CRANE

Abstract: a crane includes a boom that suspends a suspended load, a drive device that drives the boom, and a control unit that controls the drive device, the control unit inputting a control command including a pattern for swing suppression to the drive device, to cause the drive device to execute a swing suppression drive, and, when a value of the control command is converted into a command value of acceleration of the boom, the pattern for swing suppression includes a modified triangular wave including, in consecutive order, a first gradient portion that changes with a predetermined gradient in either a positive or negative direction, an offset portion in which the command value is displaced in a direction opposite to the change in the first gradient portion, and a second gradient portion that changes with a predetermined gradient in the direction opposite to the change in the first gradient portion.

Inventor(s): Yasuhiro YAMAMOTO, Chunnan WU, Keita NAKAMORI, Hisashi OSUMI

CPC Classification: B66C13/063 ({electrical})

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