ES2076992T3 - Procedimiento para amortiguar la oscilacion de la carga de una grua. - Google Patents

Procedimiento para amortiguar la oscilacion de la carga de una grua.

Info

Publication number
ES2076992T3
ES2076992T3 ES90110892T ES90110892T ES2076992T3 ES 2076992 T3 ES2076992 T3 ES 2076992T3 ES 90110892 T ES90110892 T ES 90110892T ES 90110892 T ES90110892 T ES 90110892T ES 2076992 T3 ES2076992 T3 ES 2076992T3
Authority
ES
Spain
Prior art keywords
damping
load
crane
procedure
swing
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 - Lifetime
Application number
ES90110892T
Other languages
English (en)
Inventor
Jouko Virkkunen
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.)
Konecranes PLC
Original Assignee
KCI Konecranes International Oy
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 KCI Konecranes International Oy filed Critical KCI Konecranes International Oy
Application granted granted Critical
Publication of ES2076992T3 publication Critical patent/ES2076992T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

UN PROCEDIMIENTO PARA AMORGITUAR EL BALANCEO DE LA CARGA (2) QUE SE MUEVE POR EL CARRO (1) DE UNA GRUA, SUSPENDIENDOSE DICHA CARGA DE POR LO MENOS UNA SOGA DE ELVACION (3). SE LOGRA LA AMORTIGUACION UTILIZANDO UN SISTEMA DE CONTROL DE TIEMPO CUYO INTERVALO DE CONTROL VARIA CON LA LONGITUD DE LA SOGA DE ELEVACION (L) MIENTRAS LOS PARAMETROS DE CONTROL PERMANECEN CONSTANTES.
ES90110892T 1989-06-12 1990-06-08 Procedimiento para amortiguar la oscilacion de la carga de una grua. Expired - Lifetime ES2076992T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FI892863A FI86533C (fi) 1989-06-12 1989-06-12 Foerfarande foer daempning av svaengningarna hos en kranlast.

Publications (1)

Publication Number Publication Date
ES2076992T3 true ES2076992T3 (es) 1995-11-16

Family

ID=8528619

Family Applications (1)

Application Number Title Priority Date Filing Date
ES90110892T Expired - Lifetime ES2076992T3 (es) 1989-06-12 1990-06-08 Procedimiento para amortiguar la oscilacion de la carga de una grua.

Country Status (5)

Country Link
US (1) US5127533A (es)
EP (1) EP0402790B1 (es)
DE (1) DE69022295T2 (es)
ES (1) ES2076992T3 (es)
FI (1) FI86533C (es)

Families Citing this family (32)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SG47510A1 (en) * 1991-10-18 1998-04-17 Yaskawa Denki Seisakusho Kk Method and apparatus of damping the sway of the hoisting rope of a crane
US5645181A (en) * 1992-02-12 1997-07-08 Kato Works Co., Ltd. Method for detecting a crane hook lifting distance
FR2698344B1 (fr) * 1992-11-23 1994-12-30 Telemecanique Dispositif de régulation du transfert d'une charge suspendue.
FI91239C (fi) * 1993-02-01 1998-07-20 Kimmo Hytoenen Menetelmä ja laitteisto nosturin toiminnan ohjaamiseksi
US5331267A (en) * 1993-02-11 1994-07-19 Harnischfeger Corporation Method for determining motor speed of an induction motor for a hoist
FI93201C (fi) * 1993-05-26 1995-03-10 Kci Kone Cranes Int Oy Menetelmä nosturin ohjaamiseksi
US5526946A (en) * 1993-06-25 1996-06-18 Daniel H. Wagner Associates, Inc. Anti-sway control system for cantilever cranes
FR2708920B1 (fr) * 1993-08-13 1995-10-13 Caillard Procédé de contrôle de balancement d'une charge pendulaire et dispositif de mise en Óoeuvre du procédé.
US5729339A (en) * 1993-09-02 1998-03-17 Korea Atomic Energy Research Institute Swing angle measuring apparatus for swing free operation of crane
KR970003508B1 (ko) * 1994-03-25 1997-03-18 한국원자력연구소 크레인의 진동방지를 위한 속도 제어 방법
US6135301A (en) * 1994-03-28 2000-10-24 Mitsubishi Jukogyo Kabushiki Kaisha Swaying hoisted load-piece damping control apparatus
JP2971318B2 (ja) * 1994-03-28 1999-11-02 三菱重工業株式会社 吊荷の振れ止め制御装置
US5443566A (en) * 1994-05-23 1995-08-22 General Electric Company Electronic antisway control
FI101215B (fi) * 1994-12-13 1998-05-15 Abb Industry Oy Menetelmä nosturin taakan heilahtelun vaimentamiseksi
US5713477A (en) * 1995-10-12 1998-02-03 Wallace, Jr.; Walter J. Method and apparatus for controlling and operating a container crane or other similar cranes
US5960969A (en) * 1996-01-26 1999-10-05 Habisohn; Chris Xavier Method for damping load oscillations on a crane
US5908122A (en) * 1996-02-29 1999-06-01 Sandia Corporation Sway control method and system for rotary cranes
US5785191A (en) * 1996-05-15 1998-07-28 Sandia Corporation Operator control systems and methods for swing-free gantry-style cranes
US6050429A (en) * 1996-12-16 2000-04-18 Habisohn; Chris X. Method for inching a crane without load swing
US7845087B2 (en) * 1999-12-14 2010-12-07 Voecks Larry A Apparatus and method for measuring and controlling pendulum motion
US7121012B2 (en) * 1999-12-14 2006-10-17 Voecks Larry A Apparatus and method for measuring and controlling pendulum motion
US6588610B2 (en) * 2001-03-05 2003-07-08 National University Of Singapore Anti-sway control of a crane under operator's command
US7970521B2 (en) * 2005-04-22 2011-06-28 Georgia Tech Research Corporation Combined feedback and command shaping controller for multistate control with application to improving positioning and reducing cable sway in cranes
US8235229B2 (en) * 2008-01-31 2012-08-07 Georgia Tech Research Corporation Methods and systems for double-pendulum crane control
FI120789B (fi) * 2008-06-23 2010-03-15 Konecranes Oyj Menetelmä nopeussäädettävän nostinkäytön moottorin pyörimisnopeuden ohjaamiseksi ja nostinkäyttö
KR101144863B1 (ko) * 2009-06-09 2012-05-14 최기윤 인풋 쉐이핑을 위한 호이스트 길이 측정방법
DK2466252T3 (da) * 2010-12-20 2013-07-29 Christopher Bauder Spil til tilvejebringelse af en forud bestemt længde af udrullet kabel
US9096294B1 (en) * 2011-06-20 2015-08-04 The United States Of America As Represented By The Secretary Of The Navy Trolley-payload inter-ship transfer system
DE102012004802A1 (de) * 2012-03-09 2013-09-12 Liebherr-Werk Nenzing Gmbh Kransteuerung mit Aufteilung einer kinematisch beschränkten Größe des Hubwerks
JP6984080B2 (ja) * 2018-01-25 2021-12-17 株式会社日立プラントメカニクス クレーンの振れ止め制御に用いる振り子長の測定装置
CN108545610B (zh) * 2018-07-05 2019-11-15 武汉科技大学 一种基于自抗扰技术的欠驱动桥式吊车双摆防摆控制方法
US12384663B2 (en) * 2022-08-02 2025-08-12 University Of Florida Research Foundation, Incorporated Haptic feedback system for anti-sway control of a payload

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FI44036B (es) * 1966-08-25 1971-04-30 Kone Oy
US3517830A (en) * 1967-10-10 1970-06-30 Vilkko Antero Virkkala Cranes
SU1053443A1 (ru) * 1977-10-07 1985-05-07 Московский Ордена Ленина Энергетический Институт Устройство дл демпфировани колебаний грузозахватного органа крана
SE429641B (sv) * 1981-09-17 1983-09-19 Asea Ab Sett vid sidoforflyttning av hengande last
SU1129174A1 (ru) * 1983-01-05 1984-12-15 Институт Проблем Механики Ан Ссср Устройство дл управлени торможением механизма передвижени грузоподъемного средства с гибкой подвеской груза
DE3513007A1 (de) * 1984-04-11 1985-12-19 Hitachi, Ltd., Tokio/Tokyo Verfahren und anordnung zur automatischen steuerung eines krans
JPS6241189A (ja) * 1985-08-16 1987-02-23 株式会社日立製作所 クレ−ン制御方式
SU1379238A1 (ru) * 1986-07-01 1988-03-07 Киевский Автомобильно-Дорожный Институт Им.60-Летия Великой Октябрьской Социалистической Революции Устройство дл управлени электроприводом горизонтального перемещени подвешенного на канате груза
JPS6317793A (ja) * 1986-07-11 1988-01-25 株式会社日立製作所 クレ−ンの制御方式

Also Published As

Publication number Publication date
EP0402790A3 (en) 1991-11-21
EP0402790B1 (en) 1995-09-13
FI892863A0 (fi) 1989-06-12
FI892863L (fi) 1990-12-13
US5127533A (en) 1992-07-07
FI86533C (fi) 1992-09-10
DE69022295D1 (de) 1995-10-19
EP0402790A2 (en) 1990-12-19
FI86533B (fi) 1992-05-29
DE69022295T2 (de) 1996-04-04

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