Patent ID: 6135301
Filing Date: 2000-10-24
Classification: B66C

Abstract:
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 a displacement of said right and left sheave blocks;sheave block velocity detectors for detecting the velocities 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; anda 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.