Dynamic lift-off control device, and crane
AssigneeTadano Ltd.
InventorsYoshimasa Minami, Hiroshi Yamauchi, Shohei Nakaoka
Life of this patent
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Abstract
The present invention provides a dynamic lift-off control device and a crane with which it is possible to quickly perform dynamic lift-off of a suspended load while suppressing vibration of the load. This dynamic lift-off control device D comprises: a boom (14); a winch (13); a load weight measurement means (22); and a controller (40) serving as a control unit, the controller (40) controlling operations of the boom (14) and the winch (13), deriving, when performing dynamic lift-off of the suspended load by hoisting the winch (13), an amount of change in a derricking angle of the boom (14) on the basis of the time change in the measured load weight, and raising the boom (14) so as to compensate for the amount of change.
Claims6
A dynamic lift-off control device comprising:
- a boom configured to be freely raised and lowered;
- a winch configured to wind up and wind down a suspended load via a wire;
- a load weight measurement instrument configured to measure a load weight acting on the boom;
- and
- a control unit configured to control operations of the boom and the winch, wherein
- when performing dynamic lift-off of the suspended load by hoisting the winch, the control unit is further configured to
- calculate a derricking angular velocity of the boom based on a time change in the load weight that has been measured,
- predict an amount of change in a derricking angle of the boom in the future based on the derricking angular velocity, and
- perform feedforward control of a raising operation of the boom so as to compensate for the amount of change, and
- the control unit is implemented via at least one processor.
Dependencies are inferred from the claim text.