Control system for cable crane

Abstract

A cable crane system includes a main cable stretched between two points, a transverse trolley traveling along the main cable, a traction cable for driving the trolley, a bucket hung by a hanging cable, a transverse winch for driving the traction cable for driving the trolley between a transportation start position to a transportation end position, a vertical winch for retracting and extracting the hanging cable for lifting the bucket up and down, and driving means for the transverse and vertical winches. A control system for such cable crane system comprises means for detecting a weight of an object for transportation including the trolley and the bucket, means for detecting transverse traveling magnitude and speed of the trolley, means for detecting vertical traveling magnitude and speed of the bucket, arithmetic means for deriving a predicted value of a deflection magnitude of the main cable on the basis of a trace of the main cable preliminarily established as a numerical model corresponding to the overall weight loaded on the main cable, detected by the weight detecting means, a coordinate of a starting point and target destination point of the trolley, and transverse traveling magnitude of the trolley and vertical traveling magnitude of the bucket, and means for controlling the driving means on the basis of the results of arithmetic operation of the arithmetic means.