Swaying hoisted load-piece damping control apparatus

A damping control apparatus for use in a device for hoisting a load-piece, said device having a transverse trolley being transversally movable and a driver thereof, and a pair of right and left sheave blocks which are disposed along the moving directions of said transverse trolley and movable relative to said transverse trolley and a driver for each sheave block, said apparatus comprising:

• a trolley displacement detector for detecting a displacement of said transverse trolley;
• a trolley velocity detector for detecting a velocity of said trolley;
• a sway detector for detecting the displacement of a sway of the load-piece hoisted by said device;
• a sway velocity detector for detecting the velocity of a sway of the load-piece hoisted by said device;
• a sheave block displacement detector for detecting displacement of said right and left sheave blocks;
• a sheave block velocity detector for detecting velocity of said right and left sheave blocks;
• an operation controlling panel and an operator velocity control disposed on said operation controlling panel of said device, allowing an operator to select a setting for a trolley transverse velocity;
• a velocity setting detector for outputting signals indicative of the operator's panel setting for the trolley transverse velocity;
• a controller for effecting sway-damping control of said load-piece hoisting device based on detection signals obtained from said detectors,
• said controller having an optimizing control unit which sets up optimal controlling quantities for the hoisted load-piece in accordance with the actual displacement and velocity detected by said trolley, sway, and sheave block velocity and displacement detectors, on the basis of a preset optimal gain for sway damping for the detected operator velocity setting, and performs sway-damping control by driving said transverse trolley and said sheave blocks through said drivers in accordance with the optimal controlling quantities;
• an operating condition determining unit which detects the operating condition of said transverse trolley, based on the displacement and velocity and the notch-driving operation quantity for said transverse trolley;
• operating-condition-classifying optimal-gain selecting unit which, in accordance with the operating condition detected by said operating condition determining unit, selects an operating-condition-classifying optimal gain for sway damping from a plurality of predetermined optimal gains;
• and
• an optimizing control unit which, based on the optimal gain outputted from said operating-condition-classifying optimal-gain selecting unit, sets up optimal controlling quantities for the hoisted load-piece and performs sway-damping control by driving said transverse trolley and said sheave blocks in accordance with the setup optimal controlling quantities.