in FIG. 2 from the shake angle θ of the load 3 detected by the shake angle measuring device 80, the shake angular velocity θ ′ and the winding wire rope length L. A steady rest acceleration / deceleration adjustment amount U in the steady rest pattern is calculated. The high-speed steady rest speed command value calculator 50 calculates the current set speed V or the current speed detection value V.
_{From 0} , the steady-state acceleration / deceleration adjustment amount U, the calculation cycle Δt, and the route pattern deceleration β√ described later, the high-speed steady-state pattern speed command value V _H in the high-speed steady-state pattern operation is calculated. The target speed V _M in the high-speed steady pattern is input to the calculator 50.

The speed pattern switching calculator 60 detects the speed detection value V ₀ , the acceleration pattern speed command value V _α , the deceleration pattern speed command value V _β , the remaining driving distance X, the shake cycle T, and the high-speed steady pattern speed command value V. as input _H and the target speed V _M, the set speed V of the carriage 1a V _alpha in accordance with the control pattern, thereby sequentially switch and output the V _H, V _beta, outputs a route pattern deceleration β√ described above to the calculator 50 To do. The controller 70 outputs a drive command to drive the carriage 1a at the set speed V, and also measures and outputs the speed detection value V ₀ , the own position detection value X _c , and the hoisting rope length L of the carriage 1a.

Here, the following causes are considered to cause the swing of the suspended load 3 in the operation of the crane 1 of this type. (1) At the time of ground cutting of the suspended load 3, if the hoisting wire rope 2 is not vertical, the ground runout will cause an initial runout. (2) When the suspended load 3 receives a disturbance such as a gust of wind, shake occurs. (3) The method of hanging the hoisting wire rope 2 on the hanging device for hanging the hanging load 3 is complicated as 4, 6, ...
The swinging method is different from the ideal swinging method of a simple pendulum. For this reason, the swing cycle of the suspended load 3 generally does not match the theoretical value, and it is possible to bring it closer to the theoretical value if a correction is added, but an error remains and the above error occurs when acceleration is performed in the shake cycle. A shake corresponding to is generated.

In the present invention, even shake by the various causes has occurred, by operating the crane 1 according to the speed pattern of FIG. 2 to be described below, the target speed while performing steadying of the suspended load 3 V _M Can be reached. That is, it is possible to perform the steady rest that follows the target speed. Velocity command value V _alpha in the velocity pattern of Fig. 2, of the V _H, V _beta, as described above V _alpha, V
_β is input to the speed pattern generator 30, and V _H is input to the speed pattern switching calculator 60 from the high-speed steady rest speed command value calculator 50.

As a control method according to this speed pattern, first, the operation of the trolley 1a is started at the acceleration pattern speed command value V _α, that is, the acceleration α, and at the time t ₁ when a predetermined acceleration completion speed is reached, high-speed steady rest is performed. While switching to the pattern speed command value V _H , the deceleration pattern speed command value V _β, that is, the deceleration β and the deceleration distance are calculated. After that, at a time point t ₂ after moving by a predetermined distance, the deceleration pattern is switched to, and the set speed V is set as a deceleration pattern speed command value V _β .

Next, how to give the set speed V in each speed pattern will be described in detail. (1) Acceleration pattern (0 to t ₁ ) The trolley 1a is driven by the acceleration pattern speed command value V _α obtained by the conventional pattern control as shown in FIG. 14, and the swing of the suspended load 3 occurs at the completion of acceleration. Accelerate to not do. Strictly speaking, when there is an initial shake due to the above-mentioned ground cutting at the start of acceleration, the acceleration is performed so that the shake at the completion of acceleration does not become larger than the initial shake. For example, the acceleration time is matched with the swing cycle T of the suspended load 3. (2) high-speed steady rest pattern (t ₁ ~t ₂₎ If an acceleration completion is residual vibration due to the above causes, also shake occurs when subjected to disturbances such as gusts during operation by the high-speed bracing pattern .. In order to remove these shakes, the high-speed steady rest speed command value calculator 50 calculates the speed command value V _{H according} to Formula 1 or Formula 2, and uses the speed command value V _H as the set speed V to add the cart 1a. Slow down.

[0017]

[Number 1] _{V H = V + {Sign (} V M -V) · (β√) + U} · Δt

[0018]

[Number 2] _{V H = V 0 + {Sign} (V M -V) · (β√) + U} · Δt

In Equations 1 and 2, V _M is the target speed [m / m of the truck 1a in the high-speed steady pattern.
s] and Δt are calculation cycles. In addition, Sign (V _M -
V) is (V _M -V) of the sign (positive or negative), that means a sign of the deviation between the target speed V _M and the current set speed V, (V _M -V)> time of 0: Sign ( V _M -V) is + (positive)
Thus (Beta√) sign is + (V _M -V) = time of 0: (β√) is zero (V _M -V) <When 0: Sign (V _M -V) is - (negative)
Therefore, the sign of (β√) is − (negative). Further, β√ is the root pattern deceleration (deceleration in the high-speed steady pattern) [m / s ² ] and is a value obtained by the following mathematical formula 3.

[0020]

[Equation 3] β√ = θ _E · g

In the above formula 3, θ _E is the maximum allowable swing angle [rad] of the suspended load 3 at the time of steady rest, and g is the gravitational acceleration (= 9.8 [m / s ² ]). Further, U is the steady-state acceleration / deceleration adjustment amount [m / s ² ] calculated by the steady-state acceleration / deceleration adjustment amount calculator 40 as described above, and the swing angles θ and θ ′ / ω (ω = √ (g / L)), which is set to zero in the shake first and third quadrants for the reason described later. Note that the other symbols have already been described, and the description thereof will be omitted.

3 to 6 show steady rest acceleration / deceleration adjustment amount U ₁
FIG. 5 is a phase plan view and a crane state explanatory view for explaining a steady rest effect when adding up to U ₄ . In these figures, the vertical axis of the phase plane is θ ′ / ω (ω = √ (g /
L)), the horizontal axis is the deflection angle θ, is the deflection quadrant, A is the deflection trajectory when there is no acceleration / deceleration adjustment amount U, and B is the acceleration / deceleration adjustment amount U.
Is a shake trajectory when H is added, and H is a final shake trajectory when the acceleration / deceleration adjustment amounts U _{1 to} U ₄ are added in each quadrant.

Now, as shown on the right side of each drawing, the carriage 1a
Is moving to the right in the figure at a speed V, and the suspended load 3 is swung left and right in the order shown in FIG. 3 → FIG. 4 → FIG. 5 → FIG. FIG. 3 shows a case where a large acceleration adjustment amount U ₁ (U ₁ = + K, K: constant) for steadying is added to the bogie 1a in the first swinging quadrant, and as shown by an arrow H,
The swing of the suspended load 3 is reduced. Similarly, FIG. 4 shows a moderate deceleration adjustment amount U ₄ (U ₄ = (-g
2θ) {θ ² + (θ ′ / ω) ² }) is added, FIG. 5 shows a large deceleration adjustment amount U ₃ (U ₃ = − in the third quadrant of deflection).
K) is added, the acceleration adjustment amount U ₂ (U ₂ = (+ g / 2θ) {θ ² + (θ ′ /
ω) ² }) are added.

It should be noted that the constant K of the acceleration / deceleration adjustment amounts U ₁ and U _{3 in} the shake first and third quadrants does not necessarily have to be a fixed value, and may be any value that matches control.
In this way, the bogie 1a is moved according to the speed command value V _H of the high-speed steady rest pattern to which the steady rest acceleration / deceleration adjustment amount U is added.
By driving, it is possible to prevent the hanging load 3 from swinging in the high speed region.

Further, in this embodiment, when the target speed V _M and the current set speed V are different, the route pattern deceleration β√ is added or subtracted from the steady rest acceleration / deceleration adjustment amount U according to the deviation. By doing so, the acceleration / deceleration adjustment amount U is corrected. That is, when the set speed V is smaller than the target speed V _M , the deceleration β√ is added to the acceleration / deceleration adjustment amount U and the product of the calculation cycle Δt is added to the set speed V or the speed detection value V ₀ . Then, the speed is increased by setting the speed command value V _H, and when the set speed V is larger than the target speed V _M , the deceleration β√ is subtracted from the acceleration / deceleration adjustment amount U to calculate the calculation cycle Δt. The value obtained by multiplying by is added to the set speed V or the detected speed value V ₀ to obtain the speed command value V _H , thereby reducing the speed. As a result, the target speed V _M
Since the acceleration / deceleration adjustment amount U is increased / decreased according to the positive / negative of the deviation with respect to, it becomes possible to reach the target speed V _{M as} shown by the solid line in FIG.

(3) Deceleration pattern (t _{2 to} t ₃ ) The trolley 1a is driven by the deceleration pattern speed command value V _β obtained by the conventional pattern control as shown in FIG. At the time point), the load 3 is decelerated so that the hanging load 3 does not shake. For example, the deceleration time is adjusted to the swing cycle T of the suspended load 3.

FIGS. 7 and 8 show the results of a simulation test performed to confirm that the steady rest and the target speed V _M have been reached according to this embodiment. FIG. 7 shows a high speed based on only the steady rest acceleration / deceleration adjustment amount U. In the case of steady rest, FIG. 8 shows a case of high speed steady rest of the target speed following type using the sum (± β√ + U) of the route pattern deceleration and the steady rest acceleration / deceleration adjustment amount according to this embodiment. Note that FIG. 7 shows the distance X,
FIG. 8 shows the time change of the detected speed value V ₀ , the steady rest acceleration / deceleration adjustment amount U, the swing angles θ and θ ′ / ω, and FIG. 8 shows the distance X, the detected speed value V ₀ , the route pattern deceleration and the steady rest acceleration. It represents the change over time of the sum (± β√ + U) with the deceleration adjustment amount, the deflection angles θ and θ ′ / ω.

The conditions of the simulation test are as follows. (1) The initial swing of the suspended load 3 is the swing angle θ = 0.0192
[Rad] (1.1 degrees), shake angular velocity θ ′ = 0, and maximum allowable shake angle θ _E = 0.00174 [rad] (0.1 degrees). (2) Considering that the controller has a limit of control capability, the acceleration adjustment limit is set to ± 0.25 [m / s ² ]. The moving distance X was set to 16 [m], and the target speed V _M at high-speed steady rest was set to 0.983 [m / s].

According to this simulation test, as is apparent from the change in the speed detection value V ₀ shown in FIG. 8, the speed is decelerated at the initial stage of the high-speed steady pattern, but the target speed is gradually increased after that. It is approaching V _M. Therefore, comparing the waveforms of the deflection angle θ in FIGS. 8 and 7, the deflection in FIG. 8 is slightly larger than that in FIG. 7, but the deflection angle θ is also within the maximum allowable deflection angle θ _E. , It doesn't matter. As a result, in FIG. 8, the target position is finally reached in a little less than about 21.7 [s], but in FIG. 7, it takes about 23.2 [s], which is shorter in this embodiment. You can reach the target position in time.

Next, FIG. 9 is a block diagram showing an embodiment of the second invention. In this embodiment, the steady rest acceleration / deceleration adjustment amount U is obtained by fuzzy inference. That is, as shown in FIG. 9, the swing angle θ (and θ ′) and the hoisting wire rope length L are input to the fuzzy steady rest acceleration / deceleration adjustment amount calculator 40 ′.
This computing unit 40 'has, for example, the antecedent part membership function for the deflection angle θ shown in FIG. 10, and θ' / shown in FIG.
Membership function of the antecedent part for ω, and FIG.
Based on the consequent part membership function for the acceleration / deceleration adjustment amount U _f shown in (1) and the control rules shown in Table 1, fuzzy inference is performed to calculate the optimum acceleration fuzzy acceleration / deceleration adjustment amount U _f .

[0031]

[Table 1]

The acceleration fuzzy steady rest acceleration / deceleration adjustment amount U _f thus obtained is the same as the steady rest acceleration / deceleration adjustment amount U in the embodiment of FIG.
Is input to the route pattern deceleration β√, depending on whether the deviation between the target speed V _M and the set speed V is positive or negative.
It is corrected by adding and subtracting. And the arithmetic unit 5
At 0 ', the speed command value V _H is finally calculated so as to reach the target speed V _M. Although not shown, the fuzzy steady rest acceleration / deceleration adjustment amount calculator 40 '
If the high-speed steadying speed command value calculator 50 'is integrated as one fuzzy inference means, the configuration can be further simplified.

[0033]

As described above, in the first aspect of the invention, the steady rest acceleration / deceleration adjustment amount is corrected by deceleration according to the positive / negative of the deviation between the target speed and the current set speed, and this acceleration / deceleration adjustment amount is adjusted. The speed command value in the high-speed steady pattern is calculated by adding the current set speed or the detected speed value. In the second invention, the acceleration / deceleration adjustment amount is accelerated by fuzzy reasoning. It is calculated as a quantity. Therefore, in any of the inventions, the swing of the suspended load during high-speed traveling due to disturbances such as initial runout, residual runout, and gusts can be reliably removed, and the target speed can be reached and the crane carriage or hoisting can be achieved. It is possible to move the load to the target position in a short time and improve work efficiency.

Further, in the second aspect of the invention, by using fuzzy inference for calculating the steady rest acceleration / deceleration adjustment amount, the knowledge acquired by the crane design engineer through experience is reflected in the membership function and the control rule. Thus, it is possible to realize an optimal control system that matches the characteristics of the crane system itself, and to perform more precise and precise steady rest control. The first and second inventions can be easily applied to a system in which a crane truck moves in a two-dimensional (XY) plane.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of the first invention.

FIG. 2 is a steady-state speed pattern diagram in the embodiment of FIG.

FIG. 3 is a phase plan view and a state explanatory view of a crane for explaining a steady rest effect when a steady rest acceleration / deceleration adjustment amount is added.

FIG. 4 is a phase plan view and a state explanatory view of a crane for explaining a steady rest effect when a steady rest acceleration / deceleration adjustment amount is added.

5A and 5B are a phase plan view and a state explanatory view of a crane for explaining a steady rest effect when a steady rest acceleration / deceleration adjustment amount is added.

6A and 6B are a phase plan view and a state explanatory view of a crane for explaining a steady rest effect when a steady rest acceleration / deceleration adjustment amount is added.

FIG. 7 is a diagram showing a result of a conventional high-speed steady rest simulation test for comparison with the embodiment of FIG.

8 is a diagram showing the results of a high-speed steady rest simulation test according to the embodiment of FIG.

FIG. 9 is a block diagram showing an embodiment of the second invention.

10 is a diagram showing an antecedent membership function in the fuzzy steady rest acceleration / deceleration adjustment amount calculator of FIG. 9;

11 is a diagram showing an antecedent part membership function in the fuzzy steady rest acceleration / deceleration adjustment amount calculator of FIG. 9;

12 is a diagram showing a consequent part membership function in the fuzzy steady rest acceleration / deceleration adjustment amount calculator of FIG. 9;

FIG. 13 is a diagram showing a model of a crane.

FIG. 14 is a pattern diagram of steady rest speed in conventional pattern control.

[Explanation of symbols]

 1 Crane 1a Crane trolley 2 Hoisting wire rope 3 Suspended load 10 Operating remaining distance calculator 20 Runout cycle calculator 30 Speed pattern generator 40 Runout stop acceleration / deceleration adjustment amount calculator 40 'Fuzzy steady stop acceleration / deceleration adjustment amount calculator 50 , 50 'High-speed steady stop speed command value calculator 60 Speed pattern switching calculator 70 Controller 80 Run-out angle measuring device

Front page continuation (72) Inventor Yasufumi Irie 1-chome, Mizushima Kawasaki-dori, Kurashiki City, Okayama Prefecture (no address), Kawatetsu Steel Construction Co., Ltd. No. 1 Fuji Electric Co., Ltd. (72) Inventor Hirohisa Ukita No. 1 Tanabe Nitta, Kawasaki-ku, Kawasaki-shi, Kanagawa No. 1 Fuji Electric Co., Ltd. (72) Naoki Milki No. 1 Tanabe Nitta, Kawasaki-ku, Kawasaki-shi, Kanagawa No. 1 inside Fuji Electric Co., Ltd.

Claims (2)

[Claims] 1. From the starting position to the target position based on the measured value of the own position of the crane truck, the detected speed value, the deflection angle of the hoisting wire rope unwound from the crane truck, the deflection angular velocity and the measured value of the length. Control that calculates a plurality of speed command values according to the acceleration pattern, the high-speed steady rest pattern, and the deceleration pattern that are the speed patterns of, and controls the speed of the crane truck according to these speed command values to steady the suspended load. In the device, a steady rest acceleration / deceleration adjustment amount calculator that calculates the steady rest acceleration / deceleration adjustment amount in the high-speed steady rest pattern based on the measured values of the runout angle, the runout angular velocity, and the hoisting wire rope length, and the maximum allowable load The deceleration set based on the deflection angle,
Depending on whether the deviation between the target speed and the current set speed is positive or negative, the steady rest acceleration / deceleration adjustment amount is added / subtracted, and the product of the result and the calculation cycle is added to the current set speed or speed detection value to achieve high-speed shake. A steady rest control device for a crane, comprising: a high speed steady rest speed command value computing unit that computes a fast speed command value in a stop pattern. 2. From the starting position to the target position based on the detected value of the own position of the crane truck, the detected speed value, the deflection angle of the hoisting wire rope unwound from the crane truck, the deflection angular velocity, and the measured value of the length. Control that calculates a plurality of speed command values according to the acceleration pattern, the high-speed steady rest pattern, and the deceleration pattern, which are the speed patterns, and controls the speed of the crane truck according to these speed command values to steady the suspended load. In the device, the deflection angle, a measured value of the deflection angular velocity, based on the hoisting wire rope length, a fuzzy steady rest acceleration / deceleration adjustment amount calculator for calculating a fuzzy steady rest acceleration / deceleration adjustment amount in a high-speed steady rest pattern by fuzzy reasoning, The deceleration set based on the maximum allowable deflection angle of the suspended load,
The fuzzy steady rest acceleration / deceleration adjustment amount is added / subtracted according to the sign of the deviation between the target speed and the current set speed, and the result is multiplied by the calculation cycle to add to the current set speed or speed detection value. A steady rest control apparatus for a crane, comprising: a fast steady rest speed command value computing unit that computes a speed steady command value in a fast steady rest pattern.