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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 PDF

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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
Application number
FR1450751A
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French (fr)
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FR3016872A1 (en
Inventor
Xavier Claeys
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.)
Manitowoc Crane Group France SAS
Original Assignee
Manitowoc Crane Group France SAS
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 Manitowoc Crane Group France SAS filed Critical Manitowoc Crane Group France SAS
Priority to FR1450751A priority Critical patent/FR3016872B1/en
Priority to DE102015100669.3A priority patent/DE102015100669B4/en
Priority to CN201510051412.2A priority patent/CN104817016B/en
Publication of FR3016872A1 publication Critical patent/FR3016872A1/en
Application granted granted Critical
Publication of FR3016872B1 publication Critical patent/FR3016872B1/en
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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

Landscapes

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

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.

FR1450751A 2014-01-30 2014-01-30 ANTI-BALLING CONTROL METHOD WITH ADJUSTABLE ASSISTANCE FOR TRANSPORTING A SUSPENDED LOAD Active FR3016872B1 (en)

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 DE102015100669B4 (en) 2014-01-30 2015-01-19 ANTI-PENDULUM CONTROL SYSTEM WITH ADJUSTABLE SUPPORT FOR TRANSPORTING A SUSPENDED 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
FR1450751 2014-01-30
FR1450751A FR3016872B1 (en) 2014-01-30 2014-01-30 ANTI-BALLING CONTROL METHOD WITH ADJUSTABLE ASSISTANCE FOR TRANSPORTING A SUSPENDED LOAD

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) DE102015100669B4 (en)
FR (1) FR3016872B1 (en)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
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 A speed adjustment method, device and equipment for a 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
EP4406905A1 (en) * 2023-01-25 2024-07-31 WOLFFKRAN Holding AG Method and device for operating a boom slewing crane and boom slewing 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 (8)

* Cited by examiner, † Cited by third party
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
US5785191A (en) 1996-05-15 1998-07-28 Sandia Corporation Operator control systems and methods for swing-free gantry-style cranes
US6631300B1 (en) * 1999-11-05 2003-10-07 Virginia Tech Intellectual Properties, Inc. Nonlinear active control of dynamical systems
DE10064182A1 (en) 2000-10-19 2002-05-08 Liebherr Werk Nenzing Crane or excavator for handling a load suspended from a load rope with load swing damping
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
EP1834920B1 (en) 2006-03-15 2010-01-20 Liebherr-Werk Nenzing GmbH Method for automatic handling of a crane load with sway damping and path control
DE102006015359B4 (en) 2006-04-03 2011-05-19 Siemens Ag Operating method for a system with a mechanically movable element and data carrier and control device for implementing such an operating method
DE102012004802A1 (en) 2012-03-09 2013-09-12 Liebherr-Werk Nenzing Gmbh Crane control with distribution of a kinematically limited size of the hoist

Also Published As

Publication number Publication date
CN104817016A (en) 2015-08-05
DE102015100669B4 (en) 2024-10-02
CN104817016B (en) 2018-01-09
FR3016872A1 (en) 2015-07-31
DE102015100669A1 (en) 2015-07-30

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