ES2090795T3 - Procedimiento de control del desplazamiento de una carga pendular y dispositivo para su realizacion. - Google Patents

Procedimiento de control del desplazamiento de una carga pendular y dispositivo para su realizacion.

Info

Publication number
ES2090795T3
ES2090795T3 ES93113406T ES93113406T ES2090795T3 ES 2090795 T3 ES2090795 T3 ES 2090795T3 ES 93113406 T ES93113406 T ES 93113406T ES 93113406 T ES93113406 T ES 93113406T ES 2090795 T3 ES2090795 T3 ES 2090795T3
Authority
ES
Spain
Prior art keywords
realization
displacement
procedure
controlling
theoretical
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
ES93113406T
Other languages
English (en)
Inventor
Patrice Genet
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.)
Caillard SA
Original Assignee
Caillard SA
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 Caillard SA filed Critical Caillard SA
Application granted granted Critical
Publication of ES2090795T3 publication Critical patent/ES2090795T3/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
    • B66C13/18—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
    • B66C13/04—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)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

EN UN PRIMER BUCLE DE MANDO, SE DERIVA RESPECTO AL TIEMPO LA SEPARACION ( 1) ENTRE LA POSICION TEORICA (X(T)) DE LA CARGA Y SU POSICION REAL (X), Y SE AÑADE A LA POSICION TEORICA (X(T)) DEL SOPORTE MOVIL LA DERIVADA RESPECTO AL TIEMPO DE ESTA DIFERENCIA, MODIFICADA POR UN COEFICIENTE CORRECTOR (K1), Y EN UN SEGUNDO BUCLE DE MANDO, SE MULTIPLICA LA SEPARACION ( 2) ENTRE LA POSICION TEORICA (XTH) DEL SOPORTE MOVIL Y LA POSICION MEDIDA (X) DE ESTE POR UNA CONSTANTE DETERMINADA, Y SE AÑADE EL RESULTADO OBTENIDO A LA VELOCIDAD TEORICA (X''TH) DEL SOPORTE MOVIL.
ES93113406T 1990-07-18 1991-07-17 Procedimiento de control del desplazamiento de una carga pendular y dispositivo para su realizacion. Expired - Lifetime ES2090795T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR9009145A FR2664885B1 (fr) 1990-07-18 1990-07-18 Procede de controle de deplacement d'une charge pendulaire et dispositif pour sa mise en óoeuvre.

Publications (1)

Publication Number Publication Date
ES2090795T3 true ES2090795T3 (es) 1996-10-16

Family

ID=9398842

Family Applications (2)

Application Number Title Priority Date Filing Date
ES91401997T Pending ES2029975T1 (es) 1990-07-18 1991-01-17 Procedimiento de control de desplazamiento de una carga pendular y dispositivo para su realizacion.
ES93113406T Expired - Lifetime ES2090795T3 (es) 1990-07-18 1991-07-17 Procedimiento de control del desplazamiento de una carga pendular y dispositivo para su realizacion.

Family Applications Before (1)

Application Number Title Priority Date Filing Date
ES91401997T Pending ES2029975T1 (es) 1990-07-18 1991-01-17 Procedimiento de control de desplazamiento de una carga pendular y dispositivo para su realizacion.

Country Status (5)

Country Link
EP (2) EP0467783A1 (es)
DE (3) DE467783T1 (es)
ES (2) ES2029975T1 (es)
FR (1) FR2664885B1 (es)
GR (1) GR920300044T1 (es)

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SG134959A1 (en) * 1992-11-03 2007-09-28 Siemens Ag Apparatus for acquiring pendulum oscillations of crane loads using measurement techniques
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
US5819962A (en) * 1993-03-05 1998-10-13 Mitsubishi Jukogyo Kabushiki Kaisha Apparatus for stopping the oscillation of hoisted cargo
FR2703347B1 (fr) * 1993-04-02 1995-05-05 Telemecanique Dispositif de transfert d'une charge suspendue.
GB2280045A (en) * 1993-07-15 1995-01-18 Daewoo Engineering Company Anti-swing automatic control systems for unmanned overhead cranes
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
EP0788455B1 (de) * 1994-10-26 2000-04-12 Siemens Aktiengesellschaft Anordnung zum messtechnischen erfassen von lastpendelungen bei kranen
JPH10139367A (ja) * 1996-11-07 1998-05-26 Mitsubishi Heavy Ind Ltd 吊荷の振れ変位検出装置
US5817770A (en) 1997-03-21 1998-10-06 Drug Abuse Sciences, Inc. Cocaethylene immunogens and antibodies
DE10029579B4 (de) * 2000-06-15 2011-03-24 Hofer, Eberhard P., Prof. Dr. Verfahren zur Orientierung der Last in Krananlagen
DE102005005358A1 (de) * 2005-02-02 2006-08-10 Siemens Ag Bediengerät für ein Regallager, insbesondere ein Regalbediengerät für ein Hochregallager, sowie ein Verfahren zur Steuerung des Bediengerätes
US7831333B2 (en) 2006-03-14 2010-11-09 Liebherr-Werk Nenzing Gmbh Method for the automatic transfer of a load hanging at a load rope of a crane or excavator with a load oscillation damping and a trajectory planner
DE502006005975D1 (de) 2006-03-15 2010-03-11 Liebherr Werk Nenzing Verfahren zum automatischen Umschlagen von einer Last eines Kranes mit Lastpendelungsdämpfung und Bahnplaner
FI120789B (fi) * 2008-06-23 2010-03-15 Konecranes Oyj Menetelmä nopeussäädettävän nostinkäytön moottorin pyörimisnopeuden ohjaamiseksi ja nostinkäyttö
DE102015008506A1 (de) 2015-07-03 2017-01-05 Gebhardt Fördertechnik GmbH Maschinenvorrichtung, die aus einer impulsförmigen Antriebsbelastung zu Schwingungen neigt, insbesondere Regalbediengerät, Fertigungsmaschine, Roboter, Kran oder dergleichen, und Verfahren zum Betreiben einer derartigen Vorrichtung
CN108238550A (zh) * 2018-02-02 2018-07-03 北京市政建设集团有限责任公司 一种起重吊装作业时支撑体系失稳的应急控制方法
EP3653562A1 (de) * 2018-11-19 2020-05-20 B&R Industrial Automation GmbH Verfahren und schwingungsregler zum ausregeln von schwingungen eines schwingfähigen technischen systems
CN110963409B (zh) * 2019-11-29 2021-02-09 北京航天自动控制研究所 一种轮胎吊机器视觉自动纠偏偏差测量方法

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2022745C3 (de) * 1970-05-09 1979-07-19 Siemens Ag, 1000 Berlin Und 8000 Muenchen Anordnung zur Unterdrückung von Pendelschwingungen einer an einem Seil hängenden, von einer Laufkatze beförderten Last
SE361869B (es) * 1972-04-14 1973-11-19 Asea Ab
SE402267B (sv) * 1976-11-29 1978-06-26 Asea Ab Anordning for pendlingshemmande styrning av kran
DE3210450A1 (de) * 1982-03-22 1983-10-13 BETAX Gesellschaft für Beratung und Entwicklung technischer Anlagen mbH, 8000 München Einrichtung an hebezeugen fuer die selbsttaetige steuerung der bewegung des lasttraegers mit beruhigung des pendelns der an ihm haengenden last
FR2571867B1 (fr) * 1984-10-11 1987-01-09 Bertin & Cie Procede et dispositif pour limiter le ballant d'une charge librement suspendue sous un support mobile.
JPS6241189A (ja) * 1985-08-16 1987-02-23 株式会社日立製作所 クレ−ン制御方式

Also Published As

Publication number Publication date
DE467783T1 (de) 1992-07-23
EP0467783A1 (fr) 1992-01-22
EP0578280A2 (fr) 1994-01-12
ES2029975T1 (es) 1992-10-16
DE69119913D1 (de) 1996-07-04
DE578280T1 (de) 1994-10-06
EP0578280B1 (fr) 1996-05-29
GR920300044T1 (en) 1992-08-26
DE69119913T2 (de) 1996-12-19
FR2664885B1 (fr) 1995-08-04
EP0578280A3 (es) 1994-03-02
FR2664885A1 (fr) 1992-01-24

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