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(11) | EP 0 841 294 A3 |
| (12) | EUROPEAN PATENT APPLICATION |
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| (54) | Suspended load steadying control device |
| (57) A trolley 12 travels along rails 11 while suspending a load 14 by a rope 13. The
trolley 12 has a trolley displacement detector 21 for detecting a trolley position
xl, a trolley speed detector 22 for detecting a trolley speed x2, and a swing motion
detector 23 for detecting a swing displacement x3 and a swing speed x4 of the suspended
load 14. A control device 26 produces a speed command u based on the detected values
xl, x2, x3 and x4. In response to the speed command u, a trolley drive device 15 is
driven to run the trolley 12. When the trolley is to be moved to the target position
by the control of the control device 26, control for steadying the suspended load
while the trolley 12 is following a set speed is performed in the first half of control.
As the trolley 12 approaches the target position, control for positioning the trolley
and steadying the suspended load is performed. Thus, the swing of the suspended load
is lessened not only at the target position, but also during the travel of the trolley. |