KR870011035A - Dustproof Control Method in Suspension Crane - Google Patents

Dustproof Control Method in Suspension Crane Download PDF

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Publication number
KR870011035A
KR870011035A KR1019860007728A KR860007728A KR870011035A KR 870011035 A KR870011035 A KR 870011035A KR 1019860007728 A KR1019860007728 A KR 1019860007728A KR 860007728 A KR860007728 A KR 860007728A KR 870011035 A KR870011035 A KR 870011035A
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KR
South Korea
Prior art keywords
length
speed
traveling
linear body
conveyed
Prior art date
Application number
KR1019860007728A
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Korean (ko)
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KR910008199B1 (en
Inventor
야스히사 아베
Original Assignee
시끼 모리야
미쓰비시전기 주식회사
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Application filed by 시끼 모리야, 미쓰비시전기 주식회사 filed Critical 시끼 모리야
Publication of KR870011035A publication Critical patent/KR870011035A/en
Application granted granted Critical
Publication of KR910008199B1 publication Critical patent/KR910008199B1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Numerical Control (AREA)

Abstract

내용 없음No content

Description

현수식 기중기에서의 방진제어방식Dustproof Control Method in Suspension Crane

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제1도는 이 발명의 일실시예를 설명하기 위한 현수식기중기에서의 제어장치를 표시하는 블록구성도.1 is a block diagram showing a control device in a suspension crane for explaining an embodiment of the present invention.

제2도(a)는 이 발명의 일실시예에 의한 평균로우프 길이의 고려방법의 표시도.Figure 2 (a) is a diagram showing a method of considering the average rope length in accordance with an embodiment of the present invention.

제2도(b)는 평균로우프 길이에 근사한 경우의 위상면 궤도표시도.2B is a phase plane trajectory diagram when the average rope length is approximated.

제3도는 이 발명의 일실시예에 의한 현수하물의 각 경로표시도.3 is a view showing each route of the suspension bag according to an embodiment of the present invention.

제4도는 현수식 기중기의 하물진동의 개념도.4 is a conceptual diagram of load vibration of a suspension crane.

제5도는 일정가속시 및 변가속시의 가속구간에서의 각 위상면 궤도표시도.5 is a view showing the phase plane trajectories of the acceleration section at the time of constant acceleration and variable acceleration.

제6도(a)-(c)는 각각 속도패턴, 기준가속도입력 및 하물진동의 위상면궤도의 각 표시도.6 (a) to 6 (c) are respective display diagrams of the phase plane trajectories of the speed pattern, the reference acceleration input, and the load vibration, respectively.

* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings

1:트롤리, 2:버킷, 3:로우프, 11:권양드럼, 12,22:전동기, 13,23:감속기, 14,24:지속발전기, 15,25:신코로발전기, 17,27:신크는-디지털변환기, 16:권양구동장치, 21:횡행드럼, 26:횡행구동장치, 30:프로그램에 블컨트롤러, 32,33:위치서어보기능회로, 34:평균로우프길이연산회로, 35:데이터테이블부, 36:운전패턴발생회로. 그리고 도중 동일부호는 동일 또는 상당부분을 표시한다.1: trolley, 2: bucket, 3: rope, 11: winch drum, 12, 22: motor, 13, 23: decelerator, 14, 24: continuous generator, 15, 25: synchrono generator, 17, 27: cinch Digital converter, 16: winch drive, 21: horizontal drum, 26: horizontal drive, 30: programmable controller, 32, 33: position servo function circuit, 34: average rope length calculation circuit, 35: data table Part 36: Operation pattern generation circuit. In the meantime, the same symbols indicate the same or equivalent parts.

Claims (1)

현수식 기중기제어용의 기중기제어계에 의하여 구동제어되어 소정의 궤도면상을 주행가능한 주행체에 운반한 피반송체를 선형체로 메달아 운반시켜 상기 주행체의 속도를 시간에 대한 속도의 관계를 가진 소정의 속도패턴에 따라서 구동제어하므로서 상기 주행체의 정속도시에 상기 피반송체의 진동을 방지시키는 현수식 기중기에서의 방진제어방식에 있어서, 상기 피반송체의 운반중에 상기 주행체로부터 상기 피반송체까지의 상기 선형체의 길이를 변화시키는 경우에 선형체의 평균한 길이인 평균선형체 길이를 연산하기 위하여 미리 설정된 함수와 이 함수에 대입할 설정치와를 사용하여 상기 평균선형체길이를 도출하는 평균선형체길이 연산회로와 평균선형체길이와 상기 속도패턴에 따라서 주행체를 가속 및 감속시키는 가속기간 및 감속기관과를 대응시켜서 데이터레이블화하여 미리 기억시켜 놓은 데이터테이블부와를 구비하고 상기 평균선형체길이 연산회로의 출력에 의하여 상기 데이터레이블부로부터 판독된 가속기간 및 감속기간에 따라 상기 정속도에 이르기 전까지에서의 상기 주행체의 속도를 상기 기중기제어계에 의하여 제어하는 것을 특징으로 하는 현수식 기중기에서의 방진제어방식.The vehicle is controlled by a crane control system for suspension crane control, and the conveyed body which carries the predetermined track surface on the traveling vehicle is suspended by a linear body, so that the speed of the traveling body is fixed with the relation of the speed with respect to time. A dustproof control method in a suspension crane that prevents vibration of the conveyed body at the constant speed of the traveling body by driving control in accordance with a speed pattern, wherein the traveling body to the conveyed body is transported while the conveyed body is being transported. An average linear body length calculation which derives the average linear body length using a predetermined function and a set value to be substituted into this function in order to calculate the average linear body length which is the average length of the linear body when the length of the linear body is changed. Acceleration period and reducer for accelerating and decelerating the traveling body according to the circuit, average linear body length and the speed pattern And a data table section which is stored in advance by labeling the data in correspondence with the data table, and before reaching the constant speed according to the acceleration period and the deceleration period read out from the data label section by the output of the average linear length calculation circuit. The dustproof control method in a suspension crane characterized in that for controlling the speed of the traveling body by the crane control system. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019860007728A 1986-05-02 1986-09-13 Center-rest control system in suspension type crane KR910008199B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP61-100898 1986-05-02
JP100898 1986-05-02
JP61100898A JPH0742072B2 (en) 1986-05-02 1986-05-02 Steady stop control device for suspension crane

Publications (2)

Publication Number Publication Date
KR870011035A true KR870011035A (en) 1987-12-19
KR910008199B1 KR910008199B1 (en) 1991-10-11

Family

ID=14286159

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019860007728A KR910008199B1 (en) 1986-05-02 1986-09-13 Center-rest control system in suspension type crane

Country Status (4)

Country Link
JP (1) JPH0742072B2 (en)
KR (1) KR910008199B1 (en)
DE (1) DE3714570C2 (en)
FR (1) FR2598141B1 (en)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2760527B2 (en) * 1988-11-09 1998-06-04 株式会社東芝 Crane control equipment
JPH0818785B2 (en) * 1988-12-20 1996-02-28 川崎製鉄株式会社 Automatic driving device for grab bucket crane
DE3842918A1 (en) * 1988-12-21 1990-06-28 Asea Brown Boveri Method of controlling the sequence of movement of a load held in a pendulous manner
FR2645846B1 (en) * 1989-04-14 1991-10-04 Reel Sa DEVICE FOR CONTROLLING THE POSITION AND OSCILLATIONS OF A SUSPENDED LOAD DURING ITS TRANSFER USING A LIFTING APPARATUS
US4997095A (en) * 1989-04-20 1991-03-05 The United States Of America As Represented By The United States Department Of Energy Methods of and system for swing damping movement of suspended objects
US5443566A (en) * 1994-05-23 1995-08-22 General Electric Company Electronic antisway control
DE19920923B4 (en) * 1999-05-06 2009-02-12 Krusche Lagertechnik Ag Storage system, especially for high-bay warehouses
KR101144863B1 (en) * 2009-06-09 2012-05-14 최기윤 Method for measuring hoist length for input shaping
CN104973513B (en) * 2015-07-24 2017-01-25 大连海事大学 Embedded roller type hanging scaffold stabilization device of ship crane
JP6684442B2 (en) * 2016-05-19 2020-04-22 富士電機株式会社 Control method and control device for suspension crane
CN106516996A (en) * 2016-12-12 2017-03-22 徐州建机工程机械有限公司 Tower crane lifting hook anti-swing control system and method
CN114506769B (en) * 2022-02-21 2023-02-28 山东大学 Anti-swing control method and system for bridge crane

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1135148B (en) * 1959-03-25 1962-08-23 Krupp Ardelt Gmbh Device for automatic control of crane drives or the like.
FR1466520A (en) * 1965-12-08 1967-01-20 Davy And United Instr Ltd Automatic control unit for conveyor devices
DE2022745C3 (en) * 1970-05-09 1979-07-19 Siemens Ag, 1000 Berlin Und 8000 Muenchen Arrangement for suppressing pendulum oscillations of a load suspended on a rope and transported by a trolley
JPS5414389B2 (en) * 1973-04-02 1979-06-06
NL7809720A (en) * 1978-09-25 1980-03-27 Heemaf Nv BRIDGE CRANE CONTROL.
SE429748B (en) * 1981-09-21 1983-09-26 Asea Ab KEEP LOADING GOODS DURING SIDE MOVEMENT BY A GOOD PREVENTING TRUCK
DE3513007A1 (en) * 1984-04-11 1985-12-19 Hitachi, Ltd., Tokio/Tokyo Method and arrangement for the automatic control of a crane

Also Published As

Publication number Publication date
JPS62259986A (en) 1987-11-12
DE3714570A1 (en) 1987-11-05
DE3714570C2 (en) 1994-01-05
JPH0742072B2 (en) 1995-05-10
KR910008199B1 (en) 1991-10-11
FR2598141B1 (en) 1990-10-12
FR2598141A1 (en) 1987-11-06

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