FR3016872B1 - ANTI-BALLING CONTROL METHOD WITH ADJUSTABLE ASSISTANCE FOR TRANSPORTING A SUSPENDED LOAD - Google Patents
ANTI-BALLING CONTROL METHOD WITH ADJUSTABLE ASSISTANCE FOR TRANSPORTING A SUSPENDED LOAD Download PDFInfo
- Publication number
- FR3016872B1 FR3016872B1 FR1450751A FR1450751A FR3016872B1 FR 3016872 B1 FR3016872 B1 FR 3016872B1 FR 1450751 A FR1450751 A FR 1450751A FR 1450751 A FR1450751 A FR 1450751A FR 3016872 B1 FR3016872 B1 FR 3016872B1
- Authority
- FR
- France
- Prior art keywords
- suspended load
- balling
- transporting
- control method
- axis
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title abstract 3
- 238000001914 filtration Methods 0.000 abstract 1
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
Abstract
L'invention concerne un procédé de commande du déplacement d'une charge qui est suspendue à un point d'accroche d'un engin de levage de type grue, ledit point d'accroche étant conçu pour pouvoir se déplacer selon un mouvement de rotation en lacet autour d'un premier axe vertical (ZZ'), et/ou selon un mouvement de translation le long d'un second axe (XX') sécant audit axe d'orientation (ZZ'), ledit procédé comprenant une étape d'acquisition de consigne de vitesse (Vi), puis une étape de filtrage de ladite consigne de vitesse au moyen d'un modèle virtuel (X = AX + BU), qui utilise un vecteur d'état (X) comprenant une composante d'angle de ballant de la charge suspendue et une composante de vitesse angulaire de ballant, et auquel on applique une commande par retour d'état (U = k V -K .X) dont les gains correcteurs (k , k ) sont exprimés en fonction d'un même paramètre de typage (Tc) librement ajustable par le conducteur de l'engin de levage.The invention relates to a method for controlling the movement of a load which is suspended at a point of attachment of a crane-type lifting device, said attachment point being designed to be able to move in a rotational movement by lace around a first vertical axis (ZZ '), and / or in a translation movement along a second axis (XX') intersecting said orientation axis (ZZ '), said method comprising a step of acquisition of speed reference (Vi), then a step of filtering said speed reference by means of a virtual model (X = AX + BU), which uses a state vector (X) comprising an angle component of the suspended load and a swaying angular velocity component, and to which a state feedback command (U = k V -K .X) is applied whose corrective gains (k, k) are expressed as a function of a same typing parameter (Tc) freely adjustable by the driver of the hoist.
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1450751A FR3016872B1 (en) | 2014-01-30 | 2014-01-30 | ANTI-BALLING CONTROL METHOD WITH ADJUSTABLE ASSISTANCE FOR TRANSPORTING A SUSPENDED LOAD |
DE102015100669.3A DE102015100669A1 (en) | 2014-01-30 | 2015-01-19 | ANTI-PENDULUM CONTROL PROCEDURE WITH ADJUSTABLE SUPPORT FOR THE TRANSPORT OF AN ANCHORED LOAD |
CN201510051412.2A CN104817016B (en) | 2014-01-30 | 2015-01-30 | Adjustable the anti-of assisted suspension load transport waves control method |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1450751A FR3016872B1 (en) | 2014-01-30 | 2014-01-30 | ANTI-BALLING CONTROL METHOD WITH ADJUSTABLE ASSISTANCE FOR TRANSPORTING A SUSPENDED LOAD |
FR1450751 | 2014-01-30 |
Publications (2)
Publication Number | Publication Date |
---|---|
FR3016872A1 FR3016872A1 (en) | 2015-07-31 |
FR3016872B1 true FR3016872B1 (en) | 2019-04-05 |
Family
ID=51383772
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR1450751A Active FR3016872B1 (en) | 2014-01-30 | 2014-01-30 | ANTI-BALLING CONTROL METHOD WITH ADJUSTABLE ASSISTANCE FOR TRANSPORTING A SUSPENDED LOAD |
Country Status (3)
Country | Link |
---|---|
CN (1) | CN104817016B (en) |
DE (1) | DE102015100669A1 (en) |
FR (1) | FR3016872B1 (en) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106365043B (en) * | 2016-09-12 | 2018-07-03 | 同济大学 | Bridge crane semi-loop constant speed prevents shaking control method |
CN106348172B (en) * | 2016-09-28 | 2018-03-30 | 上海海事大学 | Crane of the family based on positive and negative POSICAST input shapers method is anti-to shake control method |
FR3056976B1 (en) * | 2016-10-05 | 2018-11-16 | Manitowoc Crane Group France | METHOD OF CONTROLLING ANTI-BALLING CRANE WITH FILTER OF THE THIRD ORDER |
CN109305628A (en) * | 2017-07-27 | 2019-02-05 | 南通通镭软件有限公司 | A kind of container in hoisting status is anti-to shake method |
FR3071240B1 (en) * | 2017-09-21 | 2019-09-06 | Manitowoc Crane Group France | DYNAMIC OPTIMIZATION OF A CRANE LOAD CURVE |
TWI676088B (en) * | 2019-01-11 | 2019-11-01 | 國立高雄科技大學 | Backup system for detecting failure of a power-assisted device |
CN113651239A (en) * | 2021-07-15 | 2021-11-16 | 深圳市海浦蒙特科技有限公司 | Speed adjusting method, device and equipment of crane system |
CN113682956B (en) * | 2021-07-19 | 2023-06-02 | 杭州大杰智能传动科技有限公司 | Material environment condition automatic identification and analysis method and system for intelligent tower crane |
CN116424555B (en) * | 2023-06-12 | 2023-08-29 | 四川腾盾科技有限公司 | Unmanned aerial vehicle hanging swing eliminating and control method |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2704847A1 (en) * | 1993-05-05 | 1994-11-10 | Bertin & Cie | Process and device for limiting the swing of a load suspended from a motorised support |
US6631300B1 (en) * | 1999-11-05 | 2003-10-07 | Virginia Tech Intellectual Properties, Inc. | Nonlinear active control of dynamical systems |
KR20080040624A (en) * | 2005-04-22 | 2008-05-08 | 소렌슨 칼리드 리프 | Combined feedback and command shaping controller for multistate control with application to improving positioning and reducing cable sway in cranes |
-
2014
- 2014-01-30 FR FR1450751A patent/FR3016872B1/en active Active
-
2015
- 2015-01-19 DE DE102015100669.3A patent/DE102015100669A1/en active Pending
- 2015-01-30 CN CN201510051412.2A patent/CN104817016B/en active Active
Also Published As
Publication number | Publication date |
---|---|
FR3016872A1 (en) | 2015-07-31 |
CN104817016A (en) | 2015-08-05 |
DE102015100669A1 (en) | 2015-07-30 |
CN104817016B (en) | 2018-01-09 |
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