This control system comprises: a signal processing unit generating a signal related to the target operating amount of an actuator; a feedback control unit that controls the actuator based on the difference between the signal related to the target operating amount and a signal related to the fed-back operating amount; a feed-forward control unit that controls the actuator based on the signal related to the target operating amount in cooperation with the feedback control unit, and learns the characteristics of the actuator by adjusting a weighting factor based on a teacher signal; and a calculation unit that calculates information related to the deflection of the work machine. The signal processing unit corrects intermediate information, which is generated in the process of generating the signal related to the target operating amount, based on the information related to the deflection, and generates the signal related to the target operating amount.

Various example embodiments relate to motion control of a target such as a suspended load. An apparatus may comprise: a floating base comprising an exteroceptive observation system configured to measure a position or velocity of at least one target with respect to a reference coordinate frame moving with the floating base. The floating base may further comprise an inertial measurement unit configured to measure at least one inertial state of the floating base with respect to an inertial reference coordinate frame. Position or velocity compensation for the at least one target may be performed based on the at least one inertial state of the floating base.

Disclosed are various embodiments for stabilizing a hoisted object. A hoisted object such as a litter can have a tendency spin while being retrieved on a lift line. A device may be connected to the hoisted object to reduce a spin or other angular velocity of the hoisted object. The device may monitor stability of the hoisted object and determine that the hoisted object is unstable. The device may be configured to rotate at least one flywheel to apply torque to an enclosure of the device.

An overhead transport vehicle includes an elevator including a base on which a holding device is provided, a plurality of suspension attaching portions to which each of the plurality of belts are attached and supporting the base to be vertically movable from below in a vertical direction via a vibration isolator, and a lock mechanism that fixes a relative positional relation between each of the plurality of suspension attaching portions and the base. The overhead transport vehicle further includes a controller that controls so that the lock mechanism is locked to fix a relative position relation at least partially during elevating operation of the elevator and also controls so that the lock mechanism is unlocked by releasing the lock at least partially during traveling operation of a body unit.

An overhead transport vehicle includes an elevator including a base on which a holding device is provided, a plurality of suspension attaching portions to which each of the plurality of belts are attached and supporting the base to be vertically movable from below in a vertical direction via a vibration isolator, and a lock mechanism that fixes a relative positional relation between each of the plurality of suspension attaching portions and the base. The overhead transport vehicle further includes a controller that controls so that the lock mechanism is locked to fix a relative position relation at least partially during elevating operation of the elevator and also controls so that the lock mechanism is unlocked by releasing the lock at least partially during traveling operation of a body unit.

A bridge crane anti-swing method based on first-order dynamic sliding mode variable structure includes steps of: constructing a two-dimensional bridge crane system model and a crane system control model, respectively; performing differentiation on two sliding mode surfaces containing swing angle dynamic change and rope length dynamic change to obtain a crane position dynamic sliding surface s1 and a rope length dynamic sliding mode surface s2, respectively; combining a displacement x, a length l and a swing angle θ in the two-dimensional bridge crane system model with the crane position dynamic sliding surface s1 and rope length dynamic sliding mod surface s2 in the crane system control model to obtain a relationship among a horizontal traction force f1, an along-rope traction force f2, the displacement x, the length l and the swing angle θ.

Provided is a crane that is capable of effectively suppressing oscillation related to the pendulum resonance frequency generated in a suspended load on the basis of the suspended length of a wire rope. The crane 1 calculates a suspended load oscillation resonance frequency ωx(n) determined on the basis of the suspended length L(n) of a wire rope (14.Math.16), and generates a control signal C(n) for an actuator according to an arbitrarily defined operation signal, and, on the basis of the resonance frequency ωx(n), generates from the control signal C(n) a filtering control signal Cd(n) for the actuator in which a frequency component in an arbitrarily defined frequency range is attenuated by an arbitrarily defined percentage. The frequency range of the attenuated frequency component and/or the percentage of attenuation is altered on the basis of the suspended length L(n) of the wire rope (14.Math.16).

A computer-implemented method for operating a crane includes generating speed data for a drive unit of the crane such that oscillations of the crane are suppressed; providing a compatibility model configured to describe a relation between input speed reference data of a drive unit of a crane and output position reference data of the drive unit of the crane; determining position reference data of the drive unit of the crane by inputting the speed reference data into the compatibility model; and providing the position reference data of the drive unit of the crane to a control of the drive unit of the crane and controlling the drive unit of the crane according to the position reference data.

Provided is an auxiliary sheave device with a simple and lightweight structure and a crane including the same. The auxiliary sheave device, provided in the crane including a derrick member guy line, includes an auxiliary sheave frame and an auxiliary sheave guy line supporting the auxiliary sheave. The derrick member guy line is connected to the distal end portion of the derrick member. The auxiliary sheave frame is attached to the distal end portion of the derrick member so as to be capable of making rotational movement and taking a projecting posture of projecting in the distal end direction from the distal end portion of the derrick member. The auxiliary sheave guy line is connected to the distal end portion of the auxiliary sheave frame and a guy line connection portion of the derrick member so as to keep the auxiliary sheave frame in the projecting posture.

Provided is an auxiliary sheave device with a simple and lightweight structure and a crane including the same. The auxiliary sheave device, provided in the crane including a derrick member guy line, includes an auxiliary sheave frame and an auxiliary sheave guy line supporting the auxiliary sheave. The derrick member guy line is connected to the distal end portion of the derrick member. The auxiliary sheave frame is attached to the distal end portion of the derrick member so as to be capable of making rotational movement and taking a projecting posture of projecting in the distal end direction from the distal end portion of the derrick member. The auxiliary sheave guy line is connected to the distal end portion of the auxiliary sheave frame and a guy line connection portion of the derrick member so as to keep the auxiliary sheave frame in the projecting posture.