SE514522C2 - Förfarande för pendlingsdämpning av en krans last - Google Patents
Förfarande för pendlingsdämpning av en krans lastInfo
- Publication number
- SE514522C2 SE514522C2 SE9200842A SE9200842A SE514522C2 SE 514522 C2 SE514522 C2 SE 514522C2 SE 9200842 A SE9200842 A SE 9200842A SE 9200842 A SE9200842 A SE 9200842A SE 514522 C2 SE514522 C2 SE 514522C2
- Authority
- SE
- Sweden
- Prior art keywords
- acceleration
- oscillation
- speed
- control signal
- time
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000001133 acceleration Effects 0.000 claims abstract description 91
- 230000010355 oscillation Effects 0.000 claims abstract description 83
- 238000013016 damping Methods 0.000 claims abstract description 3
- 238000003780 insertion Methods 0.000 claims description 4
- 230000037431 insertion Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 3
- 244000309464 bull Species 0.000 claims 1
- 230000006870 function Effects 0.000 description 7
- 238000005070 sampling Methods 0.000 description 6
- 102100021641 Acetyl-CoA carboxylase 2 Human genes 0.000 description 4
- 101000677540 Homo sapiens Acetyl-CoA carboxylase 2 Proteins 0.000 description 4
- 101000894929 Homo sapiens Bcl-2-related protein A1 Proteins 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000001186 cumulative effect Effects 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 102100039164 Acetyl-CoA carboxylase 1 Human genes 0.000 description 1
- 101710190443 Acetyl-CoA carboxylase 1 Proteins 0.000 description 1
- 101000963440 Bacillus subtilis (strain 168) Biotin carboxylase 1 Proteins 0.000 description 1
- 108010076504 Protein Sorting Signals Proteins 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000002238 attenuated effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 235000013312 flour Nutrition 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000010363 phase shift Effects 0.000 description 1
- 238000012552 review Methods 0.000 description 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FI911320A FI89349C (fi) | 1991-03-18 | 1991-03-18 | Foerfarande foer styrning av en kran |
| FI920751A FI91058C (fi) | 1991-03-18 | 1992-02-21 | Nosturin ohjausmenetelmä |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| SE9200842D0 SE9200842D0 (sv) | 1992-03-18 |
| SE9200842L SE9200842L (sv) | 1992-09-19 |
| SE514522C2 true SE514522C2 (sv) | 2001-03-05 |
Family
ID=26158918
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| SE9200842A SE514522C2 (sv) | 1991-03-18 | 1992-03-18 | Förfarande för pendlingsdämpning av en krans last |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US5219420A (fi) |
| DE (1) | DE4208717C2 (fi) |
| FI (1) | FI91058C (fi) |
| SE (1) | SE514522C2 (fi) |
Families Citing this family (37)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FI91517C (fi) * | 1992-11-17 | 1994-07-11 | Kimmo Hytoenen | Menetelmä harmonisesti värähtelevän taakan ohjaamiseksi |
| 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 |
| 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. |
| 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. |
| KR970003508B1 (ko) * | 1994-03-25 | 1997-03-18 | 한국원자력연구소 | 크레인의 진동방지를 위한 속도 제어 방법 |
| 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 |
| DE59908337D1 (de) * | 1998-04-07 | 2004-02-26 | Demag Cranes & Components Gmbh | Fahrwerk, insbesondere für Hebezeuge und hängende Lasten |
| 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 |
| DE102006015359B4 (de) * | 2006-04-03 | 2011-05-19 | Siemens Ag | Betriebsverfahren für eine Anlage mit einem mechanisch bewegbaren Element sowie Datenträger und Steuereinrichtung zur Realisierung eines derartigen Betriebsverfahrens |
| FR2923818A1 (fr) * | 2007-11-19 | 2009-05-22 | Schneider Toshiba Inverter | Dispositif de regulation du deplacement d'une charge suspendue. |
| DE102008024215B4 (de) * | 2008-05-19 | 2015-08-20 | Manitowoc Crane Group France Sas | Bestimmung und Rekonstruktion von Laständerungen an Hebezeugen |
| FR2939783B1 (fr) * | 2008-12-15 | 2013-02-15 | Schneider Toshiba Inverter | Dispositif de regulation du deplacement d'une charge suspendue a une grue |
| KR101144863B1 (ko) * | 2009-06-09 | 2012-05-14 | 최기윤 | 인풋 쉐이핑을 위한 호이스트 길이 측정방법 |
| FI123784B (fi) | 2011-03-25 | 2013-10-31 | Konecranes Oyj | Järjestely kuormauselimen heilahduksen vaimentamiseksi nosturissa |
| CN102795544B (zh) * | 2012-08-16 | 2014-05-07 | 南开大学 | 基于轨迹在线规划的桥式吊车高效消摆控制方法 |
| FI125422B (fi) | 2013-12-12 | 2015-10-15 | Konecranes Oyj | Järjestely kuormauselimen heilahduksen vaimentamiseksi nosturissa |
| FI125656B (fi) | 2014-04-02 | 2015-12-31 | Patentic Oy Ab | Menetelmä nosturin ohjaamiseksi |
| JP6684442B2 (ja) * | 2016-05-19 | 2020-04-22 | 富士電機株式会社 | 懸垂式クレーンの制御方法及び制御装置 |
| CN105858481B (zh) * | 2016-06-27 | 2017-07-25 | 南开大学 | 基于相平面分析的桥式起重机精准定位在线轨迹规划方法 |
| CN108190744A (zh) * | 2017-12-29 | 2018-06-22 | 扬州海通电子科技有限公司 | 一种消除行车吊装重物时摇摆的方法 |
| CN109335967B (zh) * | 2018-11-15 | 2020-11-06 | 南开大学 | 柔性吊车下摆角测量、自动控制以及评价系统与方法 |
| JP7471136B2 (ja) * | 2020-04-22 | 2024-04-19 | 川崎重工業株式会社 | 天井式クレーンの運転計画方法及び装置、並びに、天井式クレーンの制御方法及び装置 |
| US11858786B2 (en) * | 2020-07-21 | 2024-01-02 | Power Electronics International, Inc. | Systems and methods for dampening torsional oscillations of cranes |
| JP7438925B2 (ja) * | 2020-12-18 | 2024-02-27 | 株式会社日立産機システム | クレーン、及びクレーンの制御方法 |
| JPWO2024181451A1 (fi) * | 2023-03-02 | 2024-09-06 | ||
| CN116605763B (zh) * | 2023-04-04 | 2026-03-24 | 上海海事大学 | 基于相平面轨迹规划的变绳长集装箱起重机防摇控制方法 |
| CN116788993A (zh) * | 2023-08-24 | 2023-09-22 | 希望森兰科技股份有限公司 | 一种起重机防摇摆稳速控制方法 |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FI44036B (fi) * | 1966-08-25 | 1971-04-30 | Kone Oy | |
| US3517830A (en) * | 1967-10-10 | 1970-06-30 | Vilkko Antero Virkkala | Cranes |
| DE3005461A1 (de) * | 1980-02-14 | 1981-09-24 | M.A.N. Maschinenfabrik Augsburg-Nürnberg AG, 8500 Nürnberg | Regelung des oder der elektrischen fahrmotoren von hebezeugen mit ungefuehrter, an einem seil haengender last |
| SE429748B (sv) * | 1981-09-21 | 1983-09-26 | Asea Ab | Sett vid lossning av gods under sidoforflyttning medelst en godset uppberande tralla |
| 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 |
| JPS6241189A (ja) * | 1985-08-16 | 1987-02-23 | 株式会社日立製作所 | クレ−ン制御方式 |
| 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 |
| DE3924256C2 (de) * | 1989-07-19 | 1995-01-19 | Mannesmann Ag | Verfahren zur Unterdrückung von Pendelschwingungen |
-
1992
- 1992-02-21 FI FI920751A patent/FI91058C/fi not_active IP Right Cessation
- 1992-03-18 SE SE9200842A patent/SE514522C2/sv not_active IP Right Cessation
- 1992-03-18 US US07/853,541 patent/US5219420A/en not_active Expired - Lifetime
- 1992-03-18 DE DE4208717A patent/DE4208717C2/de not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| US5219420A (en) | 1993-06-15 |
| FI91058C (fi) | 1996-01-10 |
| SE9200842L (sv) | 1992-09-19 |
| FI91058B (fi) | 1994-01-31 |
| FI920751A0 (fi) | 1992-02-21 |
| SE9200842D0 (sv) | 1992-03-18 |
| DE4208717A1 (de) | 1992-10-22 |
| DE4208717C2 (de) | 1998-07-02 |
| FI920751A7 (fi) | 1992-09-19 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| NUG | Patent has lapsed |