移動式ジブクレーンの能動型吊荷振れ止め : 旋回運動に伴う慣性力の取り扱い(OS14a 計算力学と最適化)

抄録

When a heavy cargo undergoes a moving process by a jib crane, the cargo begins swinging motion, due to its acceleration and deceleration. If the swing suppression capability is integrated in the crane operation system, its transportation efficiency would not be disturbed. When a cargo undergoes a circular motion, the swing motion must be divided into a circumferential component and radial component. But because the initial swing motion would keep its direction, boom raising and boom rotating must be controlled simultaneously. In this paper, the simultaneous control technique of the crane rotation and cargo swinging is proposed.