Dynamic lift-off control device, and crane
AssigneeTadano Ltd.
InventorYoshimasa Minami
Life of this patent
Estimating the term…
Abstract
A dynamic lift-off control device that is mounted on a crane including a boom and a winch for winding a wire rope and that controls dynamic lift-off of a suspended load, wherein: the dynamic lift-off control device comprises a load detection unit that detects a load acting on the boom, and a control unit that controls a winding action of the winch and a hoisting action of the boom; and the control unit controls the hoisting of the boom by using a control signal, which is generated on the basis of the change over time in the value detected by the load detection unit and to which a filter for attenuating a frequency component in a prescribed range, to suppress swaying of the suspended load is applied.
Claims6
A dynamic lift-off control device that is mounted on a crane including a boom and a winch for winding a wire rope and that controls dynamic lift-off of a suspended load, the dynamic lift-off control device comprising:
- a load detection unit that detects a load acting on the boom;
- a control unit that controls a winding action of the winch and a derricking action of the boom based on a control signal;
- and
- a filter application unit that applies a filter for dampening a frequency component in a predetermined range to the control signal,
- wherein the control unit:
- predicts an amount of change in a derricking angle of the boom required to move a distal end of the boom directly above the suspended load, based on a change over time in the load detected by the load detection unit;
- calculates a target derricking angular velocity according to the predicted amount of change in the derricking angle;
- generates the control signal based on the calculated target derricking angular velocity;
- when the dynamic lift-off has not been completed, controls the derricking action of the boom to suppress horizontal swaying of the suspended load by using the control signal to which the filter is not applied by the filter application unit;
- and
- when the dynamic lift-off has been completed, controls the derricking action of the boom to stop the boom by using the control signal to which the filter is applied by the filter application unit, and
- wherein the load detection unit, the control unit, and the filter application unit are each implemented via at least one processor.
Dependencies are inferred from the claim text.