EP3326957A1 - Procédé de fonctionnement d'une grue - Google Patents

Procédé de fonctionnement d'une grue Download PDF

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Publication number
EP3326957A1
EP3326957A1 EP16200168.9A EP16200168A EP3326957A1 EP 3326957 A1 EP3326957 A1 EP 3326957A1 EP 16200168 A EP16200168 A EP 16200168A EP 3326957 A1 EP3326957 A1 EP 3326957A1
Authority
EP
European Patent Office
Prior art keywords
trolley
load
movement
guide rail
crane
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.)
Withdrawn
Application number
EP16200168.9A
Other languages
German (de)
English (en)
Inventor
Markus Stephan Haschka
Uwe Ladra
Alois Recktenwald
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Priority to EP16200168.9A priority Critical patent/EP3326957A1/fr
Publication of EP3326957A1 publication Critical patent/EP3326957A1/fr
Withdrawn legal-status Critical Current

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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
    • 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
    • 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

Definitions

  • the invention relates to an operating method for moving a crane with an attached load.
  • the invention also relates to a computer program product adapted to implement the operating method.
  • the invention relates to a control unit which is designed to implement the method according to the invention and a crane which is equipped with such a control unit.
  • Out EP 2 902 356 A1 is a method for damping a pendulum movement of a load on a crane known, in which a lifting drive of a rope is controlled. Through the rope, the load is tilted during the pendulum motion to produce a torque that counteracts the pendulum motion. Alternatively, the center of gravity of the load can be raised and / or lowered to counteract the pendulum motion.
  • the publication DE 20 02 745 A1 discloses a method for suppressing oscillations of a load suspended on a crane.
  • a speed of a trolley is adapted to a mean period of the oscillating load.
  • a maximum acceleration takes place and in the last region of the last period an equally high deceleration of the trolley is carried out.
  • the underlying task is solved by the method according to the invention.
  • the method is based on the initial situation that a load is attached to a trolley of a crane, which is movable along a guide rail.
  • the trolley has a trolley drive, which provides the required drive power.
  • the load is raised, so that a pendulum movement is possible.
  • a movement of the trolley along the guide rail is initiated by the trolley drive being started.
  • the reaction force which is exerted on the trolley by the oscillating load is determined.
  • the trolley drive is controlled in such a way that the acting reaction force is compensated along the guide rail.
  • a drive torque generated by the trolley drive is adjusted in value.
  • the trolley thereby moves along the guide rail according to a predetermined acceleration and / or velocity profile. A deviation from the predetermined acceleration and / or velocity profile is thus avoided.
  • the trolley with the attached load thereby exhibits substantially the same movement profile as a trolley free of attached loads.
  • the movement of the trolley along the guide rail constitutes a reference variable.
  • the method according to the invention minimizes this feedback of the disturbance variable to the reference variable. aim This method is a quick achievement of the target position.
  • the control of the trolley so the corresponding programming and control of the trolley drive, thereby considerably simplified.
  • the pendulum motion of the load is damped.
  • at least one hoisting rope, on which the load is suspended is suitably activated via its lifting drive.
  • a free length of the hoisting rope is increased or decreased, thus influencing a pendulum length and / or changing an inclination of the load in the case of several hoist ropes.
  • the damping of the pendulum motion via the control of the lifting drive of at least one hoist rope is decoupled from the movement of the trolley along the guide rail.
  • hoist ropes can be operated via a common lifting drive or each hoist rope via a separate lifting drive.
  • combinations of these are possible, for example Two hoist ropes, which are controlled by a single hoist drive and two other hoist ropes, which are operated by separate Hubantrieben.
  • the reaction of the crane to the pendulum movement of the load is limited to measures that are suitable to act directly dampening. Measures that influence other variables relevant to operation, such as the movement of the trolley along the guide rail, and thus indirectly hinder the damping effect, are thus avoided.
  • a simple, robust and fast damping control and / or control algorithm can be used. The achievable damping effect is thereby further increased.
  • a control and / or control algorithm is used to control the lifting drive of at least one hoist rope for damping the pendulum motion, in which a distance between a trolley reference point and a load reference point is used as the signal input.
  • a trolley reference point can serve a fixed point on the surface of the trolley.
  • a load reference point can serve equally a fixed point on the surface of the load. This distance maps the disturbance, which is to be reduced by the control and / or regulating algorithm.
  • a simple and correspondingly powerful and robust control and / or regulating algorithm can be used. The thus achievable damping effect is thereby further increased.
  • a cable angle of at least one hoist rope can be detected.
  • the cable angle can be measured and / or detected in at least one spatial direction.
  • the hoist rope can be inclined with respect to several spatial directions.
  • a pendulum movement can thereby lead to a change in the rope angle, which is divided into several spatial directions. This may for example be the case when four hoisting ropes are connected to the load and the hoisting ropes form the edges of a truncated pyramid.
  • the method according to the invention has precise input variables, so that the reaction forces of the load on the trolley can be precisely compensated.
  • the movement of the trolley along the guide rail comprises a steady movement and / or an acceleration ride.
  • the maximum travel speed of the trolley is reached.
  • the maximum travel acceleration of the trolley during acceleration travel is present.
  • the acceleration travel can also be designed as a deceleration with a corresponding negative traversing acceleration.
  • the inventive decoupling of the reference variable, namely the desired target position of the trolley, the disturbance, ie the pendulum motion, ensures full utilization of the performance of the trolley drive.
  • the target position can be reached faster by the trolley, and thus also by the load. As a result, the achievable operating speed of the crane is increased.
  • this movement may have a constant direction.
  • the movement speed is therefore variable in amount, but keeps its sign, so its orientation direction.
  • the movement of the trolley along the guide rail is therefore free of changes in direction of rotation of the trolley drive.
  • Sign or direction change of the trolley drive means for the mechanical components, which are the output side coupled to a drive motor of the trolley drive, considerable stresses that go hand in hand with increased wear.
  • the inventive method avoids such wear, so that the life and reliability of the trolley and its trolley drive can be increased.
  • the crane, to which the trolley belongs, can therefore be operated with little maintenance.
  • a reaction force is exerted on the trolley via a mechanical coupling between the trolley and the load, which acts along the guide rail.
  • the detection of the reaction force of the load on the trolley is based on a detection of a pendulum movement of the load and / or a determination of at least one bearing reaction in a trolley-side suspension point.
  • the trolley and / or the crane can be equipped with suitable measuring and evaluation means, for example optical detection with a camera.
  • a bearing reaction in at least one track-side suspension point can also be determined.
  • the determination of the bearing reaction includes the quantitative detection of bearing reaction forces and / or bearing reaction moments and the detection of their directions of action.
  • Strain gauges and / or piezoelectric sensors can be used for this purpose, which are designed to measure a deformation of a construction element at the suspension-side suspension point.
  • a structural element may be, for example, a bolt.
  • the detection of the pendulum movement and / or the bearing reaction in at least one track-side suspension point makes it possible to determine the reaction force quickly and accurately in a subsequent method step.
  • the method according to the invention may include that the weight of the load and / or a free length of at least one hoist rope are detected to determine the reaction forces of the load on the trolley.
  • the reaction forces on the trolley in a pendulum motion correspond essentially with inertial forces, which are dependent inter alia on the weight of the pendulum body, in this case the load.
  • the free length of the at least one hoisting rope represents the length of the corresponding hoist rope between a suspension point on the trolley and a suspension point on the load.
  • the pendulum length is hereby a measure of its period duration.
  • the reaction forces which are imminent and to be expected in the pendulum motion can be derived from the trolley.
  • the inventive method can be further developed by the inclusion of the outlined sizes for a closer calculation of expected reaction forces. The compensation of the reaction forces on the trolley is thus more accurate and the damping effect further increased.
  • the steps outlined are carried out separately for a movement of the trolley along a first and a second guide rail.
  • the first and second guide rails are aligned in different spatial directions and arranged at a preferably right angle to each other. This allows movement of the trolley in two dimensions.
  • the first guide rail is movable along the second guide rail and vice versa.
  • oscillating movements can be damped in several spatial directions.
  • the principle of separation from Disturbance and command value are continued in this way.
  • a complex mutual superimposition of control and disturbance variables in several dimensions is thus avoided.
  • each simplified control or regulation can be used.
  • the use of a complex crane control or crane control is avoided. Overall, the operating speed of the crane is increased.
  • the compensating control of the trolley drive during the movement of the trolley and / or during a pause in a target position.
  • a traversing phase for damping the pendulum motion by means of the simultaneous activation of at least one hoist rope is used.
  • the requirement for effective damping of the pendulum motion is maintained.
  • the method according to the invention is thus free of a switchover between a movement mode and a holding mode.
  • the same control and / or regulating algorithm can be used to damp the pendulum movement in each operating phase. An error-prone case distinction between movement and maintenance operation is therefore unnecessary. As a result, the possible operating speed of the crane is further increased.
  • the underlying task is also solved by the computer program product according to the invention, which is designed to control at least one lifting drive and a trolley drive a trolley of a crane.
  • the trolley is movable along a guide rail.
  • the computer program product is designed to detect a cable angle of at least one hoist rope of the crane via corresponding input data, which are sent for example by a suitable measuring device. The detection of the rope angle takes place in at least one spatial direction.
  • the computer program product is according to the invention adapted to implement at least one embodiment of the above outlined method on a crane. Due to the simplicity of the method according to the invention, the associated computer program product has low requirements in terms of hardware performance.
  • the computer program product thus makes it possible to quickly and easily implement the method according to the invention also on an existing crane in the course of a retrofit or an update.
  • the process according to the invention thus has a wide potential range of use.
  • the task is equally solved by a control unit, which is designed for controlling and / or regulating a crane.
  • the crane has at least one lifting drive, a trolley drive and at least one measuring device.
  • the measuring device is adapted to detect a position and / or a weight of a load suspended on the crane.
  • the position of the load comprises a rope angle of a hoist rope on which the load is suspended.
  • the rope angle is detected in at least one spatial direction.
  • the control unit has a memory and an arithmetic unit and is therefore suitable for storing and executing a computer program product. According to the invention, this is a computer program product outlined above, which is designed to implement the method according to the invention.
  • the control unit has a chip formed by its wiring for executing a program.
  • the chip may have a wiring which is suitable for implementing at least one embodiment of the method according to the invention.
  • the underlying task is also solved by a crane, which is designed for lifting and moving a load by means of at least one hoisting rope by means of an associated lifting drive.
  • the hoist rope is attached to a trolley, which is movable along a guide rail.
  • the crane is with an inventive invention described above Connected control unit, which is adapted to implement the method according to the invention.
  • FIG. 1 is shown schematically in a side view of a trolley 12, which belongs to a crane 10, not shown.
  • the crane 10 also includes a guide rail 14 on which the trolley 12 is movably arranged along a movement axis 15.
  • the trolley 12 has a trolley drive 19, which provides a drive torque 31 and allows movement 13 along the movement axis 15.
  • a load 20 is suspended via two hoisting ropes 16.
  • the hoisting ropes 16 are each attached to trolley side suspension points 17 and load-side suspension points 18.
  • Each of the hoisting ropes 16 is further associated with a lifting drive 11, via which the associated Hoisting rope 16 up or unrolled. A rolling or unwinding of a hoist rope 16 reduces or increases its free length 27.
  • a deflection of the load 20 By the movement 13 of the trolley 12, a deflection of the load 20 from the vertical. Due to the deflection of the load 20 results between a load reference point 29 and a trolley reference point 21, a distance 33, which represents a disturbance. Furthermore, a deflection movement 25 is caused by the deflection of the load 20, which makes it difficult to place the load 20.
  • the pendulum movement 25 leads to the trolley side suspension points 17 to a variable cable angle 26, the in FIG. 1 only shown as an angle in the drawing plane.
  • the rope angle 26 is the same size.
  • the position 23 of the load 20 with respect to the trolley 12 is thus determined by the free length 27 of the hoisting ropes 16 and the or the cable angle 26.
  • the load 20 has a weight 22, which is shown as a weight force vector 22.
  • the rope angle 26 act on the hoisting ropes 16 each have a tensile component 44 and a horizontal force component 46.
  • the horizontal force components 46 on the individual hoisting ropes 16 also act on the trolley 12 as a respective reaction force 24.1, 24.2.
  • the reaction forces 24.1, 24.2 are combined into a single reaction force 24, which is directed to accelerate the trolley 12.
  • the crane 10 is equipped with a measuring device not shown in more detail, which is suitable for detecting the cable angle 26 in at least one of the spatial directions 37.
  • the spatial directions 37 are in the form of a coordinate system 35 in FIG FIG. 1 shown.
  • the measuring device 38 is also suitable for determining the weight 22 of the load 20.
  • the trolley 12 is also provided with a control unit 90 on which a computer program product 80 is executively stored.
  • the computer program product 80 is designed to carry out at least one embodiment of the method 100 according to the invention.
  • the reaction force 24 acting on the trolley 12 is determined.
  • the method 100 intervenes in the control of the trolley drive 19 and adjusts the provided drive torque 31 in such a way that the trolley drive 19 exerts a compensating force 30 on the trolley 12.
  • the balancing force 30 and the reaction force 24 are substantially equal in magnitude and oriented in opposite directions.
  • the movement 13 is consequently not influenced by the reaction force 24 caused by the load 20.
  • the trolley 12 carries out its movement 13 along the guide rail 14 with the suspended load 20 just like without a suspended load 20.
  • control unit 90 of the trolley 12 is further implemented a control and / or regulating algorithm 32, which is designed to To counteract pendulum motion 25 by driving the lifting actuators 11.
  • a decoupling of the guiding movement that is to say the movement 13 to a target position, from a disturbing movement, namely the pendulum movement 25, is achieved.
  • the trolley 12 achieved by the inventive method 100 quickly a target position and is capable of counteracting the pendulum movement 25 both during the movement 13 and at a standstill.
  • FIG. 2 schematically a sequence of an embodiment of the inventive method 100 is shown.
  • the method 100 is based on a trolley 12, which is in an initial position 47 in the resting state and on which a load 20 is suspended.
  • the trolley 12 is movable via a trolley drive 19 along a guide rail 14.
  • the trolley drive 31 provides an adjustable drive torque 31, via which the movement 13 along the guide rail can be introduced.
  • the load 20 is attached via load-side suspension points 18 and trolley-side suspension points 17 with hoisting ropes 16 on the trolley 12.
  • a bearing reaction 34 which, depending on the design of the respective trolley-side suspension point 17 bearing reaction forces and / or bearing reaction moments.
  • Each of the hoisting ropes 16 can be rolled up and unrolled via a lifting drive 11. As a result, the free length 27 of the individual hoisting ropes 16 is variable.
  • the trolley reference point 21 At rest, as in FIG. 1 On the left, the trolley reference point 21 is located immediately above the load reference point 29. This results in a distance 33 of zero between the trolley reference point 21 and the load reference point 29 in the horizontal direction. At such a distance 33 from zero, a vertical settling of the load 20 is readily possible.
  • FIG. 2 The course of the method 100 according to the invention is shown in FIG. 2 also shown on a diagram 50.
  • the vertical axis constitutes the time axis 52 and the horizontal axis the position axis 54.
  • a zero line 56 defines the reference level for a deviation 40 corresponding to a horizontal distance 33 between the load reference point 29 and the trolley reference point 21.
  • a start 55 from the starting position 47 between the trolley reference point 21 and the load reference point 29 is a horizontal distance 33 of zero.
  • the trolley 12, and thus also the trolley reference point 21 moves in a traversing phase 58 at a substantially constant speed. Due to the inertia of the load 20 this depends on the trolley 21 behind.
  • a control and / or regulating algorithm 32 which is implemented in a computer program product 80 in a control unit 90 of the trolley 12.
  • the deviation 40 is meanwhile reduced in amount.
  • a cable angle 26 between at least one hoist rope 16 and a vertical direction is determined.
  • there are horizontal force components 46 which act as reaction forces 24.1, 24.2 on the trolley 12.
  • the reaction forces 24.1, 24.2 are combined into a reaction force 24.
  • the trolley drive 19 is driven in such a way that a Balancing force 30 is generated, which compensates the reaction force 24.
  • the traversing phase 58 is followed by a stoppage phase 59 in which the trolley 12 is stationary with respect to the guide rail 14.
  • a pendulum movement 25 takes place, which is further damped by the control and / or regulation algorithm 32.
  • the stoppage phase 59 begins with the reaching of the target position 49. In the target position 49 there is a brief overshoot 57 of the load 20. Even in the stoppage phase 59, the reaction force 24, which acts on the trolley 12, via the trolley drive 19, the one Balancing force 30 generated, compensated and stabilized so the standstill. Meanwhile, further counteracted by the control and regulating algorithm 32 of the oscillating motion 25 by means of a corresponding control of at least one hoist rope 16.
  • the thereby assuming deviation 40 is shown in the diagram 50 in the form of a damping cone 42, which is bounded by two envelopes 43.
  • the deviation 40 and thus the oscillating movement 25, has reached a minimum at which it is possible to settle the load safely and precisely.
  • the method 100 according to the invention achieves a short traversing phase 58 and thus reduces the process duration 48.
  • FIG. 3 a flow chart of an embodiment of the inventive method 100 for operating a crane 10 is shown. Same reference numerals as in FIG. 1 and FIG. 2 have in FIG. 3 the same meaning.
  • the method 100 starts from an initial situation 105 in which a load 20 is suspended on a trolley 12 of the crane 10, the trolley 12 is in an initial position 47 and the load 20 is substantially motionless.
  • a first method step 110 a movement 13 of the trolley 12 is initiated.
  • the movement 13 is thereby from a trolley drive 19 caused, which exerts an adjustable drive torque 31 on the trolley 12.
  • a pendulum movement 25 of the load 20 is detected by detecting or measuring the weight 22 of the load 20.
  • a cable angle 26 of a hoisting rope 16 is determined with respect to the vertical for detecting the oscillating movement 25. This is done, for example, optically via a measuring device 38, which is designed as a camera. The detection of the cable angle 26 takes place along at least one spatial direction 37. For the detection of the pendulum movement 25, the measurements of the cable angle 26 are carried out continuously.
  • a reaction force 24, 24.1, 24.2 is determined, which acts on the trolley 12 through the load 20.
  • branch 135 it is checked whether a desired target position 49 has already been reached by the trolley 12 and whether there is still a pendulum movement 25 for which further damping is required.
  • the fourth method step 140 follows. In the fourth method step 140, it is determined which drive torque 31 is required for the trolley drive 19 to determine the action of the reaction force 24 to compensate. A drive torque 31 is calculated which provides a compensation force 30 and optionally continues a movement 13 along the guide rail 15 in accordance with a predetermined movement profile. Furthermore, control commands are output to the trolley drive 19, which provide the ascertained compensating force 30. Thereafter, the method 100 again enters the second method step 120, in which the oscillating movement 25 is detected.
  • the method 100 reaches the desired final state 200 from the branch 135.
  • FIG. 4 shows a crane 10, which has a trolley 12 which is movable along a movement axis 15 on a guide rail 14. A movement 13 on the guide rail 14 is made possible by a trolley drive 19.
  • the crane 10 is provided with measuring devices 38 which are designed as cameras and detect a rope angle 26 between a hoist rope 16 and the vertical. The detection of the cable angle 26 takes place along at least one spatial direction 37.
  • the spatial directions 37 are in FIG. 4 as a coordinate system 35 shown schematically.
  • the hoist rope 16 is attached to a trolley-side suspension point 17 and a load-side suspension point 18.
  • the suspension points 17, 18 each correspond to a trolley reference point 21 and a load reference point 29.
  • the crane 10 also has measuring devices, not shown, for measuring the weight 22 of the load 20.
  • the crane 10 has a control unit 90, in which a computer program product 80 is stored executable, which is designed to implement the method 100 according to the invention.
  • the control unit has a suitable memory 92 and a suitable arithmetic unit 94.
  • the trolley drive 19 is controlled such that a reaction force 24 is compensated.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)
EP16200168.9A 2016-11-23 2016-11-23 Procédé de fonctionnement d'une grue Withdrawn EP3326957A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP16200168.9A EP3326957A1 (fr) 2016-11-23 2016-11-23 Procédé de fonctionnement d'une grue

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP16200168.9A EP3326957A1 (fr) 2016-11-23 2016-11-23 Procédé de fonctionnement d'une grue

Publications (1)

Publication Number Publication Date
EP3326957A1 true EP3326957A1 (fr) 2018-05-30

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EP16200168.9A Withdrawn EP3326957A1 (fr) 2016-11-23 2016-11-23 Procédé de fonctionnement d'une grue

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Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2002745A1 (de) 1970-01-22 1971-08-05 Siemag Siegener Masch Bau Walzgeruest mit in einbaustuecken lagernden, anstellbaren arbeitswalzen
EP0583816A1 (fr) * 1992-08-04 1994-02-23 FINMECCANICA S.p.A. AZIENDA ANSALDO Procédé pour déterminer l'angle de l'inclinaison d'un câble, et un appareil pour prevenir des oscillations pendulaires par réglage de cet angle dans un appareil élévateur
FR2704847A1 (fr) * 1993-05-05 1994-11-10 Bertin & Cie Procédé et dispositif de limitation du ballant d'une charge suspendue à un support motorisé.
US5443566A (en) * 1994-05-23 1995-08-22 General Electric Company Electronic antisway control
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
GB2294028A (en) * 1994-04-28 1996-04-17 Yaskawa Electric Corp Swing-stop control method for a crane
DE102006015359A1 (de) * 2006-04-03 2007-10-11 Siemens Ag Betriebsverfahren für eine Anlage mit einem mechanisch bewegbaren Element
FR2923818A1 (fr) * 2007-11-19 2009-05-22 Schneider Toshiba Inverter Dispositif de regulation du deplacement d'une charge suspendue.
EP2902356A1 (fr) 2014-01-29 2015-08-05 Siemens Aktiengesellschaft Grue avec amortissement actif des mouvements d'oscillation de la charge

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2002745A1 (de) 1970-01-22 1971-08-05 Siemag Siegener Masch Bau Walzgeruest mit in einbaustuecken lagernden, anstellbaren arbeitswalzen
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
EP0583816A1 (fr) * 1992-08-04 1994-02-23 FINMECCANICA S.p.A. AZIENDA ANSALDO Procédé pour déterminer l'angle de l'inclinaison d'un câble, et un appareil pour prevenir des oscillations pendulaires par réglage de cet angle dans un appareil élévateur
FR2704847A1 (fr) * 1993-05-05 1994-11-10 Bertin & Cie Procédé et dispositif de limitation du ballant d'une charge suspendue à un support motorisé.
GB2294028A (en) * 1994-04-28 1996-04-17 Yaskawa Electric Corp Swing-stop control method for a crane
US5443566A (en) * 1994-05-23 1995-08-22 General Electric Company Electronic antisway control
DE102006015359A1 (de) * 2006-04-03 2007-10-11 Siemens Ag Betriebsverfahren für eine Anlage mit einem mechanisch bewegbaren Element
FR2923818A1 (fr) * 2007-11-19 2009-05-22 Schneider Toshiba Inverter Dispositif de regulation du deplacement d'une charge suspendue.
EP2902356A1 (fr) 2014-01-29 2015-08-05 Siemens Aktiengesellschaft Grue avec amortissement actif des mouvements d'oscillation de la charge

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