CN112173967A - 一种重物初始摇摆的抑制方法及装置 - Google Patents
一种重物初始摇摆的抑制方法及装置 Download PDFInfo
- Publication number
- CN112173967A CN112173967A CN202011175069.XA CN202011175069A CN112173967A CN 112173967 A CN112173967 A CN 112173967A CN 202011175069 A CN202011175069 A CN 202011175069A CN 112173967 A CN112173967 A CN 112173967A
- Authority
- CN
- China
- Prior art keywords
- angle
- torque
- swing
- pass filter
- output
- 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.)
- Granted
Links
Images
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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
Description
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202011175069.XA CN112173967B (zh) | 2020-10-28 | 2020-10-28 | 一种重物初始摇摆的抑制方法及装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202011175069.XA CN112173967B (zh) | 2020-10-28 | 2020-10-28 | 一种重物初始摇摆的抑制方法及装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN112173967A true CN112173967A (zh) | 2021-01-05 |
CN112173967B CN112173967B (zh) | 2023-01-03 |
Family
ID=73917442
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202011175069.XA Active CN112173967B (zh) | 2020-10-28 | 2020-10-28 | 一种重物初始摇摆的抑制方法及装置 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN112173967B (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113071989A (zh) * | 2021-03-25 | 2021-07-06 | 安徽工程大学 | 一种起重机的电机控制方法 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5495955A (en) * | 1991-10-18 | 1996-03-05 | Kabushiki Kaisha Yaskawa Denki | Method and apparatus of damping the sway of the hoisting rope of a crane |
CN1128010A (zh) * | 1994-04-28 | 1996-07-31 | 株式会社安川电机 | 拉紧起重机的方法 |
CN101384503A (zh) * | 2006-02-15 | 2009-03-11 | 株式会社安川电机 | 吊装载荷摆动防止装置 |
JP2012111561A (ja) * | 2010-11-19 | 2012-06-14 | Ube Machinery Corporation Ltd | クレーン振れ角検出方法及び装置、並びにクレーン振れ止め制御方法及び装置 |
-
2020
- 2020-10-28 CN CN202011175069.XA patent/CN112173967B/zh active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5495955A (en) * | 1991-10-18 | 1996-03-05 | Kabushiki Kaisha Yaskawa Denki | Method and apparatus of damping the sway of the hoisting rope of a crane |
CN1128010A (zh) * | 1994-04-28 | 1996-07-31 | 株式会社安川电机 | 拉紧起重机的方法 |
CN101384503A (zh) * | 2006-02-15 | 2009-03-11 | 株式会社安川电机 | 吊装载荷摆动防止装置 |
JP2012111561A (ja) * | 2010-11-19 | 2012-06-14 | Ube Machinery Corporation Ltd | クレーン振れ角検出方法及び装置、並びにクレーン振れ止め制御方法及び装置 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113071989A (zh) * | 2021-03-25 | 2021-07-06 | 安徽工程大学 | 一种起重机的电机控制方法 |
CN113071989B (zh) * | 2021-03-25 | 2022-03-11 | 安徽工程大学 | 一种起重机的电机控制方法 |
Also Published As
Publication number | Publication date |
---|---|
CN112173967B (zh) | 2023-01-03 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN106115484B (zh) | 用于人工操作的桥式起重机吊钩防摇控制方法及系统 | |
JP4840442B2 (ja) | 吊荷振れ止め装置 | |
EP1652810B1 (en) | Crane and controller for the same | |
US9075400B2 (en) | Motor control device | |
JP5356521B2 (ja) | 作業機械の旋回制御装置 | |
CN106927366B (zh) | 一种桥门式起重机开环防摇方法 | |
CN101145027B (zh) | 一种磁悬浮控制力矩陀螺框架伺服控制系统 | |
KR20110004776A (ko) | 로드 케이블에 매달린 하물을 취급하기 위한 크레인 | |
CN112173967B (zh) | 一种重物初始摇摆的抑制方法及装置 | |
JP2012139807A (ja) | ロボット及びロボットのノイズ除去方法 | |
WO2022227585A1 (zh) | 一种防摇摆控制方法及行车 | |
US20220194749A1 (en) | Crane and method for controlling such a crane | |
JPH10258987A (ja) | 吊り荷の振れ止め装置 | |
CN2663386Y (zh) | 卸船机智能控制电子防摇设备 | |
JP2001048467A (ja) | クレーンの振れ止め制御装置 | |
JPH09267989A (ja) | クレーン吊り荷の振れ止め制御方法 | |
JP4163450B2 (ja) | クレーンの振れ止め方法 | |
Khandakji et al. | Anti-sway system for container cranes with coordinated motion control and reduced dynamic loads | |
JP2000191275A (ja) | クレーン装置 | |
JPH06135684A (ja) | 最大振れ角検出装置 | |
CN117208759A (zh) | 塔吊、滤波器设计方法、计算机装置、可读存储介质 | |
JP2002020080A (ja) | 作業船における吊りフックの揺れ止め制御方法 | |
JP2001019354A (ja) | クレーンにおける吊上機構の振れ止め制御方法 | |
JP2001019353A (ja) | クレーンの吊上機構の振れ角検出方法 | |
KR101257510B1 (ko) | 화물진동댐퍼 및 경로 제어기를 포함하는 크레인 또는굴착기의 케이블에 걸려 있는 화물의 자동이송방법 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
CB02 | Change of applicant information | ||
CB02 | Change of applicant information |
Address after: 430000 workshop D, no.6, ligongyuan Road, Science Park, Wuhan University of technology, Donghu Development Zone, Wuhan City, Hubei Province Applicant after: Wuhan Gangdi Technology Co.,Ltd. Address before: 430000 workshop D, no.6, ligongyuan Road, Science Park, Wuhan University of technology, Donghu Development Zone, Wuhan City, Hubei Province Applicant before: WUHAN GUIDE ELECTRIC DRIVE TECHNOLOGY Co.,Ltd. |
|
CB03 | Change of inventor or designer information | ||
CB03 | Change of inventor or designer information |
Inventor after: Xie Ming Inventor after: Chi Jinsheng Inventor after: Li Xiaosong Inventor after: Zeng Guoqing Inventor after: Mao Rongfang Inventor after: Wang Jun Inventor before: Xie Ming Inventor before: Li Xiaosong Inventor before: Zeng Guoqing Inventor before: Mao Rongfang Inventor before: Wang Jun |
|
GR01 | Patent grant | ||
GR01 | Patent grant | ||
CB03 | Change of inventor or designer information | ||
CB03 | Change of inventor or designer information |
Inventor after: Xie Ming Inventor after: Li Xiaosong Inventor after: Zeng Guoqing Inventor after: Wang Jun Inventor before: Xie Ming Inventor before: Chi Jinsheng Inventor before: Li Xiaosong Inventor before: Zeng Guoqing Inventor before: Mao Rongfang Inventor before: Wang Jun |