天井クレーンの荷揺れ抑制手法に関する研究 : 連成振動を考慮し荷揺れを抑制した搬送手法(機械力学,計測,自動制御)

概要

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One degree of freedom model has been used in many problems regarding dynamic analysis for overhead traveling crane. However, various loadings are carried out using a sling rope with increase of workplace. Therefore, crane operation conditions have been expanded in the field work. It is very important of safety and efficiency to operate an overhead traveling crane to suppress load sway. In general, there are two varieties of load sway of overhead traveling crane problem. One is a cart moving, another is after the cart stops. A load sway suppression method to the overhead travelling crane is proposed and discussed. First, in order to analyze the crane traveling motion, a simple two degrees of freedom model considered both of load and hook mass, is proposed. Second, a load sway suppression method is presented. In this method, optimally controlled traveling velocity is available by using the natural period of the crane which gives the minimum energy of the two degrees of freedom model system. The effectiveness of the method is confirmed by a numerical calculation and a model testing.
2006-08-25