CN1099997C - 用于起重机等的绳索稳定的控制方法和设备 - Google Patents
用于起重机等的绳索稳定的控制方法和设备 Download PDFInfo
- Publication number
- CN1099997C CN1099997C CN96190395A CN96190395A CN1099997C CN 1099997 C CN1099997 C CN 1099997C CN 96190395 A CN96190395 A CN 96190395A CN 96190395 A CN96190395 A CN 96190395A CN 1099997 C CN1099997 C CN 1099997C
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- CN
- China
- Prior art keywords
- rope
- load
- torque
- signal
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
- B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
Description
绳索长度 | 检测增益 | 相位滞后的时间常数TD | 稳定增益常数 | ||||
L(m) | ω(sec-1) | 100%载荷 | 50%载荷 | 25%载荷 | 12.5%载荷 | ||
0.5×g | 1.414 | 1.5 | 0.353 | 0.364 | 0.676 | 1.243 | 2.13 |
1.0×g | 1.0 | 1.5 | 0.5 | 0.5 | 0.955 | 1.755 | 3.02 |
2.0×g | 0.707 | 1.5 | 0.707 | 0.707 | 1.35 | 2.482 | 4.26 |
3.0×g | 0.577 | 1.5 | 0.866 | 0.866 | 1.65 | 3.04 | 5.22 |
4.0×g | 0.5 | 1.5 | 1.0 | 1.0 | 1.91 | 3.51 | 6.03 |
Claims (6)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP102643/95 | 1995-04-26 | ||
JP102643/1995 | 1995-04-26 | ||
JP10264395A JP3358768B2 (ja) | 1995-04-26 | 1995-04-26 | クレーン等のロープ振れ止め制御方法及び装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN1152290A CN1152290A (zh) | 1997-06-18 |
CN1099997C true CN1099997C (zh) | 2003-01-29 |
Family
ID=14332925
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN96190395A Expired - Fee Related CN1099997C (zh) | 1995-04-26 | 1996-04-25 | 用于起重机等的绳索稳定的控制方法和设备 |
Country Status (7)
Country | Link |
---|---|
US (1) | US5938052A (zh) |
EP (1) | EP0768273A4 (zh) |
JP (1) | JP3358768B2 (zh) |
KR (1) | KR100374147B1 (zh) |
CN (1) | CN1099997C (zh) |
CA (1) | CA2193890A1 (zh) |
WO (1) | WO1996033943A1 (zh) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101489908B (zh) * | 2006-07-25 | 2011-05-25 | 申正勋 | 具有四线线材结构的升降卷轴的线材扭曲防止装置以及具有该装置的升降卷轴 |
US11554240B2 (en) | 2017-02-27 | 2023-01-17 | Third Pole, Inc. | Systems and methods for ambulatory generation of nitric oxide |
Families Citing this family (39)
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---|---|---|---|---|
JPH10291769A (ja) * | 1997-04-22 | 1998-11-04 | Yaskawa Electric Corp | クレーンのロープ長の検出方法及び振れ止め制御方法 |
JP4247697B2 (ja) * | 1998-03-13 | 2009-04-02 | 株式会社安川電機 | 振れ止め制御装置 |
US6631300B1 (en) * | 1999-11-05 | 2003-10-07 | Virginia Tech Intellectual Properties, Inc. | Nonlinear active control of dynamical systems |
JP2001268879A (ja) * | 2000-03-22 | 2001-09-28 | Nsk Ltd | ブラシレスモータ及びその駆動制御装置 |
US6588610B2 (en) * | 2001-03-05 | 2003-07-08 | National University Of Singapore | Anti-sway control of a crane under operator's command |
JP4174659B2 (ja) * | 2002-08-29 | 2008-11-05 | 株式会社安川電機 | クレーンの振れ角検出方法およびクレーンの振れ角検出システム |
FI115133B (fi) * | 2003-04-01 | 2005-03-15 | Kci Konecranes Oyj | Menetelmä nosturin kuormauselimen hallitsemiseksi |
FI115132B (fi) * | 2003-04-01 | 2005-03-15 | Kci Konecranes Oyj | Menetelmä nosturin kuormauselimen hallitsemiseksi |
FI114980B (fi) * | 2003-07-17 | 2005-02-15 | Kci Konecranes Oyj | Menetelmä nosturin ohjaamiseksi |
FI114979B (fi) * | 2003-07-17 | 2005-02-15 | Kci Konecranes Oyj | Menetelmä nosturin ohjaamiseksi |
KR20080040624A (ko) * | 2005-04-22 | 2008-05-08 | 소렌슨 칼리드 리프 | 크레인에서 위치설정을 향상시키고 케이블의 흔들림을감소시키는 데에 적용되는 다중상태 제어를 위하여 피드백및 명령이 조합된 쉐이핑 제어기 |
JP4840442B2 (ja) * | 2006-02-15 | 2011-12-21 | 株式会社安川電機 | 吊荷振れ止め装置 |
DE102006010346A1 (de) * | 2006-03-07 | 2007-09-13 | Pat Gmbh | Überlastschutz für Krane |
US8235229B2 (en) * | 2008-01-31 | 2012-08-07 | Georgia Tech Research Corporation | Methods and systems for double-pendulum crane control |
KR100919890B1 (ko) * | 2008-03-14 | 2009-10-01 | 조선대학교산학협력단 | 과도기 변위 및 잔류 진동 방지 방법 |
CN101659379B (zh) * | 2009-08-27 | 2012-02-08 | 三一汽车制造有限公司 | 一种吊钩偏摆控制方法、系统及装置 |
KR101072351B1 (ko) | 2010-01-26 | 2011-10-12 | 조선대학교산학협력단 | 과도 변위 및 잔류 진동 저감을 위한 입력 성형 방법 |
CN102107819B (zh) * | 2010-12-09 | 2012-08-08 | 河南科技大学 | 一种集装箱岸边桥吊防摇控制方法 |
WO2012161584A1 (en) * | 2011-05-20 | 2012-11-29 | Optilift As | System, device and method for tracking position and orientation of vehicle, loading device and cargo in loading device operations |
FI20115922A0 (fi) | 2011-09-20 | 2011-09-20 | Konecranes Oyj | Nosturin ohjaus |
CN102491177B (zh) * | 2011-12-15 | 2013-12-25 | 中联重科股份有限公司 | 可回转工程机械及其回转控制方法与装置 |
EP2700604A1 (en) * | 2012-08-20 | 2014-02-26 | ABB Oy | Anti-sway control method and arrangement |
US8981702B2 (en) * | 2013-03-15 | 2015-03-17 | Texas Instruments Incorporated | Automated motor control |
ES2572029T3 (es) * | 2013-11-28 | 2016-05-27 | Siemens Ag | Procedimiento para influir en un movimiento de una carga soportada por una grúa |
JP6192559B2 (ja) * | 2014-02-12 | 2017-09-06 | 三菱電機株式会社 | クレーン装置 |
CN104876145B (zh) * | 2014-12-19 | 2018-11-23 | 上海交通大学 | 电动主动升沉补偿绞车系统 |
US10207905B2 (en) | 2015-02-05 | 2019-02-19 | Schlumberger Technology Corporation | Control system for winch and capstan |
JP6731141B2 (ja) * | 2016-03-03 | 2020-07-29 | 富士電機株式会社 | 吊り荷のスキュー振れ止め制御装置 |
JP6684442B2 (ja) * | 2016-05-19 | 2020-04-22 | 富士電機株式会社 | 懸垂式クレーンの制御方法及び制御装置 |
CN106276600B (zh) * | 2016-11-11 | 2018-08-28 | 天津港第二港埠有限公司 | 轮胎起重机吊装作业货物稳定装置 |
CN107381350B (zh) * | 2017-07-05 | 2019-04-16 | 苏州汇川技术有限公司 | 一种基于变频器的起重机防摇摆控制方法以及变频器 |
CN107298378B (zh) * | 2017-07-10 | 2018-06-15 | 锐马(福建)电气制造有限公司 | 一种测力式智能天车系统 |
CN107324217B (zh) * | 2017-07-10 | 2018-06-01 | 锐马(福建)电气制造有限公司 | 一种称重式智能天车控制方法 |
CN108363085B (zh) * | 2018-01-24 | 2022-05-06 | 三峡大学 | 一种基于gps/rfid组合定位的缆机塔机防碰撞预警方法 |
CN108750946B (zh) * | 2018-05-23 | 2024-04-09 | 四川庞源机械工程有限公司 | 一种起重机负载识别、测量及调节的控制方法 |
CN112830403B (zh) * | 2021-03-15 | 2022-11-04 | 西安丰树电子科技发展有限公司 | 塔式起重机吊重精确检测的补偿方法 |
CN113044715B (zh) * | 2021-04-15 | 2022-11-04 | 武汉理工大学 | 无冲击切换的双摆起重机随机位置定位防摇控制方法 |
CN113682956B (zh) * | 2021-07-19 | 2023-06-02 | 杭州大杰智能传动科技有限公司 | 用于智能塔吊的物料环境状况自动识别分析方法及其系统 |
CN115676644B (zh) * | 2023-01-04 | 2023-04-04 | 河南省矿山起重机有限公司 | 一种防摇摆户外门式起重机 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS59203093A (ja) * | 1983-05-04 | 1984-11-17 | 株式会社日立製作所 | 移動体の振れ止め制御装置 |
JPS601598A (ja) * | 1983-06-20 | 1985-01-07 | 株式会社東芝 | 復水浄化装置 |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4997095A (en) * | 1989-04-20 | 1991-03-05 | The United States Of America As Represented By The United States Department Of Energy | Methods of and system for swing damping movement of suspended objects |
JPH0332388A (ja) * | 1989-06-28 | 1991-02-12 | Hitachi Ltd | 直流モートルの電流制限回路方式 |
JP2918675B2 (ja) * | 1990-11-20 | 1999-07-12 | シバタ工業株式会社 | マンホールの鉄蓋受け枠構造 |
JPH04246088A (ja) * | 1991-01-31 | 1992-09-02 | Nakamichi Kikai Kk | 走行クレーンの荷振れ防止運転制御方法 |
EP0562124B1 (en) * | 1991-10-18 | 1997-02-05 | Kabushiki Kaisha Yaskawa Denki | Method and apparatus for controlling prevention of deflection of rope of crane |
JPH061589A (ja) * | 1992-06-19 | 1994-01-11 | Yaskawa Electric Corp | クレーンに於けるロープ駆動トロリ台車の横行装置制御方法 |
US5443566A (en) * | 1994-05-23 | 1995-08-22 | General Electric Company | Electronic antisway control |
-
1995
- 1995-04-26 JP JP10264395A patent/JP3358768B2/ja not_active Expired - Fee Related
-
1996
- 1996-04-25 CA CA002193890A patent/CA2193890A1/en not_active Abandoned
- 1996-04-25 EP EP96912240A patent/EP0768273A4/en not_active Withdrawn
- 1996-04-25 WO PCT/JP1996/001132 patent/WO1996033943A1/ja not_active Application Discontinuation
- 1996-04-25 KR KR1019960707438A patent/KR100374147B1/ko not_active IP Right Cessation
- 1996-04-25 CN CN96190395A patent/CN1099997C/zh not_active Expired - Fee Related
- 1996-04-25 US US08/750,584 patent/US5938052A/en not_active Expired - Lifetime
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS59203093A (ja) * | 1983-05-04 | 1984-11-17 | 株式会社日立製作所 | 移動体の振れ止め制御装置 |
JPS601598A (ja) * | 1983-06-20 | 1985-01-07 | 株式会社東芝 | 復水浄化装置 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101489908B (zh) * | 2006-07-25 | 2011-05-25 | 申正勋 | 具有四线线材结构的升降卷轴的线材扭曲防止装置以及具有该装置的升降卷轴 |
US11554240B2 (en) | 2017-02-27 | 2023-01-17 | Third Pole, Inc. | Systems and methods for ambulatory generation of nitric oxide |
Also Published As
Publication number | Publication date |
---|---|
KR100374147B1 (ko) | 2003-06-09 |
WO1996033943A1 (fr) | 1996-10-31 |
EP0768273A4 (en) | 1998-07-08 |
CA2193890A1 (en) | 1996-10-31 |
JP3358768B2 (ja) | 2002-12-24 |
CN1152290A (zh) | 1997-06-18 |
EP0768273A1 (en) | 1997-04-16 |
JPH08295486A (ja) | 1996-11-12 |
US5938052A (en) | 1999-08-17 |
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