Mitsubishi Jukogyo Kabushiki Kaisha

Mitsubishi Heavy Industries Limited

Mitsubishi Heavy Industries Mechatronics Systems, Ltd.

Tadaaki Monzen

Noriaki Miyata

Takashi Toyohara

Yoshiaki Okubo

Susumu Kouno

Kanji Obata

Kouji Uchida

Yoshiaki Ohkubo

Koji Uchida

Atsushi Kubo

Yusuke Yamashina

Masaki Nishioka

Susumu Kono

Toshiyuki Fujii

Nobuo Yoshioka

A vibration control device that can achieve the best vibration control effect within an allowable stroke range of a movable mass includes a controller that calculates at least one of a displacement deviation between a target displacement of a movable mass and a displacement of the movable mass detected by a mass displacement sensor and a velocity deviation between a target velocity of the movable mass and a velocity of the movable mass detected by a mass velocity sensor, and generates a control command for making a motor drive the movable mass on the basis of at least one of the displacement deviation and the velocity deviation. The target displacement and the target velocity are set in a manner that the amplitude of the movable mass becomes constant and that phases thereof are delayed 90 degrees with respect to the vibration of a building.

Vibration control device

A crane provided with a trolley, a hanging member, a rope member, and a hoisting device. The crane includes a horizontal position displacement detection unit which detects a horizontal positional displacement between at least two corners of the cargo and a landing place of the two corners; and a horizontal position displacement correction unit which corrects a horizontal positional displacement between the at least two corners of the cargo and the landing place of the two corners when the two corners have landed based on a detection signal from the horizontal position displacement detection unit. The horizontal position displacement correction unit corrects the position of a corner of the cargo so that the corner lands at the landing place of the corner, and then corrects the position of another corner so that the corner lands at the landing place of the corner.

Crane and method for controlling the crane

An apparatus for controlling stacking of a load by a crane estimates a periodical displacement of a horizontal position of a tool. A speed with which the tool descends is controlled such that the tool or a load held by the tool lands on a desired position when the amplitude of the periodical displacement becomes maximum.

Method of and apparatus for controlling stacking of a load by a crane

A transverse trolley,is transversally movable on a crane girder. A driver is provided for the transverse trolley,A pair of sheave blocks,which is movable relative to a transverse trolley,are disposed on both (right and left) sides of a transverse trolley,Drivers are provided for the sheave blocks. Detectors,through,are provided which detect the displacement and velocity of the transverse trolley,the sway displacement and velocity of a hoisted load-piece,on both (right and left) sides and the displacement and velocity of the two sheave blocks,A notch is disposed on an operation controlling panel of the transverse trolley,for setting a trolley transverse velocity by an operator. A transverse notch-driving control quantity detector,is provided which outputs signals indicative of notch-driving control quantity (a trolley transverse velocity set value) which is set by operating the notch. A controller is provided which effects sway-damping control of the load-piece hoisting device based on detection signals obtained from the detectors,through,and,and an optimizing control unit performs sway-damping control with optimal controlling quantities on the basis of a preset optimal gain K in accordance with the displacement and velocity and the notch-driving control quantity.

Swaying hoisted load-piece damping control apparatus

A transverse trolley,is transversally movable on a crane girder. A driver is provided for the transverse trolley,. A pair of sheave blocks,which is movable relative to a transverse trolley,are disposed on both (right and left) sides of a transverse trolley,. Drivers are provided for the sheave blocks. Detectors,through,are provided which detect the displacement and velocity of the transverse trolley,, the sway displacement and velocity of a hoisted load-piece,on both (right and left) sides and the displacement and velocity of the two sheave blocks,. A notch is disposed on an operation controlling panel of the transverse trolley,for setting a trolley transverse velocity by an operator. A transverse notch-driving control quantity detector,is provided which outputs signals indicative of notch-driving control quantity (a trolley transverse velocity set value) which is set by operating the notch. A controller is provided which effects sway-damping control of the load-piece hoisting device based on detection signals obtained from the detectors,through,and,, and an optimizing control unit performs sway-damping control with optimal controlling quantities on the basis of a preset optimal gain K in accordance with the displacement and velocity and the notch-driving control quantity.

A transverse trolley (11) is transversally movable on a crane girder. A driver is provided for the transverse trolley (11). A pair of sheave blocks (14, 15) which is movable relative to a transverse trolley (11) are disposed on both (right and left) sides of a transverse trolley (11). Drivers are provided for the sheave blocks. Detectors (31 through 38) are provided which detect the displacement and velocity of the transverse trolley (11), the sway displacement and velocity of a hoisted load-piece (23) on both (right and left) sides and the displacement and velocity of the two sheave blocks (14, 15). A notch is disposed on an operation controlling panel of the transverse trolley (11) for setting a trolley transverse velocity by an operator. A transverse notch-driving control quantity detector (40) is provided which outputs signals indicative of notch-driving control quantity (a trolley transverse velocity set value) which is set by operating the notch. A controller is provided which effects sway-damping control of the load-piece hoisting device based on detection signals obtained from the detectors (31 through 38 and 40) and an optimizing control unit performs sway-damping control with optimal controlling quantities on the basis of a preset optimal gain K in accordance with the displacement and velocity and the notch-driving control quantity.

A deflection device allows deflection correction control of suspended cargo for deflections having both parallel deflection and skew deflection components. The suspended cargo is held by a suspension tool suspended from a trolley via ropes and is carried together with movement of the trolley. The device has mark detectors provided under the trolley with a range of vision facing downwardly and a corresponding plurality of marks provided opposite of the mark detectors on the suspension tool. A picture processing device generates picture signals of the first and second marks detected by the mark detectors. A deviation amount computing device calculates the deviation of the first and second marks, and a deflection amount calculating device calculates the amount of parallel deflection and the amount of skew deflection based on the computed deviation amount.

Deflection detective device for detecting the deflection of suspended

A suspended load swaying and vibration preventing apparatus for simultaneously controlling prevention of swaying of a suspended load and suppression of vibration of a structural body is provided in a container crane or the like. A trolley position and a trolley velocity are detected by a trolley position detector and a trolley detector. A swaying shift and a swaying velocity of the suspended load is detected by an image sensor. Furthermore, a shift and a velocity of a structural body is detected by a structural body vibration detector. A controller receives the detection signals from these sections, calculates the optimum trolley velocity based upon a control theory and outputs a trolley velocity command. Then, a trolley drive device is driven in accordance with the trolley velocity command from the controller. The suspended load is delivered to a desired position in a stable manner under the condition that swaying of the suspended load and the vibration of the structural body are suppressed.

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Tokyo, Japan

Tadaaki Monzen