JP7020182B2 - crane - Google Patents

Description

The present invention relates to a crane. More specifically, the present invention relates to a crane capable of suppressing the runout of a load having the characteristics of a single pendulum and the runout of a load having the characteristics of a double pendulum.

Conventionally, a crane, which is a typical work vehicle, has been known. The crane mainly consists of a vehicle and a crane device. The vehicle is equipped with a plurality of wheels and is configured to be freely travelable. In addition to the boom, the crane device is equipped with wire ropes and hooks so that the cargo can be moved freely. It should be noted that the luggage has a swing having the characteristics of a simple pendulum with the tip of the boom as a fulcrum and the luggage as a mass point. In addition, the luggage also has a swing having the characteristics of a hook with the tip of the boom as a fulcrum and a double pendulum with the luggage as a mass point.

By the way, Patent Document 1 discloses a technique for suppressing the runout of a cargo, which is applied to a so-called overhead crane. Such a technique is characterized in that it calculates the swing cycle of a load having the characteristics of a double pendulum and accelerates or decelerates it in a speed pattern according to the cycle. However, such a technique cannot suppress the swing of the cargo having the characteristic of a single pendulum and the swing of the cargo having the characteristic of a double pendulum in a crane in which the cargo can be moved at an arbitrary speed. Therefore, there has been a demand for a crane capable of suppressing the runout of a load having the characteristics of a single pendulum and the runout of a load having the characteristics of a double pendulum.

Japanese Unexamined Patent Publication No. 2011-093633

Provided is a crane capable of suppressing the runout of a load having the characteristics of a single pendulum and the runout of a load having the characteristics of a double pendulum.

The first invention is
With the boom
The wire rope hanging from the boom and
A hook that moves up and down by winding and unwinding the wire rope is provided.
In a crane that lifts cargo via a slinging tool hung on the hook,
The actuator used to move the luggage and
An operating tool that can indicate the operating state of the actuator and
A control device connected to the actuator and the operating tool to process information is provided.
The control device calculates the frequency of a single pendulum with the tip of the boom as a fulcrum and the baggage as a pledge point, and calculates the frequency of the hook and the double pendulum with the baggage as a pledge point with the tip of the boom as a fulcrum. , A filtering control signal obtained by attenuated the control signals at the frequency of the single pendulum and the frequency of the double pendulum is generated from the control signal generated in response to the operation of the operating tool, and the actuator is used using the filtering control signal. Control and
When the frequency of the double pendulum is equal to or higher than the threshold value,
The control device generates the filtering control signal with an attenuation smaller than the attenuation of the control signal at the frequency of the double pendulum when the frequency of the double pendulum is less than the threshold value, and uses the filtering control signal. Controls the actuator .

The second invention is the crane according to the first invention .
The control device creates the filtering control signal in which the attenuation amount of the control signal at the frequency of the double pendulum is adjusted according to the frequency of the double pendulum, and controls the actuator by using the filtering control signal. It is a thing.
The third invention is
With the boom
The wire rope hanging from the boom and
A hook that moves up and down by winding and unwinding the wire rope is provided.
In a crane that lifts cargo via a slinging tool hung on the hook,
The actuator used to move the luggage and
An operating tool that can indicate the operating state of the actuator and
A control device connected to the actuator and the operating tool to process information is provided.
The control device calculates the frequency of a single pendulum with the tip of the boom as a fulcrum and the baggage as a pledge point, and calculates the frequency of the hook and the double pendulum with the baggage as a pledge point with the tip of the boom as a fulcrum. , A filtering control signal obtained by attenuated the control signals at the frequency of the single pendulum and the frequency of the double pendulum is generated from the control signal generated in response to the operation of the operating tool, and the actuator is used using the filtering control signal. Control and
The control device creates the filtering control signal in which the attenuation amount of the control signal at the frequency of the double pendulum is adjusted according to the frequency of the double pendulum, and controls the actuator by using the filtering control signal. It is a thing.

The fourth invention is
With the boom
The wire rope hanging from the boom and
A hook that moves up and down by winding and unwinding the wire rope is provided.
In a crane that lifts cargo via a slinging tool hung on the hook,
The actuator used to move the luggage and
An operating tool that can indicate the operating state of the actuator and
A control device connected to the actuator and the operating tool to process information is provided.
The control device calculates the frequency of a single pendulum with the tip of the boom as a fulcrum and the baggage as a pledge point, and calculates the frequency of the hook and the double pendulum with the baggage as a pledge point with the tip of the boom as a fulcrum. , A filtering control signal obtained by attenuated the control signals at the frequency of the single pendulum and the frequency of the double pendulum is generated from the control signal generated in response to the operation of the operating tool, and the actuator is used using the filtering control signal. Control and
When the ratio of the length from the hook to the luggage to the length from the tip of the boom to the hook is less than the threshold value.
The control device is smaller than the attenuation of the control signal at the frequency of the double pendulum when the ratio of the length from the hook to the luggage to the length from the tip of the boom to the hook is equal to or greater than the threshold value. The filtering control signal of the attenuation amount is generated, and the actuator is controlled by using the filtering control signal.

The fifth invention is the crane according to the fourth invention .
The control device adjusts the attenuation amount of the control signal at the frequency of the double pendulum according to the ratio of the length from the hook to the luggage to the length from the tip of the boom to the hook. Is created, and the actuator is controlled by using the filtering control signal.
The sixth invention is
With the boom
The wire rope hanging from the boom and
A hook that moves up and down by winding and unwinding the wire rope is provided.
In a crane that lifts cargo via a slinging tool hung on the hook,
The actuator used to move the luggage and
An operating tool that can indicate the operating state of the actuator and
A control device connected to the actuator and the operating tool to process information is provided.
The control device calculates the frequency of a single pendulum with the tip of the boom as a fulcrum and the baggage as a pledge point, and calculates the frequency of the hook and the double pendulum with the baggage as a pledge point with the tip of the boom as a fulcrum. , A filtering control signal obtained by attenuated the control signals at the frequency of the single pendulum and the frequency of the double pendulum is generated from the control signal generated in response to the operation of the operating tool, and the actuator is used using the filtering control signal. Control and
The control device adjusts the attenuation amount of the control signal at the frequency of the double pendulum according to the ratio of the length from the hook to the luggage to the length from the tip of the boom to the hook. Is created, and the actuator is controlled by using the filtering control signal.

The crane according to the first invention includes an actuator for moving luggage, an operating tool capable of instructing the operating state of the actuator, and a control device connected to the actuator and the operating tool to process information. .. Then, the control device calculates the frequency of the single pendulum with the tip of the boom as the fulcrum and the luggage as the pledge point, and also calculates the frequency of the hook and the double pendulum with the luggage as the pledge point with the tip of the boom as the fulcrum. A filtering control signal obtained by attenuated the control signals at the frequency of the single pendulum and the frequency of the double pendulum is generated from the control signal generated in response to the operation, and the actuator is controlled using the filtering control signal. When the frequency of the double pendulum is above the threshold, the controller produces a filtering control signal with a smaller attenuation than the attenuation of the control signal at the frequency of the double pendulum when the frequency of the double pendulum is less than the threshold. , The actuator is controlled using the filtering control signal. According to such a crane, it is possible to suppress the runout of a load having the characteristics of a single pendulum and the runout of a load having the characteristics of a double pendulum. In addition, when there is little need to suppress the swing of the cargo, which has the characteristics of a double pendulum, the operator's operational feeling can be maintained, and the amount of movement from the operator stopping the cargo to the time the cargo stops can be determined. Can be reduced.

In the crane according to the second invention , the control device creates a filtering control signal in which the attenuation amount of the control signal at the frequency of the double pendulum is adjusted according to the frequency of the double pendulum, and the filtering control signal is used. Control the actuator. According to such a crane, it is possible to maintain the operation feeling of the operator according to the need to suppress the swing of the load having the characteristic of the double pendulum, and from the operation of stopping the load to the stop of the load by the operator. The amount of movement can be reduced.
The crane according to the third invention includes an actuator for moving luggage, an operating tool capable of instructing the operating state of the actuator, and a control device connected to the actuator and the operating tool to process information. .. Then, the control device calculates the frequency of the single pendulum with the tip of the boom as the fulcrum and the luggage as the pledge point, and also calculates the frequency of the hook and the double pendulum with the luggage as the pledge point with the tip of the boom as the fulcrum. A filtering control signal obtained by attenuated the control signals at the frequency of the single pendulum and the frequency of the double pendulum is generated from the control signal generated in response to the operation, and the actuator is controlled using the filtering control signal. Then, the control device creates a filtering control signal in which the attenuation amount of the control signal at the frequency of the double pendulum is adjusted according to the frequency of the double pendulum, and controls the actuator by using the filtering control signal. According to such a crane, it is possible to suppress the runout of a load having the characteristics of a single pendulum and the runout of a load having the characteristics of a double pendulum. In addition, the operator's operational feeling can be maintained according to the need to suppress the swing of the cargo, which has the characteristics of a double pendulum, and the amount of movement from the operator stopping the cargo until the cargo stops is reduced. can do.

The crane according to the fourth invention includes an actuator for moving luggage, an operating tool capable of instructing the operating state of the actuator, and a control device connected to the actuator and the operating tool to process information. .. Then, the control device calculates the frequency of the single pendulum with the tip of the boom as the fulcrum and the luggage as the pledge point, and also calculates the frequency of the hook and the double pendulum with the luggage as the pledge point with the tip of the boom as the fulcrum. A filtering control signal obtained by attenuated the control signals at the frequency of the single pendulum and the frequency of the double pendulum is generated from the control signal generated in response to the operation, and the actuator is controlled using the filtering control signal. If the hook-to-luggage length ratio to the boom tip-to-hook length is less than the threshold, the control device measures the hook-to-luggage length ratio to the boom tip-to-hook length threshold. A filtering control signal having an amount of attenuation smaller than the amount of attenuation of the control signal at the frequency of the double pendulum in the above case is generated, and the actuator is controlled using the filtering control signal. According to such a crane, when it is less necessary to suppress the swing of the load having the characteristic of the double pendulum, the operator's operation feeling can be maintained, and the operator stops the load until the load stops. The amount of movement of the crane can be reduced.

In the crane according to the fifth invention , the control device adjusts the attenuation of the control signal at the frequency of the double pendulum according to the ratio of the length from the hook to the luggage to the length from the tip of the boom to the hook. A control signal is created, and the actuator is controlled using the filtering control signal. According to such a crane, it is possible to maintain the operation feeling of the operator according to the need to suppress the swing of the load having the characteristic of the double pendulum, and from the operation of stopping the load to the stop of the load by the operator. The amount of movement can be reduced.
The crane according to the sixth aspect of the invention includes an actuator for moving luggage, an operating tool capable of instructing the operating state of the actuator, and a control device connected to the actuator and the operating tool to process information. .. Then, the control device calculates the frequency of the single pendulum with the tip of the boom as the fulcrum and the luggage as the pledge point, and also calculates the frequency of the hook and the double pendulum with the luggage as the pledge point with the tip of the boom as the fulcrum. A filtering control signal obtained by attenuated the control signals at the frequency of the single pendulum and the frequency of the double pendulum is generated from the control signal generated in response to the operation, and the actuator is controlled using the filtering control signal. Then, the control device creates a filtering control signal in which the attenuation of the control signal at the frequency of the double pendulum is adjusted according to the ratio of the length from the hook to the luggage to the length from the tip of the boom to the hook. The actuator is controlled using the filtering control signal. According to such a crane, it is possible to suppress the runout of a load having the characteristics of a single pendulum and the runout of a load having the characteristics of a double pendulum. In addition, the operator's operational feeling can be maintained according to the need to suppress the swing of the cargo, which has the characteristics of a double pendulum, and the amount of movement from the operator stopping the cargo until the cargo stops is reduced. can do.

The figure which shows the crane. The figure which shows the runout suppression system. The figure which shows the frequency characteristic of a notch filter. The figure which shows the basic control signal and the filtering control signal. The figure which shows the control mode which concerns on 1st Embodiment. The figure which shows the control mode which concerns on 2nd Embodiment. The figure which shows the relationship between the double pendulum frequency and each notch depth coefficient. The figure which shows the control mode which concerns on 3rd Embodiment. The figure which shows the relationship between the double pendulum frequency and each notch depth coefficient. The figure which shows the control mode which concerns on 4th Embodiment. The figure which shows the relationship between the ratio of the slinging tool length to the hanging length, and each notch depth coefficient. The figure which shows the control mode which concerns on 5th Embodiment. The figure which shows the relationship between the ratio of the slinging tool length to the hanging length, and each notch depth coefficient.

The technical idea disclosed in the present application can be applied to other cranes in addition to the crane 1 described below.

First, the crane 1 will be described with reference to FIG.

The crane 1 is mainly composed of a vehicle 2 and a crane device 3.

The vehicle 2 includes a pair of left and right front wheels 4 and rear wheels 5. Further, the vehicle 2 is provided with an outrigger 6 that is grounded and stabilized when the luggage W is moved. In the vehicle 2, the crane device 3 supported on the upper portion of the vehicle 2 is swivelable by an actuator.

The crane device 3 includes a boom 7 so as to protrude forward from the rear portion. Therefore, the boom 7 can be swiveled by an actuator (see arrow A). Further, the boom 7 can be expanded and contracted by an actuator (see arrow B). Further, the boom 7 is undulated by an actuator (see arrow C). In addition, a wire rope 8 is bridged over the boom 7. A winch 9 around which a wire rope 8 is wound is arranged on the base end side of the boom 7, and a hook 10 is hung on the tip end side of the boom 7 by the wire rope 8. The winch 9 is integrally configured with the actuator, and enables winding and unwinding of the wire rope 8. Therefore, the hook 10 can be raised and lowered by an actuator (see arrow D).

Next, the runout suppression system 11 will be described with reference to FIG.

The runout suppression system 11 mainly includes a control device 20. Various operating tools 21 to 24 are connected to the control device 20. Further, various valves 31 to 34 are connected to the control device 20. Further, in addition to the weight sensor 40, various sensors 41 to 44 are connected to the control device 20. The weight sensor 40 can detect the weight m ₁ of the hook 10 when the luggage W is not lifted. Further, the weight sensor 40 can detect the weight m ₂ of the luggage W in addition to the weight m ₁ of the hook 10 when the luggage W is being lifted. Therefore, the control device 20 can recognize the weight m ₁ of the hook 10 and the weight m ₂ of the luggage W.

As described above, the boom 7 is rotatable by an actuator (see arrow A in FIG. 1). In the present application, such an actuator is defined as a turning hydraulic motor 51 (see FIG. 1). The turning hydraulic motor 51 is appropriately operated by the turning valve 31, which is a directional control valve. That is, the turning hydraulic motor 51 is appropriately operated by the turning valve 31 switching the flow direction of the hydraulic oil. The turning valve 31 is operated based on the operation of the turning operation tool 21 by the operator. Further, the turning angle and the turning speed of the boom 7 are detected by the turning sensor 41. Therefore, the control device 20 can recognize the turning angle and the turning speed of the boom 7.

Further, as described above, the boom 7 is expandable and contractible by an actuator (see arrow B in FIG. 1). In the present application, such an actuator is defined as a telescopic hydraulic cylinder 52 (see FIG. 1). The expansion / contraction hydraulic cylinder 52 is appropriately operated by the expansion / contraction valve 32 which is a directional control valve. That is, the expansion / contraction hydraulic cylinder 52 is appropriately operated by the expansion / contraction valve 32 switching the flow direction of the hydraulic oil. The expansion / contraction valve 32 is operated based on the operation of the expansion / contraction operation tool 22 by the operator. Further, the expansion / contraction length and the expansion / contraction speed of the boom 7 are detected by the expansion / contraction sensor 42. Therefore, the control device 20 can recognize the expansion / contraction length and the expansion / contraction speed of the boom 7.

Further, as described above, the boom 7 is undulated by the actuator (see arrow C in FIG. 1). In the present application, such an actuator is defined as an undulating hydraulic cylinder 53 (see FIG. 1). The undulating hydraulic cylinder 53 is appropriately operated by the undulating valve 33, which is a directional control valve. That is, the undulating hydraulic cylinder 53 is appropriately operated by the undulating valve 33 switching the flow direction of the hydraulic oil. The undulating valve 33 is operated based on the operation of the undulating operation tool 23 by the operator. Further, the undulation angle and the undulation speed of the boom 7 are detected by the undulation sensor 43. Therefore, the control device 20 can recognize the undulation angle and the undulation speed of the boom 7.

In addition, as described above, the hook 10 is movable up and down by an actuator (see arrow D in FIG. 1). In the present application, such an actuator is defined as a winding hydraulic motor 54 (see FIG. 1). The winding hydraulic motor 54 is appropriately operated by the winding valve 34, which is a directional control valve. That is, the winding hydraulic motor 54 is appropriately operated by the winding valve 34 switching the flow direction of the hydraulic oil. The winding valve 34 is operated based on the operation of the winding operation tool 24 by the operator. Further, the hanging length l ₁ (see FIG. 1) and the ascending / descending speed of the hook 10 are detected by the winding sensor 44. Therefore, the control device 20 can recognize the hanging length l1 of the hook ₁₀ and the ascending / descending speed.

Here, the slinging tool 12 will be described. The slinging tool 12 is for hooking the luggage W on the hook 10. The sling tool 12 is provided with hanging rings at both ends of a sling or the like, and the hanging ring is hung on the hook 10 in a state where the sling or the like is turned under the luggage W. In this way, the luggage W is connected to the hook 10. The slinging tool length l ₂ is the length from the hook 10 to the luggage W. The control device 20 can recognize the slinging tool length l ₂ from the value input by the operator. However, the slinging tool 12 may be recognized from the captured image.

By the way, the control device 20 controls each actuator (51, 52, 53, 54) via various valves 31 to 34. The control device 20 has a basic control signal creation unit 20a, a single pendulum frequency calculation unit 20b, a double pendulum frequency calculation unit 20c, a filter coefficient calculation unit 20d, and a filtering control signal creation unit 20e.

The basic control signal creating unit 20a creates a basic control signal S (n) which is a speed command of each actuator (51, 52, 53, 54). The basic control signal creating unit 20a recognizes the amount of operation of the various operating tools 21 to 24 by the operator, and creates the basic control signal S (n) for each situation. Specifically, the basic control signal creating unit 20a has a basic control signal S (1) according to the operation amount of the turning operation tool 21, a basic control signal S (2) according to the operation amount of the expansion / contraction operation tool 22. The basic control signal S (3) corresponding to the operation amount of the undulation operation tool 23 and the basic control signal S (4) according to the operation amount of the winding operation tool 24 are created.

The simple pendulum frequency calculation unit 20b calculates the simple pendulum frequency ω (n), which is the frequency of the simple pendulum with the tip of the boom 7 as a fulcrum and the luggage W as a mass point. The simple pendulum frequency calculation unit 20b recognizes the hanging length l ₁ and the slinging tool length l ₂ , and calculates the simple pendulum frequency ω (n) for each situation. Specifically, the simple pendulum frequency calculation unit 20b calculates the simple pendulum frequency ω (n) based on the following number 1 using the suspension length l ₁ , the slinging tool length l ₂ , and the gravitational acceleration g. do.

The double pendulum frequency calculation unit 20c calculates the double pendulum frequency Ω (n), which is the frequency of the double pendulum with the tip of the boom 7 as a fulcrum and the hook 10 and the luggage W as mass points. The double pendulum frequency calculation unit 20c recognizes the hanging length l ₁ , the slinging tool length l ₂ , the hook 10 weight m ₁ , and the luggage W weight m ₂ , and the double pendulum frequency Ω (n) for each situation. ) Is calculated. Specifically, the double pendulum frequency calculation unit 20c uses the suspension length l ₁ , the slinging tool length l ₂ , the hook 10 weight m ₁ , the luggage W weight m ₂ , and the gravity acceleration g as follows. The double pendulum frequency Ω (n) is calculated based on the number 2 of.

The filter coefficient calculation unit 20d calculates various coefficients ω _n・ ζ ₁・ δ ₁・ Ω _n・ ζ ₂・ δ ₂ of the transmission coefficient H (s) possessed by the notch filter F (n) described later. Is. Specifically, the filter coefficient calculation unit 20d has a simple pendulum center frequency coefficient ω _n of a simple pendulum transmission coefficient H ₁ (s), which is a simple pendulum transmission coefficient H (s), and each basic control signal S. The simple pendulum notch width coefficient ζ ₁ and the simple pendulum notch depth coefficient δ ₁ corresponding to (n) are calculated. The simple pendulum transmission coefficient H ₁ (s) is represented by the following number 3 using the simple pendulum center frequency coefficient ω _n , the simple pendulum notch width coefficient ζ ₁ , and the simple pendulum notch depth coefficient δ ₁ . Further, the filter coefficient calculation unit 20d has a double pendulum center frequency coefficient Ω _n of a double pendulum transmission coefficient H ₂ (s), which is a transmission coefficient H (s) of the double pendulum, and each basic control signal S ( The double pendulum notch width coefficient ζ ₂ and the double pendulum notch depth coefficient δ ₂ corresponding to n) are calculated. The double pendulum transmission coefficient H ₂ (s) is represented by the following number 4 using the double pendulum center frequency coefficient Ω _n , the double pendulum notch width coefficient ζ ₂ , and the double pendulum notch depth coefficient δ ₂ . Will be done.

The filtering control signal creation unit 20e creates a notch filter F (n) and applies a notch filter F (n) to the basic control signal S (n) to create a filtering control signal Sf (n). Yes (see Figure 4). The filtering control signal creation unit 20e acquires various coefficients ω _n・ ζ ₁・ δ ₁・ Ω _n・ ζ ₂・ δ ₂ from the filter coefficient calculation unit 20d and creates a notch filter F (n). The notch filter F (n) has a single pendulum notch width coefficient ζ ₁ and a single pendulum notch depth coefficient δ ₁ to determine a single pendulum load swing reduction rate Pnf ₁ , and a double pendulum notch width coefficient ζ ₂ and a double pendulum. The characteristic is expressed by the double pendulum load deflection reduction rate Pnf ₂ determined from the notch depth coefficient δ ₂ . Then, the filtering control signal creation unit 20e acquires the basic control signal S (n) from the basic control signal creation unit 20a, and applies a notch filter F (n) to the basic control signal S (n) for filtering control. The signal Sf (n) is created. Specifically, the filtering control signal creating unit 20e has the basic control signal S (1) and the notch filter F (1) according to the operation amount of the turning operation tool 21, the filtering control signal Sf (1), and the expansion / contraction operation tool. From the basic control signal S (2) and the notch filter F (2) according to the operation amount of 22 to the filtering control signal Sf (2), the basic control signal S (3) and the notch filter according to the operation amount of the undulation operation tool 23. A filtering control signal Sf (3) is created from F (3), a filtering control signal Sf (4) is created from the basic control signal S (4) according to the operation amount of the winding operation tool 24, and the notch filter F (4). ..

With such a configuration, the control device 20 can control various valves 31 to 34 based on the filtering control signal Sf (n). As a result, each actuator (51, 52, 53, 54) can be controlled based on the filtering control signal Sf (n).

Next, the notch filter F (n) and the filtering control signal Sf (n) will be described with reference to FIGS. 3 and 4.

The notch filter F (n) has a feature that the attenuation rate increases as it approaches the simple pendulum frequency ω (n) in an arbitrary range centered on the simple pendulum frequency ω (n). Any range centered on the simple pendulum frequency ω (n) is expressed as the simple pendulum notch width Bn ₁ , and the difference in the amount of attenuation at the simple pendulum notch width Bn ₁ is expressed as the simple pendulum notch depth Dn ₁ . .. The simple pendulum notch width Bn ₁ is determined based on the simple pendulum notch width coefficient ζ ₁ . Further, the simple pendulum notch depth Dn ₁ is determined based on the simple pendulum notch depth coefficient δ ₁ . Therefore, when the simple pendulum notch depth coefficient δ ₁ = 0, the gain characteristic at the simple pendulum frequency ω (n) is −∞ dB, and when the simple pendulum notch depth coefficient δ ₁ = 1, the simple pendulum frequency ω. The gain characteristic in (n) is 0 dB.

Further, the notch filter F (n) has a feature that the attenuation rate increases as it approaches the double pendulum frequency Ω (n) in an arbitrary range centered on the double pendulum frequency Ω (n). .. Any range centered on the double pendulum frequency Ω (n) is expressed as the double pendulum notch width Bn ₂ , and the difference in the amount of attenuation in the double pendulum notch width Bn ₂ is the double pendulum notch depth Dn ₂ . It is expressed as. The double pendulum notch width Bn ₂ is determined based on the double pendulum notch width coefficient ζ ₂ . Further, the double pendulum notch depth Dn ₂ is determined based on the double pendulum notch depth coefficient δ ₂ . Therefore, when the double pendulum notch depth coefficient δ ₂ = 0, the gain characteristic at the double pendulum frequency Ω (n) is −∞ dB, and when the double pendulum notch depth coefficient δ ₂ = 1, the gain characteristic is two. The gain characteristic at the double pendulum frequency Ω (n) is 0 dB.

The filtering control signal Sf (n) is a speed command transmitted to each actuator (51, 52, 53, 54). The filtering control signal Sf (n) related to the acceleration of the luggage W has a feature that the acceleration is gentler than that of the basic control signal S (n), and the acceleration is temporarily decelerated and then accelerated again. (See part X in FIG. 4). Here, by temporarily decelerating, it is possible to suppress the runout of the luggage W during acceleration. Further, the filtering control signal Sf (n) related to the deceleration of the luggage W has a feature that the deceleration is gentler than that of the basic control signal S (n), and the speed is temporarily increased and then decelerated again. (See part Y in FIG. 4). Here, by temporarily increasing the speed, it is possible to suppress the runout of the luggage W during deceleration.

Hereinafter, the control mode according to the first embodiment will be described with reference to FIG. The single pendulum notch width coefficient ζ ₁ and the double pendulum notch width coefficient ζ ₂ are assumed to be set to predetermined fixed values, but may be set based on the operating state of the crane 1.

In step S11, the control device 20 creates a basic control signal S (n) for each actuator (51, 52, 53, 54).

In step S12, the control device 20 calculates the single pendulum frequency ω (n) and the double pendulum frequency Ω (n).

In step S13, the control device 20 sets the simple pendulum notch depth coefficient δ ₁ to a predetermined value. Specifically, the control device 20 sets the simple pendulum notch depth coefficient δ ₁ to 0. As a result, the gain characteristic at the simple pendulum frequency ω (n) becomes −∞ dB. The simple pendulum notch depth coefficient δ ₁ may be 0 to 1. In this case, the gain characteristic at the simple pendulum frequency ω (n) changes from −∞ dB to 0 dB.

In step S14, the control device 20 sets the double pendulum notch depth coefficient δ ₂ to a predetermined value. Specifically, the control device 20 sets the double pendulum notch depth coefficient δ ₂ to 0. As a result, the gain characteristic at the double pendulum frequency Ω (n) becomes −∞ dB. The double pendulum notch depth coefficient δ ₂ may be 0 to 1. In this case, the gain characteristic at the double pendulum frequency Ω (n) changes from −∞ dB to 0 dB.

In step S15, the control device 20 applies a notch filter F (n) to the basic control signal S (n) to create a filtering control signal Sf (n). Then, the control device 20 controls each actuator (51, 52, 53, 54) based on the filtering control signal Sf (n). The control device 20 sets the simple pendulum notch depth coefficient δ ₁ to 0, and can suppress the runout of the load W having the characteristics of the simple pendulum. Further, the control device 20 sets the double pendulum notch depth coefficient δ ₂ to 0, and can suppress the runout of the load W having the characteristics of the double pendulum.

As described above, the crane 1 has an actuator (51, 52, 53, 54) used for moving the luggage W and an operating tool (21, 22) capable of instructing the operating state of the actuator (51, 52, 53, 54). 23/24), and a control device 20 connected to an actuator (51, 52, 53, 54) and an operating tool (21, 22, 23, 24) to process information. Then, the control device 20 calculates the frequency of the simple pendulum (single pendulum frequency ω (n)) with the tip of the boom 7 as the fulcrum and the luggage W as the quality point, and the hook 10 and the luggage W with the tip of the boom 7 as the fulcrum. The control signal (basic control signal s (n)) generated in response to the operation of the operating tool (21, 22, 23, 24) by calculating the frequency of the double pendulum as the quality point (double pendulum frequency Ω (n)). )) To generate a filtering control signal Sf (n) in which the gain characteristics at the single pendulum frequency (ω (n)) and the double pendulum frequency (Ω (n)) are attenuated, and the filtering control signal Sf (n) is generated. ) Is used to control the actuator (51, 52, 53, 54). According to the crane 1, it is possible to suppress the runout of the load W having the characteristic of a single pendulum and the runout of the load W having the characteristic of a double pendulum.

Next, the control mode according to the second embodiment will be described with reference to FIGS. 6 and 7. Here, the differences will be mainly described. Note that FIG. 7A shows the relationship between the double pendulum frequency Ω (n) and the single pendulum notch depth coefficient δ ₁ . Further, FIG. 7B shows the relationship between the double pendulum frequency Ω (n) and the double pendulum notch depth coefficient δ ₂ .

In step S24, the control device 20 determines whether the double pendulum frequency Ω (n) is less than or equal to the threshold value T. If it is determined that the double pendulum frequency Ω (n) is less than the threshold value T, the process proceeds to step S25. On the other hand, if it is determined that the double pendulum frequency Ω (n) is equal to or higher than the threshold value T, the process proceeds to step S26. The threshold value T is used to determine whether or not it is necessary to suppress the runout of the luggage W having the characteristic of a double pendulum. This is because when the double pendulum frequency Ω (n) is small, the amount of displacement of the runout is large, and it is highly necessary to suppress the runout, but when the double pendulum frequency Ω (n) is large, the amount of displacement of the runout is large. This is because it is small and there is little need to suppress runout.

In step S25, the control device 20 sets the double pendulum notch depth coefficient δ ₂ to a predetermined value. Specifically, the control device 20 sets the double pendulum notch depth coefficient δ ₂ to 0 (see (B) in FIG. 7). As a result, the gain characteristic at the double pendulum frequency Ω (n) becomes −∞ dB. The double pendulum notch depth coefficient δ ₂ may be 0 to 1. In this case, the gain characteristic at the double pendulum frequency Ω (n) changes from −∞ dB to 0 dB.

In step S26, the control device 20 sets the double pendulum notch depth coefficient δ ₂ to a predetermined value. Specifically, the control device 20 sets the double pendulum notch depth coefficient δ ₂ to 1 (see (B) in FIG. 7). As a result, the gain characteristic at the double pendulum frequency Ω (n) becomes 0 dB. The double pendulum notch depth coefficient δ ₂ may be a value close to 1 instead of 1. In this case, the gain characteristic at the double pendulum frequency Ω (n) is close to 0 dB. However, in this case, the control device 20 sets the double pendulum notch depth coefficient δ ₂ to a larger value than when the double pendulum frequency Ω (n) is less than the threshold value T. As a result, when the double pendulum frequency Ω (n) is equal to or greater than the threshold T, the amount of attenuation of the gain characteristic at the double pendulum frequency Ω (n) when the double pendulum frequency Ω (n) is less than the threshold T is larger than the amount of attenuation. The amount of attenuation of the gain characteristic becomes small.

In step S27, the control device 20 applies a notch filter F (n) to the basic control signal S (n) to create a filtering control signal Sf (n). Then, the control device 20 controls each actuator (51, 52, 53, 54) based on the filtering control signal Sf (n). When the double pendulum notch depth coefficient δ ₂ is set to 0, the reaction is slower than when the double pendulum notch depth coefficient δ ₂ is set to 1, and the double pendulum notch depth coefficient δ ₂ When is set to 1, the reaction becomes steeper than when the double pendulum notch depth coefficient δ ₂ is set to 0. Therefore, when the double pendulum frequency Ω (n) is less than the threshold T, the double pendulum notch depth coefficient δ ₂ is set to 0, so that the swing of the load W having the characteristics of the double pendulum is suppressed. Can be done. On the other hand, when the double pendulum frequency Ω (n) is equal to or higher than the threshold value T, the double pendulum notch depth coefficient δ ₂ is set to 1, so that the operator's operational feeling can be maintained and the operator stops the luggage W. It is possible to reduce the amount of movement from the operation to the stop of the luggage W.

As described above, in the present crane 1, when the double pendulum frequency (double pendulum frequency Ω (n)) is equal to or higher than the threshold value T, the control device 20 has the double pendulum frequency (Ω (n)) set to the threshold value T. When the frequency is less than the double pendulum frequency (Ω (n)), a filtering control signal Sf (n) having a smaller attenuation than the attenuation of the gain characteristic is generated, and the filtering control signal Sf (n) is used. It controls the actuator (51, 52, 53, 54). According to the crane 1, when it is less necessary to suppress the runout of the load W having the characteristic of a double pendulum, the operator's operation feeling can be maintained, and the load W is stopped after the operator stops the load W. It is possible to reduce the amount of movement until the crane stops.

Further, the control mode according to the third embodiment will be described with reference to FIGS. 8 and 9. Here, too, the differences will be mainly described. Note that FIG. 9A shows the relationship between the double pendulum frequency Ω (n) and the single pendulum notch depth coefficient δ ₁ . Further, FIG. 9B shows the relationship between the double pendulum frequency Ω (n) and the double pendulum notch depth coefficient δ ₂ .

In step S34, the control device 20 adjusts the attenuation of the gain characteristic at the double pendulum frequency Ω (n) according to the double pendulum frequency Ω (n). Specifically, the control device 20 gradually increases the double pendulum notch depth coefficient δ ₂ from 0 to 1 as the double pendulum frequency Ω (n) increases from the threshold value t to the threshold value T (. (B) in FIG. 9). As a result, the gain characteristic at the double pendulum frequency Ω (n) gradually increases from −∞ dB to 0 dB. The double pendulum notch depth coefficient δ ₂ may be a value close to 1 instead of 1. In this case, the gain characteristic at the double pendulum frequency Ω (n) is close to 0 dB.

In step S35, the control device 20 applies a notch filter F (n) to the basic control signal S (n) to create a filtering control signal Sf (n). Then, the control device 20 controls each actuator (51, 52, 53, 54) based on the filtering control signal Sf (n). When the double pendulum notch depth coefficient δ ₂ is set to 0, the reaction is slower than when the double pendulum notch depth coefficient δ ₂ is set to 1, and the double pendulum notch depth coefficient δ ₂ When is set to 1, the reaction becomes steeper than when the double pendulum notch depth coefficient δ ₂ is set to 0. Therefore, when the double pendulum frequency Ω (n) is less than the threshold value t, the double pendulum notch depth coefficient δ ₂ is set to 0, so that the swing of the load W having the characteristics of the double pendulum is suppressed. Can be done. On the other hand, when the double pendulum frequency Ω (n) is equal to or higher than the threshold value T, the double pendulum notch depth coefficient δ ₂ is set to 1, so that the operator's operational feeling can be maintained and the operator stops the luggage W. It is possible to reduce the amount of movement from the operation to the stop of the luggage W. When the double pendulum frequency Ω (n) is equal to or more than the threshold value t and less than the threshold value T, the double pendulum notch depth coefficient δ ₂ corresponding to the double pendulum frequency Ω (n) is set, so that the double pendulum frequency Ω (n) is double. According to the need to suppress the swing of the luggage W having the characteristics of a pendulum, the operation feeling of the operator is maintained and the amount of movement from the operator stopping the luggage W to the stop of the luggage W is reduced. Can be done.

As described above, in the crane 1, the control device 20 adjusts the amount of attenuation of the frequency (Ω (n)) of the double pendulum according to the frequency of the double pendulum (double pendulum frequency Ω (n)). The filtering control signal Sf (n) is created, and the actuator (51, 52, 53, 54) is controlled by using the filtering control signal Sf (n). According to the crane 1, the operator's operation feeling is maintained according to the necessity of suppressing the runout of the luggage W having the characteristic of the double pendulum, and the luggage W is stopped after the operator stops the luggage W. The amount of movement until the vehicle stops can be reduced.

Next, the crane 1 according to the fourth embodiment will be described with reference to FIGS. 10 and 11. Here, too, the differences will be mainly described. Note that FIG. 11A shows the relationship between the ratio of the slinging tool length l ₂ to the hanging length l ₁ and the simple pendulum notch depth coefficient δ ₁ . Further, FIG. 11B shows the relationship between the ratio of the slinging tool length l ₂ to the hanging length l ₁ and the double pendulum notch depth coefficient δ ₂ .

In step S44, the control device 20 calculates the ratio of the slinging tool length l ₂ to the hanging length l ₁ .

In step S45, the control device 20 determines whether the ratio of the slinging tool length l ₂ to the hanging length l ₁ is less than or equal to the threshold value R. If it is determined that the ratio of the slinging tool length l ₂ to the hanging length l ₁ is less than the threshold value R, the process proceeds to step S47. On the other hand, if it is determined that the ratio of the slinging tool length l ₂ to the hanging length l ₁ is equal to or greater than the threshold value R, the process proceeds to step S46. The threshold value R is used to determine whether or not it is necessary to suppress the runout of the luggage W having the characteristic of a double pendulum. This is because when the ratio of the slinging tool length l ₂ to the hanging length l ₁ is close to ₁ , the characteristics of the double pendulum are strong, and it is highly necessary to suppress the runout. This is because when the ratio of the slinging tool length l ₂ is close to 0, the characteristics of the double pendulum are weak, and it is less necessary to suppress the runout.

In step S46, the control device 20 sets the double pendulum notch depth coefficient δ ₂ to a predetermined value. Specifically, the control device 20 sets the double pendulum notch depth coefficient δ ₂ to 0 (see (B) in FIG. 11). As a result, the gain characteristic at the double pendulum frequency Ω (n) becomes −∞ dB. The double pendulum notch depth coefficient δ ₂ may be 0 to 1. In this case, the gain characteristic at the double pendulum frequency Ω (n) changes from −∞ dB to 0 dB.

In step S47, the control device 20 sets the double pendulum notch depth coefficient δ ₂ to a predetermined value. Specifically, the control device 20 sets the double pendulum notch depth coefficient δ ₂ to 1 (see (B) in FIG. 11). As a result, the gain characteristic at the double pendulum frequency Ω (n) becomes 0 dB. The double pendulum notch depth coefficient δ ₂ may be a value close to 1 instead of 1. In this case, the gain characteristic at the double pendulum frequency Ω (n) is close to 0 dB. However, in this case, the control device 20 sets the double pendulum notch depth coefficient δ ₂ to a larger value than when the ratio of the slinging tool length l ₂ to the hanging length l ₁ is equal to or more than the threshold value R. As a result, when the ratio of the slinging tool length l ₂ to the hanging length l ₁ is less than the threshold R, the double pendulum when the ratio of the slinging tool length l ₂ to the hanging length l ₁ is equal to or more than the threshold R. The amount of attenuation of the gain characteristic is smaller than the amount of attenuation of the gain characteristic at the frequency Ω (n).

In step S48, the control device 20 applies a notch filter F (n) to the basic control signal S (n) to create a filtering control signal Sf (n). Then, the control device 20 controls each actuator (51, 52, 53, 54) based on the filtering control signal Sf (n). When the double pendulum notch depth coefficient δ ₂ is set to 0, the reaction is slower than when the double pendulum notch depth coefficient δ ₂ is set to 1, and the double pendulum notch depth coefficient δ ₂ When is set to 1, the reaction becomes steeper than when the double pendulum notch depth coefficient δ ₂ is set to 0. Therefore, when the ratio of the slinging tool length l ₂ to the hanging length l ₁ is equal to or greater than the threshold R, the double pendulum notch depth coefficient δ ₂ is set to 0, so that the load has the characteristics of a double pendulum. The runout of W can be suppressed. On the other hand, when the ratio of the slinging tool length l ₂ to the hanging length l ₁ is less than the threshold value R, the double pendulum notch depth coefficient δ ₂ is set to 1, so that the operator's operational feeling can be maintained. It is possible to reduce the amount of movement from the operator stopping the luggage W until the luggage W is stopped.

As described above, in this crane 1, the ratio of the length from the hook 10 to the luggage W (sling tool length l ₂ ) to the length from the tip of the boom 7 to the hook 10 (suspended length l ₁ ) is the threshold value. If it is less than R, the control device 20 doubles when the ratio of the length (l ₂ ) from the hook 10 to the luggage W to the length (l ₁ ) from the tip of the boom 7 to the hook 10 is less than the threshold R. A filtering control signal Sf (n) having a smaller amount of attenuation than the amount of attenuation of the gain characteristic at the pendulum frequency Ω (n) is generated, and the actuator (51, 52, 53. 54) is controlled. According to the crane 1, when it is less necessary to suppress the runout of the load W having the characteristic of a double pendulum, the operator's operation feeling can be maintained, and the load W is stopped after the operator stops the load W. It is possible to reduce the amount of movement until the crane stops.

Further, the control mode according to the fifth embodiment will be described with reference to FIGS. 12 and 13. Here, too, the differences will be mainly described. Note that FIG. 13A shows the relationship between the ratio of the slinging tool length l ₂ to the hanging length l ₁ and the simple pendulum notch depth coefficient δ ₁ . Further, FIG. 13B shows the relationship between the ratio of the slinging tool length l ₂ to the hanging length l ₁ and the double pendulum notch depth coefficient δ ₂ .

In step S54, the control device 20 calculates the ratio of the slinging tool length l ₂ to the hanging length l ₁ .

In step S55, the control device 20 adjusts the attenuation of the gain characteristic at the double pendulum frequency Ω (n) according to the ratio of the slinging tool length l ₂ to the suspension length l ₁ . Specifically, the control device 20 gradually increases the double pendulum notch depth coefficient δ ₂ as the ratio of the slinging tool length l ₂ to the hanging length l ₁ decreases from the threshold value r to the threshold value R. Increase from 0 to 1 (see (B) in FIG. 13). As a result, the gain characteristic at the double pendulum frequency Ω (n) gradually increases from −∞ dB to 0 dB. The double pendulum notch depth coefficient δ ₂ may be a value close to 1 instead of 1. In this case, the gain characteristic at the double pendulum frequency Ω (n) is close to 0 dB.

In step S55, the control device 20 applies a notch filter F (n) to the basic control signal S (n) to create a filtering control signal Sf (n). Then, the control device 20 controls each actuator (51, 52, 53, 54) based on the filtering control signal Sf (n). When the double pendulum notch depth coefficient δ ₂ is set to 0, the reaction is slower than when the double pendulum notch depth coefficient δ ₂ is set to 1, and the double pendulum notch depth coefficient δ ₂ When is set to 1, the reaction becomes steeper than when the double pendulum notch depth coefficient δ ₂ is set to 0. Therefore, when the ratio of the slinging tool length l ₂ to the hanging length l ₁ is equal to or greater than the threshold r, the double pendulum notch depth coefficient δ ₂ is set to 0, so that the load has the characteristics of a double pendulum. The runout of W can be suppressed. On the other hand, when the ratio of the slinging tool length l ₂ to the hanging length l ₁ is less than the threshold value R, the double pendulum notch depth coefficient δ ₂ is set to 1, so that the operator's operational feeling can be maintained. It is possible to reduce the amount of movement from the operator stopping the luggage W until the luggage W is stopped. If the ratio of the slinging tool length l ₂ to the hanging length l ₁ is less than the threshold r and is equal to or greater than the threshold R, the double pendulum corresponds to the ratio of the slinging tool length l ₂ to the hanging length l ₁ . Since the notch depth coefficient δ ₂ is set, the operator maintains the operation feeling of the operator and stops the luggage W according to the necessity of suppressing the runout of the luggage W having the characteristic of the double pendulum. It is possible to reduce the amount of movement from the baggage W to the stop of the baggage W.

As described above, in the crane 1, the control device 20 has a length from the hook 10 to the luggage W (sling tool length l ₂ ) with respect to the length from the tip of the boom 7 to the hook 10 (suspension length l ₁ ). A filtering control signal Sf (n) is created in which the amount of attenuation of the gain characteristic at the double pendulum frequency (double pendulum frequency Ω (n)) is adjusted according to the ratio of the above, and the filtering control signal Sf (n) is used. Controls the actuator (51, 52, 53, 54). According to the crane 1, the operator's operation feeling can be maintained according to the necessity of suppressing the runout of the luggage W having the characteristic of the double pendulum, and the luggage W can be stopped after the operator stops the luggage W. The amount of movement until the vehicle stops can be reduced.

By the way, depending on the relationship between the weight of the hook 10 and the weight of the luggage W, the luggage W may have a runout having the characteristics of a multiple pendulum having three or more mass points. In order to suppress the runout of the load W having the characteristics of the multiple pendulum, the control device 20 may calculate the frequency of the multiple pendulum and attenuate the gain characteristic at the frequency of the multiple pendulum.

1 Crane 2 Vehicle 3 Crane device 7 Boom 8 Wire rope 9 winch 10 Hook 12 Slinging tool 20 Control device 21 Turning operation tool (operation tool)
22 Telescopic operation tool (operation tool)
23 Undulating operation tool (operation tool)
24 winding operation tool (operation tool)
51 Turning hydraulic motor (actuator)
52 Telescopic hydraulic cylinder (actuator)
53 Hydraulic cylinder for undulation (actuator)
54 Hydraulic motor for winding (actuator)
l ₁ Suspended length (length from the tip of the boom to the hook)
l ₂ Sling tool length (length from the tip of the boom to the hook)
r Threshold R Threshold S (n) Basic control signal (control signal)
Sf (n) Filtering control signal t Threshold T Threshold W Luggage ω (n) Simple pendulum frequency (single pendulum frequency)
Ω (n) Double pendulum frequency (double pendulum frequency)

Claims (6)

With the boom
The wire rope hanging from the boom and
A hook that moves up and down by winding and unwinding the wire rope is provided.
In a crane that lifts cargo via a slinging tool hung on the hook,
The actuator used to move the luggage and
An operating tool that can indicate the operating state of the actuator and
A control device connected to the actuator and the operating tool to process information is provided.
The control device calculates the frequency of a single pendulum with the tip of the boom as a fulcrum and the baggage as a pledge point, and calculates the frequency of the hook and the double pendulum with the baggage as a pledge point with the tip of the boom as a fulcrum. , A filtering control signal obtained by attenuated the control signals at the frequency of the single pendulum and the frequency of the double pendulum is generated from the control signal generated in response to the operation of the operating tool, and the actuator is used using the filtering control signal. Control and
When the frequency of the double pendulum is equal to or higher than the threshold value,
The control device generates the filtering control signal with an attenuation smaller than the attenuation of the control signal at the frequency of the double pendulum when the frequency of the double pendulum is less than the threshold value, and uses the filtering control signal. A crane characterized by controlling the actuator . The control device creates the filtering control signal in which the attenuation amount of the control signal at the frequency of the double pendulum is adjusted according to the frequency of the double pendulum, and controls the actuator by using the filtering control signal. The crane according to claim 1 , wherein the crane is characterized by the above. With the boom
The wire rope hanging from the boom and
A hook that moves up and down by winding and unwinding the wire rope is provided.
In a crane that lifts cargo via a slinging tool hung on the hook,
The actuator used to move the luggage and
An operating tool that can indicate the operating state of the actuator and
A control device connected to the actuator and the operating tool to process information is provided.
The control device calculates the frequency of a single pendulum with the tip of the boom as a fulcrum and the baggage as a pledge point, and calculates the frequency of the hook and the double pendulum with the baggage as a pledge point with the tip of the boom as a fulcrum. , A filtering control signal obtained by attenuated the control signals at the frequency of the single pendulum and the frequency of the double pendulum is generated from the control signal generated in response to the operation of the operating tool, and the actuator is used using the filtering control signal. Control and
The control device creates the filtering control signal in which the attenuation amount of the control signal at the frequency of the double pendulum is adjusted according to the frequency of the double pendulum, and controls the actuator by using the filtering control signal. A crane that features that. With the boom
The wire rope hanging from the boom and
A hook that moves up and down by winding and unwinding the wire rope is provided.
In a crane that lifts cargo via a slinging tool hung on the hook,
The actuator used to move the luggage and
An operating tool that can indicate the operating state of the actuator and
A control device connected to the actuator and the operating tool to process information is provided.
The control device calculates the frequency of a single pendulum with the tip of the boom as a fulcrum and the baggage as a pledge point, and calculates the frequency of the hook and the double pendulum with the baggage as a pledge point with the tip of the boom as a fulcrum. , A filtering control signal obtained by attenuated the control signals at the frequency of the single pendulum and the frequency of the double pendulum is generated from the control signal generated in response to the operation of the operating tool, and the actuator is used using the filtering control signal. Control and
When the ratio of the length from the hook to the luggage to the length from the tip of the boom to the hook is less than the threshold value.
The control device is smaller than the attenuation of the control signal at the frequency of the double pendulum when the ratio of the length from the hook to the luggage to the length from the tip of the boom to the hook is equal to or more than the threshold value. A crane characterized in that the filtering control signal of the attenuation amount is generated and the actuator is controlled by using the filtering control signal. The control device adjusts the attenuation amount of the control signal at the frequency of the double pendulum according to the ratio of the length from the hook to the luggage to the length from the tip of the boom to the hook. The crane according to claim 4 , wherein the actuator is controlled by using the filtering control signal. With the boom
The wire rope hanging from the boom and
A hook that moves up and down by winding and unwinding the wire rope is provided.
In a crane that lifts cargo via a slinging tool hung on the hook,
The actuator used to move the luggage and
An operating tool that can indicate the operating state of the actuator and
A control device connected to the actuator and the operating tool to process information is provided.
The control device calculates the frequency of a single pendulum with the tip of the boom as a fulcrum and the baggage as a pledge point, and calculates the frequency of the hook and the double pendulum with the baggage as a pledge point with the tip of the boom as a fulcrum. , A filtering control signal obtained by attenuated the control signals at the frequency of the single pendulum and the frequency of the double pendulum is generated from the control signal generated in response to the operation of the operating tool, and the actuator is used using the filtering control signal. Control and
The control device adjusts the attenuation amount of the control signal at the frequency of the double pendulum according to the ratio of the length from the hook to the luggage to the length from the tip of the boom to the hook. A crane characterized in that the actuator is controlled by using the filtering control signal.

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