Method for damping the load swing of a crane

Details Method for damping the load swing of a crane Method for damping the load swing of a crane

1995-12-01

1998-09-01

Brahan, Thomas J.

Traversing hoists

Methods

212275, B66C 1306

Patent

active

057998051

ABSTRACT:
The invention relates to a method for damping the load swing of a crane during the traversing motion of a load-carrying trolley and/or a trolley-carrying bridge. The method comprises determining substantially continuously the acceleration of the trolley/bridge and the instantaneous swing time constant, swing velocity (v) and deviation (s) from equilibrium of the pendulum formed by the load. When the velocity reference changes, the acceleration providing the desired change in velocity is determined, said acceleration being switched on immediately, and the acceleration compensating for the swing prevailing at the moment of change of the velocity reference is determined, said acceleration being switched on either immediately or, if the compensating acceleration exceeds the maximum acceleration permissible to the traversing drive when switched on immediately, when the pendulum formed by the load has reached its extreme position.

REFERENCES:
patent: 4717029 (1988-01-01), Yasunobu et al.
patent: 5219420 (1993-06-01), Kiiski et al.
patent: 5495955 (1996-03-01), Shibata

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