CN115520784A - 负载搬运机械的动态挠曲补偿、协调提升机控制和防摆控制 - Google Patents
负载搬运机械的动态挠曲补偿、协调提升机控制和防摆控制 Download PDFInfo
- Publication number
- CN115520784A CN115520784A CN202210723509.3A CN202210723509A CN115520784A CN 115520784 A CN115520784 A CN 115520784A CN 202210723509 A CN202210723509 A CN 202210723509A CN 115520784 A CN115520784 A CN 115520784A
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- velocity
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- floating base
- suspended load
- torques
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Classifications
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- 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
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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- 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
-
- 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
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
- B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical
-
- 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
- B66C13/16—Applications of indicating, registering, or weighing devices
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- 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
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- 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
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
- B66C19/002—Container cranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
- B66C23/68—Jibs foldable or otherwise adjustable in configuration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
- B66C19/007—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries for containers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Automation & Control Theory (AREA)
- Geology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Civil Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Control And Safety Of Cranes (AREA)
- Geophysics And Detection Of Objects (AREA)
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
Abstract
Description
Claims (16)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FI20215750A FI129740B (en) | 2021-06-24 | 2021-06-24 | DYNAMIC BEND COMPENSATION, COORDINATED LIFTING CONTROL, AND SWIVEL PREVENTION IN CARGO HANDLING EQUIPMENT |
FI20215750 | 2021-06-24 |
Publications (1)
Publication Number | Publication Date |
---|---|
CN115520784A true CN115520784A (zh) | 2022-12-27 |
Family
ID=82258472
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202210723509.3A Pending CN115520784A (zh) | 2021-06-24 | 2022-06-24 | 负载搬运机械的动态挠曲补偿、协调提升机控制和防摆控制 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20220411234A1 (zh) |
EP (1) | EP4144681A3 (zh) |
CN (1) | CN115520784A (zh) |
AU (1) | AU2022204468B2 (zh) |
FI (3) | FI129740B (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN116969334A (zh) * | 2023-09-14 | 2023-10-31 | 华侨大学 | 一种多天车协同作业系统 |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN116692677B (zh) * | 2023-06-07 | 2024-01-30 | 南京工业大学 | 基于卡尔曼滤波器的桥式起重机离散滑模控制方法及系统 |
CN117196261B (zh) * | 2023-11-06 | 2024-02-27 | 江苏省港口集团信息科技有限公司 | 一种基于场桥作业范围的任务指令分配方法 |
CN117720012B (zh) * | 2024-02-08 | 2024-05-07 | 泰安市特种设备检验研究院 | 基于扩展卡尔曼滤波的吊车系统模型预测控制方法及系统 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20050103738A1 (en) * | 2003-11-14 | 2005-05-19 | Alois Recktenwald | Systems and methods for sway control |
US20150203334A1 (en) * | 2014-01-17 | 2015-07-23 | Mi-Jack Products, Inc. | Crane Trolley and Hoist Position Homing and Velocity Synchronization |
CN107215777A (zh) * | 2017-07-14 | 2017-09-29 | 武汉理工大学 | 一种起重机智能防摇摆控制系统及其精确定位方法 |
US20210122615A1 (en) * | 2018-06-26 | 2021-04-29 | Liebherr-Components Biberach Gmbh | Crane And Method For Controlling Such A Crane |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6496765B1 (en) * | 2000-06-28 | 2002-12-17 | Sandia Corporation | Control system and method for payload control in mobile platform cranes |
US7367464B1 (en) * | 2007-01-30 | 2008-05-06 | The United States Of America As Represented By The Secretary Of The Navy | Pendulation control system with active rider block tagline system for shipboard cranes |
EP3566998B1 (en) * | 2018-05-11 | 2023-08-23 | ABB Schweiz AG | Control of overhead cranes |
CN113003415B (zh) * | 2021-02-02 | 2023-01-10 | 北京拓疆者智能科技有限公司 | 一种塔吊自稳定控制方法及系统 |
-
2021
- 2021-06-24 FI FI20215750A patent/FI129740B/en active IP Right Grant
-
2022
- 2022-04-27 FI FI20225354A patent/FI130420B/en active
- 2022-04-27 FI FI20225356A patent/FI130370B/en active
- 2022-06-23 EP EP22180718.3A patent/EP4144681A3/en active Pending
- 2022-06-24 CN CN202210723509.3A patent/CN115520784A/zh active Pending
- 2022-06-24 US US17/849,145 patent/US20220411234A1/en active Pending
- 2022-06-24 AU AU2022204468A patent/AU2022204468B2/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20050103738A1 (en) * | 2003-11-14 | 2005-05-19 | Alois Recktenwald | Systems and methods for sway control |
US20150203334A1 (en) * | 2014-01-17 | 2015-07-23 | Mi-Jack Products, Inc. | Crane Trolley and Hoist Position Homing and Velocity Synchronization |
CN107215777A (zh) * | 2017-07-14 | 2017-09-29 | 武汉理工大学 | 一种起重机智能防摇摆控制系统及其精确定位方法 |
US20210122615A1 (en) * | 2018-06-26 | 2021-04-29 | Liebherr-Components Biberach Gmbh | Crane And Method For Controlling Such A Crane |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN116969334A (zh) * | 2023-09-14 | 2023-10-31 | 华侨大学 | 一种多天车协同作业系统 |
CN116969334B (zh) * | 2023-09-14 | 2023-12-22 | 华侨大学 | 一种多天车协同作业系统 |
Also Published As
Publication number | Publication date |
---|---|
FI130420B (en) | 2023-08-22 |
EP4144681A2 (en) | 2023-03-08 |
US20220411234A1 (en) | 2022-12-29 |
AU2022204468B2 (en) | 2023-12-07 |
FI20215750A1 (en) | 2022-08-15 |
FI20225356A1 (en) | 2022-12-25 |
EP4144681A3 (en) | 2023-04-26 |
AU2022204468A1 (en) | 2023-01-19 |
FI130370B (en) | 2023-07-31 |
FI20225354A1 (en) | 2022-12-25 |
FI129740B (en) | 2022-08-15 |
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Legal Events
Date | Code | Title | Description |
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PB01 | Publication | ||
PB01 | Publication | ||
CB03 | Change of inventor or designer information |
Inventor after: Youho Vichonin Inventor after: Mohamed M. Arif Inventor after: Vladimir Petrick Inventor after: Carol Arndt Inventor after: David Blanco Mulero Inventor after: Weiler Kelky Inventor after: Yoso Naskali Inventor after: Marco Rashinin Inventor before: Youho Vichonin Inventor before: Mohammed M. Arif Inventor before: Petrick Vladimir Inventor before: Carol Arndt Inventor before: David Blanco Mulero Inventor before: Weiler Kelky Inventor before: Yoso Naskali Inventor before: Marco Rashinin |
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CB03 | Change of inventor or designer information | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination |