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GB1462428A - Method and system for controlling suspension type cranes - Google Patents

Method and system for controlling suspension type cranes

Info

Publication number
GB1462428A
GB1462428A GB1439374A GB1439374A GB1462428A GB 1462428 A GB1462428 A GB 1462428A GB 1439374 A GB1439374 A GB 1439374A GB 1439374 A GB1439374 A GB 1439374A GB 1462428 A GB1462428 A GB 1462428A
Authority
GB
United Kingdom
Prior art keywords
signal
trolley
swing
pattern
generator
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
Application number
GB1439374A
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.)
Toshiba Corp
Original Assignee
Tokyo Shibaura Electric Co 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 Tokyo Shibaura Electric Co Ltd filed Critical Tokyo Shibaura Electric Co Ltd
Publication of GB1462428A publication Critical patent/GB1462428A/en
Expired 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
    • B66C13/22—Control systems or devices for electric drives
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S388/00—Electricity: motor control systems
    • Y10S388/90—Specific system operational feature
    • Y10S388/904—Stored velocity profile

Landscapes

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

Abstract

1462428 Automatic control TOKYO SHIBAURA DENKI KK 1 April 1974 [2 April 1973] 14393/74 Heading G3N The traverse of a crane is controlled in dependence on calculations whereby the areas under the acceleration and deceleration phases of a speedtime pattern are made equal so that swing of a rope, suspending a load, can be minimized. As shown, a crane installed on a wharf for transport of containers between a ship and a yard is controlled by an operator applying an off-board commencement signal to a unit B which form a maximum running speed signal Vmax corresponding to the deviation # L (Lo) of the present position of'a trolley from a target position. This signal is applied to a pattern generator C, together with a signal l representing length of hoist rope. A pattern signal is then generated whereby the swing # of the container is reduced to zero at speed Vmax. At this point, a signal generator A compares the distance S required to stop the trolley with the present position # L and applies a speed command signal O when # L equals S. The generator C then causes the trolley to decelerate and stop at the target position at which the swing should again have fallen to zero. The controller D comprises a comparator to which a feedback signal is applied from a tachogenerator TG coupled to the motor M.
GB1439374A 1973-04-02 1974-04-01 Method and system for controlling suspension type cranes Expired GB1462428A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP3766573A JPS5414389B2 (en) 1973-04-02 1973-04-02

Publications (1)

Publication Number Publication Date
GB1462428A true GB1462428A (en) 1977-01-26

Family

ID=12503915

Family Applications (1)

Application Number Title Priority Date Filing Date
GB1439374A Expired GB1462428A (en) 1973-04-02 1974-04-01 Method and system for controlling suspension type cranes

Country Status (5)

Country Link
US (1) US3921818A (en)
JP (1) JPS5414389B2 (en)
AR (1) AR211224A1 (en)
BR (1) BR7402613D0 (en)
GB (1) GB1462428A (en)

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GB1524314A (en) * 1976-02-28 1978-09-13 Ferranti Ltd Load transfer
SE429748B (en) * 1981-09-21 1983-09-26 Asea Ab KEEP LOADING GOODS DURING SIDE MOVEMENT BY A GOOD PREVENTING TRUCK
DE3210450A1 (en) * 1982-03-22 1983-10-13 BETAX Gesellschaft für Beratung und Entwicklung technischer Anlagen mbH, 8000 München DEVICE FOR LIFTING EQUIPMENT FOR THE AUTOMATIC CONTROL OF THE MOVEMENT OF THE LOAD CARRIER WITH CALM OF THE SUSPENSION OF THE LOAD THAT HANGS ON IT
DE3513007A1 (en) * 1984-04-11 1985-12-19 Hitachi, Ltd., Tokio/Tokyo Method and arrangement for the automatic control of a crane
FR2571867B1 (en) * 1984-10-11 1987-01-09 Bertin & Cie METHOD AND DEVICE FOR LIMITING THE SWING OF A FREELY SUSPENDED LOAD UNDER A MOBILE SUPPORT.
JPS6241189A (en) * 1985-08-16 1987-02-23 株式会社日立製作所 Crane control system
EP0242400B1 (en) * 1985-08-28 1989-03-22 The Hokkaidi Electric Power Co., Inc. Hanging-type transport apparatus for bolt-pulling machine and apparatus for controlling the positioning thereof
JPH0742072B2 (en) * 1986-05-02 1995-05-10 三菱電機株式会社 Steady stop control device for suspension crane
JPS6317793A (en) * 1986-07-11 1988-01-25 株式会社日立製作所 Control system of crane
US4808895A (en) * 1987-11-30 1989-02-28 Toshiba Machine Co., Ltd. Acceleration control apparatus
US4997095A (en) * 1989-04-20 1991-03-05 The United States Of America As Represented By The United States Department Of Energy Methods of and system for swing damping movement of suspended objects
DE69025471T2 (en) * 1990-03-23 1996-08-22 Kobe Steel Ltd METHOD AND DEVICE FOR CONTROLLING THE BRAKING OF THE ROTATIONAL MOVEMENT OF THE UPPER TURNING PART OF CONSTRUCTION MACHINES AND COMPUTING DEVICE FOR DETERMINING THE INCLINATION ANGLE
JPH07110759B2 (en) * 1990-10-18 1995-11-29 株式会社神戸製鋼所 Method and apparatus for controlling turning stop of upper swing body in construction machine
US5529193A (en) * 1991-04-11 1996-06-25 Hytoenen; Kimmo Crane control method
FI91517C (en) * 1992-11-17 1994-07-11 Kimmo Hytoenen Method for controlling a harmonically oscillating load
FI91239C (en) * 1993-02-01 1998-07-20 Kimmo Hytoenen Method and apparatus for controlling crane operation
KR970003508B1 (en) * 1994-03-25 1997-03-18 한국원자력연구소 Speed control method for vibration prevention of crane
US6135301A (en) * 1994-03-28 2000-10-24 Mitsubishi Jukogyo Kabushiki Kaisha Swaying hoisted load-piece damping control apparatus
JP2971318B2 (en) * 1994-03-28 1999-11-02 三菱重工業株式会社 Sway control device for suspended load
JPH07328965A (en) * 1994-06-03 1995-12-19 Toyota Motor Corp Vibration damping control method, natural vibration period measuring method, vibration damping control device
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
US7121012B2 (en) * 1999-12-14 2006-10-17 Voecks Larry A Apparatus and method for measuring and controlling pendulum motion
US7845087B2 (en) * 1999-12-14 2010-12-07 Voecks Larry A Apparatus and method for measuring and controlling pendulum motion
DE10023756A1 (en) * 2000-05-15 2001-11-22 Tax Technical Consultancy Gmbh Method for correcting the position of a load bearer, especially for carrying containers onto or off ships, etc, in which the load bearer is moved to a desired corrected position prior to being moved to its final position
US7317782B2 (en) * 2003-01-31 2008-01-08 Varian Medical Systems Technologies, Inc. Radiation scanning of cargo conveyances at seaports and the like
US6768421B1 (en) 2003-01-31 2004-07-27 Veritainer Corporation Container crane radiation detection systems and methods
FI114980B (en) * 2003-07-17 2005-02-15 Kci Konecranes Oyj Method for controlling the crane
US20090312953A1 (en) * 2008-06-17 2009-12-17 Veritainer Corporation Mitigation of Nonlinear Background Radiation During Real Time Radiation Monitoring of Containers at a Quayside Crane
FI120789B (en) * 2008-06-23 2010-03-15 Konecranes Oyj Method for controlling the rotational speed of the motor of a lifting device operation to be speed controlled and a lifting device operation
US20100128852A1 (en) * 2008-11-24 2010-05-27 Veritainer Corporation Detector Characterization and Calibration
CN101723239B (en) * 2009-11-20 2012-05-02 三一汽车制造有限公司 Lifting hook attitude detection device and crane
US8687764B2 (en) 2010-04-14 2014-04-01 Uday S. Roy Robotic sensor
US9802793B2 (en) * 2013-01-22 2017-10-31 National Taiwan University Fast crane and operation method for same
CN103991801B (en) * 2014-05-12 2016-02-17 中联重科股份有限公司 Tower crane and anti-swing control method, device and system for lifting hook of tower crane
EP2987759B1 (en) * 2014-08-18 2016-11-16 Siemens Aktiengesellschaft Crane with defined oscillating motion when a destination is reached
FR3071240B1 (en) * 2017-09-21 2019-09-06 Manitowoc Crane Group France DYNAMIC OPTIMIZATION OF A CRANE LOAD CURVE
JP7172243B2 (en) * 2018-07-25 2022-11-16 株式会社タダノ Cranes and crane control systems
CN110775818B (en) * 2019-09-25 2020-10-27 南京航空航天大学 Crane anti-swing control method based on machine vision
CN110950241A (en) * 2019-12-20 2020-04-03 博睿斯重工股份有限公司 Electronic anti-swing method of intelligent crane
CN114572842B (en) * 2022-03-24 2023-02-14 江苏苏港智能装备产业创新中心有限公司 Control method, device and equipment for inhibiting swinging of grab bucket and storage medium
CN114955882B (en) * 2022-05-24 2023-08-18 山东大学 Anti-swing control method and system for bridge crane and controller
US11932519B2 (en) 2022-07-06 2024-03-19 Magnetek, Inc. Dynamic maximum frequency in a slow-down region for a material handling system

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2806610A (en) * 1953-10-27 1957-09-17 Raymond C Goertz Anti-swing crane
GB1132967A (en) * 1964-12-08 1968-11-06 Davy And United Instr Ltd Control systems for preventing swinging of suspended loads
US3517830A (en) * 1967-10-10 1970-06-30 Vilkko Antero Virkkala Cranes
US3850308A (en) * 1970-05-09 1974-11-26 Siemens Ag Apparatus for accommodating the pendulum action of a load carried by a rope from a traveller

Also Published As

Publication number Publication date
JPS49124761A (en) 1974-11-29
AR211224A1 (en) 1977-11-15
JPS5414389B2 (en) 1979-06-06
AU6735574A (en) 1975-10-02
BR7402613D0 (en) 1974-11-19
US3921818A (en) 1975-11-25

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Legal Events

Date Code Title Description
PS Patent sealed [section 19, patents act 1949]
746 Register noted 'licences of right' (sect. 46/1977)
PE20 Patent expired after termination of 20 years

Effective date: 19940331