EP0841294A3 - Suspended load steadying control device - Google Patents

Suspended load steadying control device Download PDF

Info

Publication number
EP0841294A3
EP0841294A3 EP97308303A EP97308303A EP0841294A3 EP 0841294 A3 EP0841294 A3 EP 0841294A3 EP 97308303 A EP97308303 A EP 97308303A EP 97308303 A EP97308303 A EP 97308303A EP 0841294 A3 EP0841294 A3 EP 0841294A3
Authority
EP
European Patent Office
Prior art keywords
trolley
suspended load
speed
control
control device
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.)
Granted
Application number
EP97308303A
Other languages
German (de)
French (fr)
Other versions
EP0841294B1 (en
EP0841294A2 (en
Inventor
Takashi Mitsubishi Heavy Ind. Ltd. Toyohara
Susumu Mitsubishi Heavy Ind. Ltd. Kouno
Hiromitsu Mitsubishi Heavy Ind. Ltd. Hoshina
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.)
Mitsubishi Heavy Industries Ltd
Original Assignee
Mitsubishi Heavy Industries Ltd
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 Mitsubishi Heavy Industries Ltd filed Critical Mitsubishi Heavy Industries Ltd
Publication of EP0841294A2 publication Critical patent/EP0841294A2/en
Publication of EP0841294A3 publication Critical patent/EP0841294A3/en
Application granted granted Critical
Publication of EP0841294B1 publication Critical patent/EP0841294B1/en
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
    • 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

Landscapes

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

Abstract

A trolley 12 travels along rails 11 while suspending a load 14 by a rope 13. The trolley 12 has a trolley displacement detector 21 for detecting a trolley position xl, a trolley speed detector 22 for detecting a trolley speed x2, and a swing motion detector 23 for detecting a swing displacement x3 and a swing speed x4 of the suspended load 14. A control device 26 produces a speed command u based on the detected values xl, x2, x3 and x4. In response to the speed command u, a trolley drive device 15 is driven to run the trolley 12. When the trolley is to be moved to the target position by the control of the control device 26, control for steadying the suspended load while the trolley 12 is following a set speed is performed in the first half of control. As the trolley 12 approaches the target position, control for positioning the trolley and steadying the suspended load is performed. Thus, the swing of the suspended load is lessened not only at the target position, but also during the travel of the trolley.
EP97308303A 1996-11-08 1997-10-20 Suspended load steadying control device Expired - Lifetime EP0841294B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP8296048A JPH10139369A (en) 1996-11-08 1996-11-08 Bracing control device for hung load
JP29604896 1996-11-08
JP296048/96 1996-11-08

Publications (3)

Publication Number Publication Date
EP0841294A2 EP0841294A2 (en) 1998-05-13
EP0841294A3 true EP0841294A3 (en) 2000-01-12
EP0841294B1 EP0841294B1 (en) 2004-09-22

Family

ID=17828433

Family Applications (1)

Application Number Title Priority Date Filing Date
EP97308303A Expired - Lifetime EP0841294B1 (en) 1996-11-08 1997-10-20 Suspended load steadying control device

Country Status (8)

Country Link
EP (1) EP0841294B1 (en)
JP (1) JPH10139369A (en)
KR (1) KR100237149B1 (en)
DE (1) DE69730798T2 (en)
HK (1) HK1010533A1 (en)
MY (1) MY125688A (en)
SG (1) SG67435A1 (en)
TW (1) TW380115B (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100803737B1 (en) 2006-09-20 2008-02-15 한국생산기술연구원 Vibrational frequency measuring device for the hoisting rope of a crane
FR2923819A1 (en) * 2007-11-20 2009-05-22 Ledent Machines Equipements Sa PEDAGOGICAL PORTAL.
CN105152016B (en) * 2015-08-25 2017-08-25 山东大学 The overhead crane energy coupling controller and control method constrained with initial input
CN105152017B (en) * 2015-08-25 2017-03-22 山东大学 Tracking controller and control method for enhancing coupling nonlinearity of three-dimensional bridge crane
CN105152020B (en) * 2015-09-30 2017-03-22 山东大学 Bridge crane self-adaptation track controller with tracking error restraint and method

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3513007A1 (en) * 1984-04-11 1985-12-19 Hitachi, Ltd., Tokio/Tokyo Method and arrangement for the automatic control of a crane
EP0611211A1 (en) * 1993-02-12 1994-08-17 Caillard System to control the speed of displacement of a swaying load and lifting device comprising such a system
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
EP0668237A1 (en) * 1994-02-22 1995-08-23 Siemens Aktiengesellschaft Method for handling a load with a crane
US5550733A (en) * 1994-03-25 1996-08-27 Korea Atomic Energy Research Institute Velocity control method for preventing oscillations in crane

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3513007A1 (en) * 1984-04-11 1985-12-19 Hitachi, Ltd., Tokio/Tokyo Method and arrangement for the automatic control of a crane
EP0611211A1 (en) * 1993-02-12 1994-08-17 Caillard System to control the speed of displacement of a swaying load and lifting device comprising such a system
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
EP0668237A1 (en) * 1994-02-22 1995-08-23 Siemens Aktiengesellschaft Method for handling a load with a crane
US5550733A (en) * 1994-03-25 1996-08-27 Korea Atomic Energy Research Institute Velocity control method for preventing oscillations in crane

Also Published As

Publication number Publication date
MY125688A (en) 2006-08-30
EP0841294B1 (en) 2004-09-22
HK1010533A1 (en) 1999-06-25
SG67435A1 (en) 1999-09-21
DE69730798T2 (en) 2005-09-29
KR100237149B1 (en) 2000-03-02
JPH10139369A (en) 1998-05-26
DE69730798D1 (en) 2004-10-28
KR19980042223A (en) 1998-08-17
EP0841294A2 (en) 1998-05-13
TW380115B (en) 2000-01-21

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