Control system for a boom crane

Details Control system for a boom crane Control system for a boom crane

2007-10-16

2010-12-14

Brahan, Thomas J (Department: 3654)

Traversing hoists

Having means to prevent or dampen load oscillations

Antisway

C700S213000

Reexamination Certificate

active

07850024

ABSTRACT:
A control system for a boom crane, having a tower and a boom pivotally attached to the tower, a first actuator for creating a luffing movement of the boom, a second actuator for rotating the tower, first means for determining the position rAand/or velocity {dot over (r)}Aof the boom head by measurement, second means for determining the rotational angle φDand/or the rotational velocity {dot over (φ)}Dof the tower by measurement, the control system controlling the first actuator and the second actuator. In the control system of the present invention the acceleration of the load in the radial direction due to a rotation of the tower is compensated by a luffing movement of the boom in dependence on the rotational velocity {dot over (φ)}Dof the tower determined by the second means. The present invention further comprises a boom crane having such a system.

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Command Shaping and Closed-Loop Control Interactions for a Ship Crane, by Michael Agostinin et al, for the Proceedings of the American Control Conference, Anchorage, AK, May 8-18, 2002.
Experimental Verification of Command Shaping Boom Crane Control System, by Gordan Parker et al, for the Proceedings of the American Control Conference, San Diego CA, Jun. 1999.
Konstruktion/Wissenschaft/Forschung Dec. 1991, pp. 43-47.
EPO Search Report for Appln. EP 07019661.

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