专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

71. 发明授权

US5961563A Anti-sway control for rotating boom cranes 失效
标题翻译：旋转臂式起重机的防摇控制
公开(公告)号：US5961563A
公开(公告)日：1999-10-05
申请号：US786275
申请日：1997-01-22
申请人： Robert H. Overton
发明人： Robert H. Overton
IPC分类号： B66C13/06
CPC分类号： B66C13/063
摘要： A process for anti-sway control of a rotating boom or other three-degree-of-freedom crane wherein the load is hoisted, at variable hoist lengths, by a cable suspended from a point that can be moved in space in three dimensions, either freely, or under known constraints. Initial acceleration of the load induces an initial sway to the load. A second lateral acceleration, equal to the first lateral acceleration, is scheduled to be applied one-half a sway period later to remove the sway induced by the first acceleration. A third acceleration is applied to correct for half the excess sway induced by hoisting, by non-linearities in the pendulum, and by crane platform motion; and a forth acceleration, of equal magnitude as the third but in the opposite direction, is scheduled for one-half a sway period later, to correct the remaining half of the excess sway energy. The first and third accelerations are constrained by the ability of the crane to execute them and to execute the delayed second and fourth accelerations. The lateral accelerations are applied additively, and repeated sequentially at a variable rate, to accelerate the load from its initial location to objective velocities and locations under controlled anti-sway conditions.
摘要翻译：旋转吊杆或其他三自由度起重机的防摆动控制的过程，其中负载以可变的起重机长度由悬挂在三维空间中的点悬挂的电缆悬挂，或者自由或已知的限制。负载的初始加速度引起负载的初始摆动。等于第一横向加速度的第二横向加速度被安排在稍后的一半摆动周期上施加以消除由第一加速度引起的摆动。应用第三加速度来纠正提升引起的一半以上的摆动，摆锤中的非线性以及起重机平台运动; 并且第三加速度与第三加速度相等，但是相反的方向被安排在一半的摇摆时间之后，以校正剩余的一半的超出摇摆能量。第一和第三加速度受起重机执行它们的能力和执行延迟的第二和第四加速度的限制。侧向加速度被加法地施加，并以可变速率依次重复，以在受控的防摇条件下将负载从其初始位置加速到客观速度和位置。

72. 发明授权

US5960969A Method for damping load oscillations on a crane 失效
公开(公告)号：US5960969A
公开(公告)日：1999-10-05
申请号：US591856
申请日：1996-01-26
申请人： Chris Xavier Habisohn
发明人： Chris Xavier Habisohn
IPC分类号： B66C13/06
CPC分类号： B66C13/063
摘要： A method and device for damping the oscillation of a load suspended from a rope on a crane is presented. A digital filter accepts an arbitrary velocity input signal and produces a velocity signal output similar to the input and that runs a bridge or trolley drive while damping the load's swing. One version of the damping filter may be implemented by programming a microprocessor to output a simple average of the input signal and the input signal delayed by one-half period of the pendulum motion of the load. A second version of the invention averages the input signals over the period of the pendulum motion to producing a damping signal. A third version of the invention averages the input signal with two delayed versions of the input signal. The third version will produce motion that will dampen load swing for a large range of rope lengths. Furthermore, if an additional signal representing rope length is taken, all three versions can be adapted to dampen swing for a full range of rope lengths.

73. 发明授权

US5799805A Method for damping the load swing of a crane 失效
标题翻译：一种用于阻尼起重机负载摆动的方法
公开(公告)号：US5799805A
公开(公告)日：1998-09-01
申请号：US565950
申请日：1995-12-01
申请人： Olli M.ang.rd , Risto Ahvo
发明人： Olli M.ang.rd , Risto Ahvo
IPC分类号： B66C13/22 , B66C13/06
CPC分类号： B66C13/063
摘要： 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.
摘要翻译：本发明涉及一种用于在载重手推车和/或载运车桥的横移运动期间阻尼起重机的负载摆动的方法。该方法包括基本上连续地确定滑轮/桥梁的加速度和瞬时摆动时间常数，摆动速度（v）和偏差（s）与由负载形成的摆锤的平衡。当速度基准改变时，确定提供期望速度变化的加速度，立即开启所述加速度，并且确定补偿速度基准变化时的摆动的加速度，所述加速度被切换为立即或者如果补偿加速度超过了立即开启时横移驱动器允许的最大加速度，则当由负载形成的摆锤已经达到其极限位置时。

74. 发明授权

US5785191A Operator control systems and methods for swing-free gantry-style cranes 失效
标题翻译：无摇摆龙门起重机的操作员控制系统和方法
公开(公告)号：US5785191A
公开(公告)日：1998-07-28
申请号：US651166
申请日：1996-05-15
申请人： John T. Feddema , Ben J. Petterson , Rush D. Robinett, III
发明人： John T. Feddema , Ben J. Petterson , Rush D. Robinett, III
IPC分类号： B66C13/06
CPC分类号： B66C13/063
摘要： A system and method for eliminating swing motions in gantry-style cranes while subject to operator control is presented. The present invention comprises an infinite impulse response ("IIR") filter and a proportional-integral ("PI") feedback controller (50). The IIR filter receives input signals (46) (commanded velocity or acceleration) from an operator input device (45) and transforms them into output signals (47) in such a fashion that the resulting motion is swing free (i.e., end-point swinging prevented). The parameters of the IIR filter are updated in real time using measurements from a hoist cable length encoder (25). The PI feedback controller compensates for modeling errors and external disturbances, such as wind or perturbations caused by collision with objects. The PI feedback controller operates on cable swing angle measurements provided by a cable angle sensor (27). The present invention adjusts acceleration and deceleration to eliminate oscillations. An especially important feature of the present invention is that it compensates for variable-length cable motions from multiple cables attached to a suspended payload.
摘要翻译：提出了一种用于消除龙门式起重机中摆动运动的系统和方法，同时进行操作员控制。本发明包括无限脉冲响应（“IIR”）滤波器和比例积分（“PI”）反馈控制器（50）。 IIR滤波器从操作者输入装置（45）接收输入信号（46）（命令速度或加速度），并将其转换为输出信号（47），使得所得运动无摇摆（即，终点摆动防止）。 IIR滤波器的参数使用提升电缆长度编码器（25）的测量值进行实时更新。 PI反馈控制器补偿建模误差和外部干扰，例如与物体碰撞引起的风或扰动。 PI反馈控制器通过电缆角度传感器（27）提供的电缆回转角度测量器进行操作。本发明调整加速和减速以消除振荡。本发明的一个特别重要的特征在于它补偿来自附接到悬挂有效载荷的多个电缆的可变长度的电缆运动。

75. 发明授权

US5495955A Method and apparatus of damping the sway of the hoisting rope of a crane 失效
标题翻译：起重机起重绳索摇摆的方法和装置
公开(公告)号：US5495955A
公开(公告)日：1996-03-05
申请号：US453313
申请日：1995-05-30
申请人： Naotake Shibata
发明人： Naotake Shibata
IPC分类号： B66C13/06 , B66C13/22
CPC分类号： B66C13/063
摘要： A control system which stabilizes the hoisting rope of a suspension crane comprising a travel drive control unit capable of calculating a torque reference signal by a speed regulating controller having a proportional gain and an integrator or only a proportional gain on the basis of the deviation of a speed detection signal representing the rotating speed of a traveling motor for driving the trolley of the crane from a speed reference signal obtained by subtracting a damping control speed reference correction signal which is obtained by adding a damping factor to a swing angle calculated on the basis of the speed detection signal representing the rotating speed of the traveling motor or a calculated load torque on the traveling motor from a speed reference signal provided through a linear acceleration starter device by a speed reference device, of controlling the rotating speed of the traveling motor according to the torque reference signal, and of producing a damping effect for damping the oscillation of the hoisting rope through the output drive shaft of the traveling motor; a hoist motor for hoisting the hoist load; and a hoist motor drive control unit. The control system suppresses the oscillation of the hoisting rope resulting from the acceleration and deceleration of the trolley, enabling the trolley to travel at a relatively high speed and further enabling the automatic operation of the crane.
摘要翻译：一种使悬架起重机稳定的控制系统，包括行驶驱动控制单元，该行驶驱动控制单元能够通过具有比例增益的调速控制器和积分器或仅基于比例增益的比例增益来计算转矩参考信号速度检测信号表示用于驱动起重机的小车的行驶马达的转速，该速度参考信号是通过减去通过将阻尼因子加到基于速度检测信号表示行驶用电动机的转速或行驶用电动机的计算出的负载转矩，根据由速度基准装置通过线性加速启动装置提供的速度参考信号，根据行驶电动机的转速控制行驶电动机的转速扭矩参考信号，并产生阻尼效应 g起重绳索通过行驶马达的输出驱动轴的摆动; 提升起重机的起重电机; 和起重马达驱动控制单元。该控制系统抑制由于小车的加速和减速引起的起重绳索的振动，使台车能够以相对高的速度行进，并进一步实现起重机的自动操作。

76. 发明授权

US5251768A Method and device for controlling braking of an upper rotary body of a construction machine and a device for calculating the inclination angle of the upper rotary body 失效
标题翻译：用于控制施工机械的上部旋转体的制动的方法和装置以及用于计算上部旋转体的倾斜角度的装置
公开(公告)号：US5251768A
公开(公告)日：1993-10-12
申请号：US776413
申请日：1991-11-25
申请人： Hideaki Yoshimatsu , Kouichi Fukushima
发明人： Hideaki Yoshimatsu , Kouichi Fukushima
IPC分类号： B66C13/06 , B66C23/84 , B66C13/50
CPC分类号： B66C23/84 , B66C13/063
摘要： A method and device is adapted for controlling rotation of an upper rotary body of a construction machine, the upper rotary body being rotatably mounted on a lower body of the construction machine for lifting a load from a predetermined position thereof. The control is executed by determining, based on the radius of rotation of the lifted load, the weight of the lifted load, the inertia moment of the upper rotary body and the permissible weight of the upper rotary body, a permissible condition not to generate a lateral bending force beyond the lateral bending strength of the upper rotary body, and braking the rotation of the upper rotary body at a rotational angular acceleration satisfying the permissible condition and assuring no-swing of the lifted load. A device is adapted for calculating an inclination angle of the upper rotary body. The calculation is executed by detecting and storing inclination angles of the lower body with respect to two different directions respectively, or detecting and storing inclination angles of the upper rotary body with respect to two different directions respectively when the upper rotary body is at a predetermined reference rotational angle, or detecting and storing inclination angles of the upper rotary body with respect to one direction when the upper rotary body is at two different predetermined reference rotational angles.
摘要翻译： PCT No.PCT / JP90 / 01232 Sec。 371日期：1991年11月25日 102（e）1991年11月25日日期PCT 1990年9月25日PCT PCT。公开号WO91 / 14645 日本1991年10月3日。一种方法和装置，用于控制施工机械的上旋转体的旋转，上旋转体可旋转地安装在施工机械的下体上，用于从其预定位置提升载荷。通过基于提升的负载的旋转半径确定提升负载的重量，上部旋转体的惯性力矩和上部旋转体的允许重量来执行控制，不允许生成横向弯曲力超过上部旋转体的横向弯曲强度，并且以满足允许条件的旋转角加速度来制动上部旋转体的旋转，并且确保提升的负载的不挥杆。一种装置适于计算上旋转体的倾斜角度。通过分别检测并存储下体相对于两个不同方向的倾斜角度来进行计算，或者当上旋转体处于预定基准时分别检测并存储上旋转体相对于两个不同方向的倾斜角度旋转角度，或者当上旋转体处于两个不同的预定参考旋转角度时，检测并存储上旋转体相对于一个方向的倾斜角度。

77. 发明授权

US4135628A Hoisting apparatus with improved anti-sway system 失效
标题翻译：起重设备具有改进的防摇系统
公开(公告)号：US4135628A
公开(公告)日：1979-01-23
申请号：US890596
申请日：1978-03-20
申请人： Rudy M. Harris , Roger L. Wolfe , William T. Martin
发明人： Rudy M. Harris , Roger L. Wolfe , William T. Martin
IPC分类号： B66C5/02 , B66C13/06
CPC分类号： B66C13/063 , B66C5/02
摘要： A movable hoisting apparatus having a pair of spaced apart legs with each leg having two substantially vertical columns, beams extending between the forward columns and the rear columns of each leg, a trolley movable along each of the beams, a lifting frame, sheaves mounted on the lifting frame and trolley sheaves mounted on the trolley, a power drum, a cable extending from the power drum in opposite directions, over the trolley sheaves, downward and around the lifting frame sheaves, upward over the trolley sheaves and forming a crossover portion of the cable between the trolley sheaves and variable brake means retarding the movement of the crossover cable portion to reduce swaying motion of the lifting frame and its load without interfering with the raising and lowering of the lifting frame and load.
摘要翻译：一种具有一对间隔开的腿的可移动提升装置，每个腿具有两个基本上垂直的柱，在每个腿的前柱和后柱之间延伸的梁，沿着每个梁可移动的手推车，提升框架，安装在安装在手推车上的提升架和手推车滑轮，动力鼓，从动力鼓沿相反方向延伸的电缆，在手推车滑轮上方，向下和提升框架滑轮周围，在手推车滑轮上方，形成一个交叉部分手推车滑轮和可变制动装置之间的电缆延迟了交叉电缆部分的移动，以减少提升框架及其负载的摇摆运动，而不会妨碍升降架和负载的升高和降低。

78. 发明公开

US20240132330A1 MOTOR CONTROL ARCHITECTURE OF AUTOMATED CRANES 审中-公开
公开(公告)号：US20240132330A1
公开(公告)日：2024-04-25
申请号：US18382033
申请日：2023-10-18
申请人： DELTA ELECTRONICS, INC.
发明人： Huan-Chang CHEN , Po-Jen KO , Chun-Ju WU , Lon-Jay CHENG , Wan-Ping CHEN , Chih-Yuan CHANG
IPC分类号： B66C13/48 , B66C13/06 , H02P5/50
CPC分类号： B66C13/48 , B66C13/063 , H02P5/50 , B66C17/00
摘要： Motor control architecture including a travel, a hoist, and a controller is disclosed. The travel disposed on a main rail having an auxiliary-encoder includes a master-driver and a slave-driver for driving two motors. Each motor has a main-encoder. The hoist drives a rope and calculates a rope length continuously. The controller calculates an anti-sway position command based on the rope-length and a position command. The two drivers perform a full closed-loop computation based on a feedback of one main-encoder, a feedback of the auxiliary-encoder, and the anti-sway position command. Wherein, the master-driver controls one motor based on a speed command generated by the full closed-loop computation and the slave-driver follows the speed command and a torque command of the master-driver to drive another motor; or the two drivers compensate the torque command based on an error value between the feedback of one main-encoder and the feedback of the auxiliary-encoder.

79. 发明授权

US11858783B2 Knuckle boom crane, for offshore application 有权
公开(公告)号：US11858783B2
公开(公告)日：2024-01-02
申请号：US17541713
申请日：2021-12-03
申请人： REEL
发明人： Frank Heen , Bart Burger
IPC分类号： B66C13/06 , B66C23/52 , B66C23/82 , B66C23/84
CPC分类号： B66C13/063 , B66C23/52 , B66C23/82 , B66C23/84
摘要： Disclosed is a knuckle boom crane, for offshore application, the knuckle boom crane including a crane house, a knuckle boom carried by the crane house, a component for operating the crane house and the knuckle boom, and a controller for piloting the operating component. The controller include a active compensation module that is designed to pilot the operating means, taking into account data coming from a motion reference unit, in such a way as to stabilize a downstream end of the jib, advantageously in a horizontal plane and/or a vertical position, still preferably in all directions.

80. 发明授权

US11708248B2 LQR-based anti-sway control method and system for lifting system 有权
公开(公告)号：US11708248B2
公开(公告)日：2023-07-25
申请号：US17799166
申请日：2021-02-26
申请人： Shanghai Master Matrix Information Technology Co., Ltd.
发明人： Zhi Feng
IPC分类号： B66C13/06 , G05B19/4155 , B66C13/48
CPC分类号： B66C13/063 , B66C13/48 , G05B19/4155 , G05B2219/45046
摘要： The present invention provides a linear quadratic regulator (LQR)-based anti-sway control method for a hoisting system, comprising the following steps: obtaining a target position of a trolley, and obtaining a planned real-time path of the trolley according to the maximum velocity vm and maximum acceleration am of the trolley; establishing a dynamic model of the hoisting system according to a Lagrange's equation, for the Lagrange's equation, the trolley displacement x, the spreader sway angle θ, and the rope length l of the hoisting system being selected as generalized coordinate directions; observing lumped disturbance d using an extended state observer, and compensating for same in a controller, the lumped disturbance d comprising the dynamic model error and external disturbance to the hoisting system; tracking the planned real-time path of the trolley by a Q matrix and an R matrix using a linear quadratic regulator controller. The LQR-based anti-sway control method for a hoisting system provided by the present invention can make the hoisting system operate more smoothly, reduce sway during operation, and quickly eliminate sway when in place while observing the lumped disturbance using an extended state observer.

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式