JPH075255B2 - Load steady rest control method for hoisting and carrying device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a hoisting and carrying device for hoisting and carrying a load and unloading, such as a crane, which is carried at the end of movement of the carrying device. The present invention relates to a load steadying control method for controlling a load so that no runout remains.

[Conventional technology]

Generally, when the load is carried by the hoisting and carrying device, it is important to control so that the load carried at the end of the movement of the carrying device is not shaken from the viewpoint of work safety and efficiency.

Next, the conventional method of such load steadying control is described in the third section.
The crane device shown in the figure will be described. First, the crane device 10 is installed, for example, on a traveling rail 16 installed on a corner post 14 (only two of which are shown) in a warehouse 12, and on the traveling rail 16 so as to be longitudinally travelable. It comprises a traveling girder 20 provided with a traverse rail 18 and a traverse trolley 22 erected on the traverse rail 18 so as to traverse.
The load 24 is configured so as to be hoistable and hoistable via a wire 26.

Then, in the conventional load steadying control method, the position P
a, load 24 on height Ha, position Pe separated by distance D, height H
In the case of transporting to the upper side e, first, the traverse trolley 22 is operated at the position Pa to a height Hb at which the load 24 can sufficiently pass over the obstacle 28 on the transport path, as shown in correlation with FIG. And the traverse trolley 22 by operating the crane device 10 in this state, and first the swing cycle of the load 24 in the position sections Pa to Pb. (However, Lb is the suspension length of the load 24) Accelerating operation time equal to the target maximum speed Ve during the accelerating operation time Tu to reach the target maximum speed Ve, and then the required constant speed operation at the target maximum speed Ve in the position section Pb to Pc. A constant speed operation is performed for a time Te, and further, a uniform deceleration operation is performed for a deceleration operation time Td having a swing cycle α of the load 24 in the position sections Pc to Pd to reach the positioning minute speed Vs. This speed
v _s is a fine speed at which positioning can be accurately performed, and is usually selected as a value of 5 to 10% of the target maximum speed v _e . Next, in this state, the load 24 is lowered to a predetermined lowering height Hd which is higher than the height He by a small height ΔH with a required lowering time Tb, and in this state, the crane device 10 and the traverse trolley 22 are operated. The load 24 is placed on the predetermined height He on the predetermined position Pe with the required positioning distance ΔD and the positioning time Ts. In the figure, reference numeral 22a (FIG. 3) and reference numeral 22b
(FIG. 4) shows the moving paths and moving speeds of the traverse trolley 22 achieved by the above-described operation, and the reference numeral 24a (FIG. 3) shows the moving path of the load 24, and also the reference numeral T. (Fig. 4) shows the total required transportation time for load 24.

In this case, according to the load steadying control method as described above, in the uniform acceleration operation, the state where the load 24 is wound up to the required height Hb in advance, that is, the suspension length of the load 24 is set to the constant length Lb. Since it is operated in a stable state, the uniform acceleration operation time Tu can be accurately determined by a microcomputer device, etc. Therefore, the load 24 does not have any runout at the end of the uniform acceleration operation. Further, even in the uniform deceleration operation, the suspension length of the load 24 is maintained at the above-mentioned constant length Lb, so that, as in the case of the uniform acceleration operation, the runout of the load 24 remains at the end of the operation. There is no. That is, the load 24 is transported without any sway.

Here, the equation of motion of the system consisting of the trolley 22, the load 24 and the wire 26 is derived from the Lagrange equation of motion. If the horizontal displacement of the trolley 22 is x, the deflection angle (suspension angle) of the load 24 is θ, the length of the wire 26 is L, the mass of the load 24 is m, and the gravitational acceleration is g, then Lagrangian The equation of motion F is F = (1/2) m [(Lcosθ + sinθ−) ² + (L
sin θ−cos θ) ² ] + mgL cos θ (A) From equation (A), Here, assuming that the deflection angle θ is small, cos θ≈1, sin θ≈
θ, and assuming that the length of the wire 26 does not change,
Putting it as = 0, + (g / L) θ = / L (C) is obtained from the equation (B). Further, from the equation (C), assuming that = β (constant acceleration), θ _{t = 0} = θ ₀ , _{t = 0} = ₀ , θ = (θ ₀ −β / g) cosωt + ₀ / ω) sinωt + β / g ·
·· (D) = -ω (θ 0 -β / g) sinωt + 0 cosωt ···
(E) is obtained. However, ω = 2π / α = (g / L) ^1/2 .

Looking at the equations (D) and (E), when ωt = (2π / α) t = 2nπ (n = 1,2 ...), θ = θ ₀ regardless of the acceleration β (deceleration −β). And = ₀ are obtained and θ ₀ = 0, ₀ = 0, that is, if there is no shake at the beginning of the acceleration / deceleration operation, if the acceleration / deceleration operation time is set to an integral multiple of the cycle, no shake remains.

In Fig. 4, if the load 24 does not swing in the initial stage of the uniform acceleration operation, it means that the swing does not remain at the end of the uniform acceleration operation after Tu = 2π (Lb / g) ^1/2 . Since the load 24 does not swing in the initial stage of the uniform deceleration operation, the deflection does not remain even at the end of the uniform deceleration operation after one cycle of the deflection of the load 24, Td = 2π (Lb / g) ^1/2. It will be.

Strictly speaking, at the end, when the load 24 is placed on the predetermined position Pe while decelerating the positioning distance ΔD within the positioning time Ts, some runout occurs, but this runout occurs in the work. The positioning time Ts or the like is determined in advance so that the positioning time is small enough not to cause any trouble.

[Problems to be solved by the invention]

As described above, according to the above-described load steadying control method, it is possible to carry the load without causing the runout to remain in the load. However, in such a load steady control method, as clearly shown in FIG. 4, during the hoisting and lowering times Ta and Tb of the load, which occupy a considerable proportion of the total transport time T, Trolley 22 is not moved. Therefore, such a steady rest control method essentially has a drawback that it takes a considerably long time to carry the load.

Therefore, an object of the present invention is to provide a load steadying control method for a hoisting and carrying device, which can shorten the total carrying time without leaving the runout in the load at the end of movement of the load.

[Means for solving problems]

In order to achieve the above-mentioned object, a load steadying control method for a hoisting and carrying device according to the present invention provides a hoisting and hoisting device capable of running and / or traversing a load by accelerating, steadying, or running at a constant speed. It is configured to move continuously in the order of deceleration operation and hoist the load during acceleration operation and lower the load during deceleration operation.The acceleration operation time is set to a predetermined time determined by the average suspension length of the load within this time. Set the time of deceleration operation to a predetermined time determined by the average suspension length of the load within this time, and the acceleration and speed during acceleration operation are the suspension of the load measured at regular intervals within this operation time. Acceleration during steady rest operation by setting a predetermined acceleration and speed that are sequentially determined for each constant cycle by a function that includes the length and the constant cycle time. Speed was set to a predetermined acceleration and velocity are sequentially determined for each constant period by a function including the angular velocity and the constant cycle time of the suspension angle of the load to be measured at fixed intervals within the operation time Rabbi,
The speed during constant speed operation is set to the final speed during steady rest operation, and the acceleration and speed during deceleration operation include the suspension length of the load measured at regular intervals within this operation time and the constant cycle time. It is characterized in that a predetermined acceleration and speed are sequentially set by a function at regular intervals.

In this case, the acceleration operation time is However, t _u = acceleration operation time La = suspension length before load hoisting Lb = suspension length after load hoisting π = circular ratio g = gravitational acceleration Set by the equation (1), and decelerating Driving time is However; t _d = set by winding suspended length above formula after lowering the suspended length Ld = load after winding deceleration operation time Lb = load (2), further, the acceleration and speed during acceleration operation, Where; _{au (i)} = acceleration in the i (i = 1 to n) th sampling period when the acceleration operation time t _u is divided into n sampling periods at a constant time interval p. The i (i = 1 to n) -th sampling period when a certain operating period t is divided into n sampling periods at a constant time interval p, including during operation,
It is simply expressed as the i-th constant cycle p.

Lu (i) = suspension length of load measured at i-th constant period p within acceleration operation time t _u v _e ′ = preset target maximum speed, that is, target constant speed operation speed v _{u (i)} = v _{u (i-1)} + a _{u (i)} · p (4) where; v _{u (i)} = i-th constant cycle p within the acceleration operation time t _u
Speed v _{u (i-1)} = constant period of i-th in the acceleration operation time within t _u (i-1) th predetermined period p at a rate of a _{u (i)} = acceleration operation in time t _u p when
Acceleration at time p = constant cycle The acceleration and the speed during steady rest operation are set by the above formulas (3) and (4) at regular intervals. Where; at _(i) = acceleration at the i-th constant cycle p within steady rest operation time Lb = suspension length after hoisting of load, that is, suspension length during steady rest operation w _(i) = steady rest operation I-th constant period p in time
The angular velocity of the suspension angle of the load measured at the time v _{t (i)} = v _{t (i-1)} + a _{t (i)}・ p (6) where; v _{t (i)} = within the steady rest operation time i-th constant cycle p speed v _{t (i-1)} = (i-1) -th constant cycle p speed a _{t (i)} = i-th in steady rest operation time Acceleration at a constant period p of p = constant period k = damping coefficient are sequentially set for each constant period by the equations (5) and (6), and the acceleration and speed during deceleration operation are However; _{ad (i)} = i-th constant cycle p within the deceleration operation time t _d
Acceleration Ld (i) = Suspended length of load measured at i-th constant cycle p within deceleration operation time t _d v _s = Sufficient to accurately position the unwound load at a predetermined position Only fine load Positioning fine speed v _e = Velocity during constant speed operation, that is, speed at start of deceleration operation v _{d (i)} = v _{d (i-1)} + _{ad (i)}・ p (8) However; v _{d (i)} = i-th constant period p within the deceleration operation time t _d
Speed v _{d (i-1)} = constant period of i-th in the deceleration operation time t in the _d (i-1) th predetermined period p at a rate of a _{d (i)} = deceleration operation time in t _d p when
Acceleration at time p = constant cycle It is preferable to sequentially set each of the constant cycles by the equations (7) and (8).

[Action]

The load hoisting and lowering operations are performed in parallel with the acceleration and deceleration operations within the acceleration operation and deceleration operation times, respectively. Therefore, in the conventional control method, the hoisting and unwinding times, which occupy a considerable proportion during the transportation time, are omitted from the transportation time, and the transportation time is significantly shortened.

On the other hand, the steady rest control for the load is effectively performed during the acceleration operation and the deceleration operation, and when the runout remains in the load at the end of the acceleration run, the remaining runout is completely attenuated and eliminated during the steady rest operation. Therefore, the swing does not remain in the load at the end of the movement of the load.

〔Example〕

An embodiment of a load steadying control method for a hoisting and carrying device according to the present invention will be described in detail below with reference to the accompanying drawings. For convenience of explanation, the same components as those of the conventional structure shown in FIGS. 3 and 4 are designated by the same reference numerals, and detailed description thereof will be omitted.

First, the crane device will be described. In FIG. 1, a crane device 10 includes a corner post 14 of a warehouse 12 or the like.
Running rails erected on (only two shown)
16 and a traveling girder 20 provided with a traverse rail 18 laid on the traveling rail 16 so as to be capable of traveling in the longitudinal direction, and the traverse rail 20.
It consists of a traverse trolley 22 that is erected so that it can traverse above 18,
A load 24 is configured to be suspended from a traverse trolley 22 via a wire 26 so that the load 24 can be hoisted and unwound.

Next, in the case of transporting the load 24 on the position Pa and the height Ha by the crane device 10 to the position Pe and the height He separated by the distance D, the operation is performed in correlation with FIG. 1 and FIG. The load steadying control method of the present invention will be described with reference to FIG. In the control method of the present invention, the traverse trolley 22 is first accelerated in the position sections Pa to Pb with a predetermined acceleration operation time t _u and predetermined acceleration a _u and speed v _u , and then in the position sections Pb to Pb. ′ Is driven with the required steady rest operation time t _t and a predetermined acceleration a _t and velocity v _t , and then the position section Pb′-
Pc is moved at a constant speed with a required constant speed operation time t _e and a final speed v _e during steady-state operation in the previous process, and then a predetermined deceleration operation time t _d and a predetermined acceleration ( Deceleration) a _d and speed v _{d are} decelerated and moved, and finally, a predetermined positioning operation time t _s in the position section Pd to Pe, that is, the positioning distance ΔD section.
Also, the positioning operation is performed at a predetermined positioning speed v _s , and finally stopped. On the other hand, the load 24 is wound from a height Ha in the acceleration operation time in t _a trolley 22 up to a height Hb, small than the height He is transported end height from the height Hb during deceleration operation time t _d The height is lowered by a height ΔH to a higher positioning height Hd, and at the end of the positioning operation, the height Hd is lowered to a height He. As a result, the load 24 is placed at a predetermined position on the position Pe and the height He, and the transportation is completed. In the figure, reference numeral 22a (Fig. 1)
Reference numeral 22b (FIG. 2) shows the movement path and movement speed of the traverse trolley 22 achieved by the above-described operation, and reference numeral 24a (FIG. 1) shows the movement path of the load 24. Reference numeral t (FIG. 2) indicates the total time required for the load 24.

The acceleration operation time mentioned above is Where; t _u = Acceleration operation time La = Suspension length before load hoisting Lb = Suspension length after load hoisting π = Circumferential rate g = Gravity acceleration Set by equation (1) and decelerating Driving time is However; t _d = deceleration operation time Lb = suspension length after load hoisting Ld = suspension length after load hoisting Set by equation (2) above, acceleration and speed during acceleration operation are Where; _{au (i)} = i-th constant period p within the acceleration operation time t _u
Acceleration Lu (i) = Suspended length of load measured at i-th constant period p within acceleration operation time t _u v _e ′ = Preset target maximum speed, that is, target uniform speed v _{u ( i)} = v _{u (i-1)} + a _{u (i)} · p (4) where; v _{u (i)} = i-th constant cycle p within the acceleration operation time t _u
Speed v _{u (i-1)} = constant period of i-th in the acceleration operation time within t _u (i-1) th predetermined period p at a rate of a _{u (i)} = acceleration operation in time t _u p when
Acceleration at time p = constant cycle These are sequentially set at regular intervals by the above equations (3) and (4).

In addition, the equation (3) is a case where both the length and the acceleration of the wire 26 are the functions Lu (i) and a _{u (i)} of the sampling period, and the initial velocity of the load 24 is 0, the wire length is Equation for giving the target maximum velocity v _e after one cycle of oscillation of load 24 given by 2π (Lu (i) / g) _1/2 v _e ＝ a _{u (i)} 2π (Lu (i) / g) _{1 It} is a modification of _{/ 2} and is an approximate expression.

Therefore, the acceleration operation time t _u, does not necessarily swing of the load 24 is stopped, as described below, the period t _t
Perform steady rest operation.

The acceleration and speed during this steady rest operation are Where; at _(i) = acceleration at the i-th constant cycle p within steady rest operation time Lb = suspension length after hoisting of load, that is, suspension length during steady rest operation w _(i) = steady rest operation I-th constant period p in time
The angular velocity of the suspension angle of the load measured at the time v _{t (i)} = v _{t (i-1)} + a _{t (i)}・ p (6) where; v _{t (i)} = within the steady rest operation time i-th constant cycle p speed v _{t (i-1)} = (i-1) -th constant cycle p speed a _{t (i)} = i-th in steady rest operation time Acceleration at a constant cycle p of p = constant cycle Here, the damping coefficient k will be described.

Transforming the above formula (C), + (g / L) θ = / L, and setting it as + (g / L) θ = −2kω, using ω = (g / L) ^1/2 , + 2kω + ω ² θ = 0, by the way, at k = 0, = −ω ² θ is the load 2 when there is no damping.
It is nothing but an expression expressing the vibration of 4.

In equation (5), ω = (g / L) ^1/2 , = w _(i), and at _(i) ==-2kLb ωθ = [-2Lb (g / L) ^1/2 w _(i) ] K.

In practice, various accelerations a _{t (i)} are applied, and the deflection of the load 24 is the horizontal movement speed of the trolley 22 which is as close as possible to the target constant speed operation speed v _e within the period t _t . Stopping acceleration
The damping coefficient k that gives a _{t (i)} is obtained in advance, and this is used thereafter.

The acceleration and speed during deceleration operation are set in sequence at regular intervals by the above equations (5) and (6), respectively. However; _{ad (i)} = i-th constant cycle p within the deceleration operation time t _d
Acceleration L _{d (i)} = i-th constant period p within deceleration operation time t _d
Suspended length of load measured at time v _s = Load velocity is very low enough to accurately position the unwound load at a predetermined position V _e = Velocity during constant velocity operation, that is, when deceleration operation starts Speed v _{d (i)} = v _{d (i-1)} + a _{d (i)} · p (8) where; v _{d (i)} = i-th constant cycle p within deceleration operation time t _d
Speed v _{d (i-1)} = constant period of i-th in the deceleration operation time t in the _d (i-1) th predetermined period p at a rate of a _{d (i)} = deceleration operation time in t _d p when
Acceleration at time p = constant cycle These are sequentially set at constant intervals by the above equations (7) and (8).

As described above, in the load steadying control method of the present invention, hoisting and lowering of the load are performed during the acceleration operation and the deceleration operation of the traverse trolley, and the steady rest control for the load is additionally performed during the acceleration and deceleration operations. It is performed during a specific steady rest operation. In this case, however, the steady rest control is accurately controlled by microcomputer control or the like in accordance with the physical rules shown in the above functions so as to restrain or damp the steady runout action on the load during each operation. Therefore, there is no residual runout in the load at the end of transportation. In this way, according to the control method of the present invention, it is possible to significantly reduce the time required to carry the load without causing residual runout in the carried load.

Although the present invention has been described with reference to the preferred embodiments, it goes without saying that the present invention can be modified in many ways without departing from the spirit thereof.

〔The invention's effect〕

As described above, the load steadying control method for a hoisting and carrying device according to the present invention is configured such that the hoisting and carrying device is driven to move in each operation sequence of acceleration operation, steady rest operation, constant speed operation and deceleration operation. , Acceleration operation by setting required operation time, acceleration, and speed at each operation as a predetermined function value including the suspension length of the load and the angular velocity of the suspension angle measured at each constant cycle, and the constant cycle time. Even when the load is hoisted and sometimes lowered during deceleration operation, the load can be carried without leaving the runout at the end of transportation, so the conventional control method was carried out outside the operation travel time. The hoisting and hoisting time of the load is incorporated within the operating travel time, and therefore the total required transportation time can be significantly reduced. That is, the transport efficiency can be significantly improved.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view showing an embodiment of a crane device for carrying out a load steadying control method for a hoisting and carrying device according to the present invention, and FIG. 2 is a perspective view of the present invention shown in FIG. Fig. 3 is a perspective view of a crane device for carrying out a load steadying control method for a conventional hoisting and carrying device, and Fig. 4 is a conventional diagram shown in Fig. 3. FIG. 6 is a moving velocity diagram with respect to the transportation time of the crane device that implements the control method of FIG. 10 …… Crane device, 12 …… Warehouse 14 …… Pillar, 16 …… Traveling rail 18 …… Traverse rail, 20 …… Traverse girder 22 …… Traverse trolley 22a …… Traverse trolley moving path 22b …… Traverse trolley moving speed 24 …… Load, 24a …… Load movement path 26 …… Suspension wire, 28 …… Obstacle Pa, Pb, Pc, Pd, Pe …… Load position or traverse trolley position D …… Load transport distance ΔD …… Small moving distance for load positioning Ha …… Initial height of load Hb …… Height of load hoisting Hd …… Height of load lowering, that is, positioning height He …… Height of load transportation end ΔH… … Slightly hoisting height for positioning of load La …… Initial suspension length of load Lb …… Suspension length when hoisting load Ld …… Suspension length when unwinding load a _u …… During acceleration operation of traverse trolley Acceleration at _t ...... Acceleration during steady rest operation of the transverse trolley a _d ...... During deceleration operation of the transverse trolley Acceleration v _u …… speed of traverse trolley during acceleration operation v _t …… speed of traverse trolley during steady rest operation v _e …… speed of traverse trolley during constant speed operation v _e ′ ... preset of traverse trolley acceleration of the target maximum velocity v _d ...... speed during deceleration of the transverse trolley v _s ...... operation time rate t ...... transverse trolley during loading position of the transverse trolley i.e. load carrying time t _a ...... transverse trolley operating time _t t ...... steadying operation time of rampant trolley t _e ...... rampant trolley constant speed operation time of t _d ...... rampant trolley deceleration operation time of t _s ...... positioning operation time of rampant trolley (load)

Claims (6)

[Claims] 1. A hoisting and conveying device capable of running and / or traversing a load is continuously operated and moved in the order of acceleration operation, steady rest operation, constant speed operation and deceleration operation, and the load is hoisted and decelerated during acceleration operation. Sometimes, the load is unwound, and the acceleration operation time is set to a predetermined time determined by the average suspension length of the load within this time, and the deceleration operation time is determined by the average suspension length of the load within this time. The acceleration and velocity during acceleration operation are set to a predetermined time that is determined, and the suspension length of the load measured at each constant cycle within this operation time and a function that includes the constant cycle time are determined at regular intervals. The acceleration and speed of the load are measured at regular intervals within this operating time. Set to the predetermined acceleration and speed that are sequentially determined for each constant cycle by a function including the angular velocity of the suspension angle and the constant cycle time.Set the speed during constant speed operation to the final speed during steady rest operation, and during deceleration operation. The acceleration and the velocity of are set to a predetermined acceleration and velocity which are sequentially determined for each constant period by a function including the suspension length of the load measured for each constant period within this operating time and the constant period time. Control method for load steady of winding and carrying device. 2. In the load steadying control method according to claim 1, the acceleration operation time is Where; t _u = acceleration operation time La = suspension length before hoisting of load Lb = suspension length after hoisting of load π = circular ratio g = acceleration of gravity Hoisting and conveying device set by the above formula (1) Load steady rest control method. 3. The load steadying control method according to claim 1, wherein the deceleration operation time is However; t _d = hoisting is set by the deceleration operation time Lb = suspended length after unwinding of the suspension length Ld = load after winding load [pi = pi g = gravitational acceleration above formula (2) Transport Load steady rest control method for equipment. 4. The load steadying control method according to claim 1, wherein the acceleration and speed during acceleration operation are: Where; _{au (i)} = acceleration operation time t _u is the acceleration in the i (i = 1 to n) th sampling period when the _u is divided into n sampling periods at a constant time interval p [hereinafter, acceleration operation time t The i (i = 1 to n) -th sampling period when _u is divided into n sampling periods at a constant time interval p is simply referred to as the i-th constant period p. Lu (i) = suspension length of load measured at the i-th constant cycle p in acceleration operation time t _u v _e ′ = preset target maximum speed, that is, target uniform speed operation speed v _{u (i )} = V _{u (i-1)} + a _{u (i)} · p (4) where; v _{u (i)} = i-th constant period p within the acceleration operation time t _u
Speed v _{u (i-1)} = constant period of i-th in the acceleration operation time within t _u (i-1) th predetermined period p at a rate of a _{u (i)} = acceleration operation in time t _u p when
Acceleration at time p = constant cycle A load steadying control method for the hoisting and transporting device, which is sequentially set for each constant cycle by the equations (3) and (4). 5. The load steady rest control method according to claim 1, wherein the acceleration and speed during steady rest operation are: Where; at _(i) = acceleration in the i (i = 1 to n) th sampling period when the steady rest operation time is divided into n sampling periods at a constant time interval p [hereinafter, the steady rest operation time is The i-th (i = 1 to n) -th sampling period when divided into n sampling periods at the constant time interval p is simply referred to as the i-th constant cycle p. ] Lb = suspension length after hoisting of load, that is, suspension length during steady rest operation w _(i) = i-th constant period p within steady rest operation time
Angular velocity of the suspension angle of the load measured at some time v _{t (i)} = v _{t (i-1)} + a _{t (i)} · p (6) where; v _{t (i)} = i-th in steady rest operation time Speed at a constant cycle p of v _{t (i-1)} = (i-1) -th speed during steady-state operation time a _{t (i)} = i-th constant within a steady-state operation time Acceleration at cycle p p = constant cycle k = damping coefficient A load steadying control method for the hoisting and transporting device which is sequentially set for each constant cycle by the equations (5) and (6). 6. The load steadying control method according to claim 1, wherein the acceleration and speed during deceleration operation are: However, _{ad (i)} = acceleration in the i (i = 1 to n) th sampling period when the deceleration operation time t _d is divided into n sampling periods at a constant time interval p [hereinafter, deceleration operation time t The i (i = 1 to n) th sampling period when _d is divided into n sampling periods at a constant time interval p is simply referred to as the i-th constant period p. Ld (i) = suspension length of load measured at i-th constant cycle p within deceleration operation time t _d v _s = slow speed sufficient to accurately position the unwound load at a predetermined position Load positioning fine velocity v _e = velocity during constant velocity operation, that is, velocity at the start of deceleration operation v _{d (i)} = v _{d (i-1)} + a _{d (i)} · p (8) where; v _{d ( i)} = i-th constant period p within the deceleration operation time t _d
Speed v _{d (i-1)} = constant period of i-th in the deceleration operation time t in the _d (i-1) th predetermined period p at a rate of a _{d (i)} = deceleration operation time in t _d p when
Acceleration at time p = constant cycle A load steadying control method for the hoisting and transporting device, which is sequentially set for each constant cycle by the equations (7) and (8).