Control method and system for inhibiting torsional oscillation of crane

Abstract

The invention relates to a control method and system for inhibiting torsional oscillation of a crane. An electronic module that suppresses torsional oscillations of a rotating object in a horizontal plane in a system including motor control. The electronic module includes a memory configured to store mass-related values of an object or a rotating component of a system, a housing, and a processor located within the housing. The processor is configured to receive a mass-related value of the object, store the mass-related value of the object in the memory, calculate a torsional oscillation damping signal using an algorithm based at least in part on the mass-related value of the object or the system rotating component, and transmit the torsional oscillation damping signal to the motor control, therefore, the torsional oscillation of the rotating object in the horizontal plane is suppressed.

Description

Technical Field

[0001] The present invention relates to the technical field of control systems for cranes, and in particular to a control method and system for suppressing torsional oscillation of cranes. Background Art

[0002] Cranes play an important role in supporting and transporting objects in warehouses, shipyards, construction sites and many other places. There are many common types of cranes. They are usually composed of a carriage, a rope hoist and an attachment mechanism that crosses the track. The track is generally linear.

[0003] During the working process, when the object moves on the track, it often swings due to momentum, which in turn causes the rope and related components to move in a pendulum motion. If there is no intervention, this motion often takes a long time to subside. The pendulum effect brings two prominent problems: one is the delay of business operations because it takes a long time to subside on its own; the other is that the swinging object may cause a collision. Since it is usually heavy or long, once a collision occurs, it is easy to cause danger and serious injury to the object itself, surrounding people or structures.

[0004] In response to this, people have developed electronic modules that can automatically reduce motion, eliminate the pendulum effect by sending signals to the motor controller or drive, or implementing a control system in it, and there are also examples of related patent results. However, this type of system mainly targets the pendulum problem of linear moving objects, and is powerless against the oscillations caused by the rotating suspended objects of the crane. In the application scenario of rotary suspension, when the electric rotating hook block drives the load to rotate, the interaction between force and inertia will cause entanglement and introduce oscillation elements, which will continue to oscillate during rotation and after deceleration, and these are different types of oscillations around the vertical axis in the horizontal plane. It is dangerous to try to stop this type of rotational oscillation manually, and operators can only let the object stop by itself. This not only causes operational delays, but also makes the precise rotation positioning of the load extremely difficult, which brings many troubles to industrial operations. Summary of the invention

[0005] The object of the present invention is to provide a control method and system for suppressing torsional oscillation of a crane, so as to solve the problems raised in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solution: A control method for suppressing torsional oscillation of a crane, comprising the following steps: S1. receiving a mass-related value of a rotating part of a system for suppressing torsional oscillations of a crane; S2. storing in a memory the mass-dependent value of the rotating component of the object or the system; S3. Calculate a torsional oscillation damping signal using an algorithm that is at least partially based on a received mass-dependent value of an object or a rotating component of a system, and transmit the torsional oscillation damping signal to a motor controller so that the motor controller operates the motor based on the torsional oscillation damping signal, thereby suppressing the torsional oscillation of the object rotating on the horizontal plane.

[0007] A system for implementing a control method for suppressing torsional oscillations of a crane, comprising a memory configured to store mass-related values ​​of an object or a rotating component of the system; a housing, and a processor located within the housing; At least one predetermined angle preference is stored in the memory, the predetermined angle preference comprising a predetermined angular displacement or a predetermined angular position; The processor is configured to: receive mass-related values ​​of the object, store the mass-related values ​​of the object in a memory, calculate a torsional oscillation damping signal using an algorithm based at least in part on the mass-related values ​​of the object or a rotating component of the system, and transmit the torsional oscillation damping signal to the motor controller, thereby suppressing torsional oscillations of the object rotating in the horizontal plane.

[0008] Furthermore, the mass-related values ​​include the measured weight of the object or the rotating part of the system, the measured period of the undamped oscillation of the object on the horizontal plane, and the reference moment of inertia of the object or the rotating part of the system.

[0009] Further, the processor is configured to receive at least one predetermined angle preference, and is configured to calculate the torsional oscillation suppression signal using the received predetermined angle preference.

[0010] Further, the processor is configured to receive at least one command signal from an input / output (IO) device, the processor being configured to determine the torsion using a predetermined angle preference and the at least one command signal to determine the oscillation damping signal.

[0011] Further, at least one predetermined angular position is stored in the memory, and the predetermined angular position includes (a) a predetermined angular displacement or (b) a predetermined angular position.

[0012] Further, the command signal includes at least one predetermined angular parameter, the predetermined angular parameter including (a) a predetermined angular displacement or (b) a predetermined angular position; and the processor is configured to determine the torsional oscillation damping signal using the at least one command signal.

[0013] Further, the command signal includes at least one predetermined angular velocity, and the processor is configured to determine the torsional oscillation damping signal using the predetermined angular velocity and the at least one command signal.

[0014] Further, at least one predetermined angular velocity is stored in the memory, and the processor is configured to determine the torsional oscillation damping signal using the predetermined angular velocity and the at least one command signal.

[0015] Further, the processor is configured to receive a sensor signal from a sensor, and the processor is configured to determine the torsional oscillation damping signal using the sensor signal.

[0016] Compared with the prior art, the present invention has the following beneficial effects: (1) The control method and system for suppressing torsional oscillations of a crane of the present invention is advantageous in reducing or substantially eliminating torsional oscillations experienced by an object suspended from a crane. In particular, the system receives control commands (e.g., speed commands, position commands, rotation commands, etc.) from a controller communicatively coupled to the system. The system then calculates a torsional vibration damping signal. Unlike previously known systems for controlling pendulum motion, the algorithm used in the new device relies at least in part on mass-related values ​​of the object. Once the torsional oscillation damping signal is calculated, the modified signal is transmitted to a motor controller or drive, which then uses the calculated torsional oscillation damping signal to operate the motor, thereby reducing or effectively eliminating torsional oscillations of the object that would otherwise be introduced by the unmodified control signal.

[0017] (2) The system for suppressing torsional oscillation of a crane of the present invention comprises an electronic module for suppressing torsional oscillation of an object rotating on a horizontal plane when the motor is controlled. The electronic module comprises a housing, a processor located in the housing, and a memory configured to store values ​​related to the mass of the object. The processor can be configured to receive a mass-dependent value of the object, store the mass-dependent value of the object in the memory, calculate a torsional oscillation damping signal using an algorithm based at least in part on the mass-dependent value of the object, and transmit the torsional oscillation damping signal to the motor controller. In use, the signal suppresses the torsional oscillation of the object.

[0018] (3) The system for suppressing torsional oscillations of a crane of the present invention includes a motor configured to rotate an object in a horizontal plane, a motor controller operably coupled to the motor and configured to control the motor based on at least one input, and an electronic module communicatively coupled to the motor controller. The electronic module includes a housing, a memory disposed in the housing and configured to store mass-related values ​​of the object, and a processor disposed in the housing and configured to store information on the memory and receive information from the memory. The processor is configured to receive a mass-dependent value of an object or a rotating component of a system in a horizontal plane, store the mass-dependent value of the object or the rotating component of the system in the memory, calculate a torsional oscillation damping signal using an algorithm based at least in part on the mass-dependent value of the object; and transmit the torsional oscillation damping signal to the motor controller so that the motor controller operates the motor based on the torsional oscillation damping signal. In use, the signal suppresses torsional oscillations of the object.

[0019] (4) The system for suppressing torsional oscillation of a crane of the present invention comprises a fixing mechanism configured to suspend the object on a horizontal plane, a motor operably coupled to the fixing mechanism and configured to manipulate the fixing mechanism to rotate the object on a horizontal plane, and an electronic module communicatively coupled to the controller. The electronic module comprises a motor controller operably coupled to the motor and configured to operate the motor based on at least one input, a memory disposed in the housing and configured to store a mass-related value of the object, and a processor disposed in the housing and configured to store information on the memory and receive information from the memory. The processor is configured to receive the mass-dependent value of the object, store the mass-dependent value of the object in the memory, calculate a torsional vibration damping signal using an algorithm based at least in part on the mass-dependent value of the object, and transmit the torsional vibration damping signal to the motor controller. In use, the signal suppresses torsional oscillation of the object.

[0020] (4) The system for suppressing torsional oscillations of a crane of the present invention includes providing a memory having storage capacity, a portion of the memory capacity including mass-dependent values ​​of a rotating part of the object or the system and an algorithm for calculating a torsional oscillation damping signal using the mass-dependent values, and a processor configured to store and retrieve the mass-dependent values ​​from the memory. In the method, the processor receives a command signal from an input / output (IO) device. In response to receiving the command signal from the IO device, the processor retrieves the mass-dependent values ​​and the algorithm from the memory. The processor calculates the torsional oscillation damping signal as a function of the mass-dependent values ​​stored at least in part using the algorithm. The processor transmits the calculated torsional oscillation damping to a motor controller. The motor controller operates the motor based at least in part on the calculated torsional oscillation damping signal, thereby suppressing torsional oscillations of the rotating part of the object or the system in a horizontal plane.

[0021] The above description is only an overview of the technical solution of the embodiment of the present application. In order to more clearly understand the technical means of the embodiment of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, a brief introduction will be given below to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 is a block diagram of a system for suppressing torsional oscillations of an object rotating in a horizontal plane.

[0024] Figure 2 is a block diagram of another system for suppressing torsional oscillations of an object rotating in a horizontal plane.

[0025] Figure 3 FIG1 and FIG2 are block diagrams of the electronic module that receives the position command.

[0026] Figure 4 FIG1 and FIG2 are block diagrams of the electronic module receiving the speed command.

[0027] Figure 5 is a diagram showing input shaping.

[0028] Figure 6 is another diagram illustrating input shaping.

[0029] Figure 7 is another block diagram of a system for suppressing torsional oscillations of an object rotating in a horizontal plane.

[0030] Figure 8 FIG5 is a block diagram of the electronic module receiving position commands.

[0031] Fig. 9 FIG5 is a block diagram of the electronic module receiving the speed command Fig.10 is a flow chart showing a method of suppressing torsional oscillations. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used in the specification of the application are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification, claims and drawings of this application are intended to cover non-exclusive inclusions.

[0034] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase "embodiments" in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0035] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0036] Figure 1 , 34 show a first embodiment of a system 100 for damping torsional oscillations of a suspended object 104 or a portion of the system 100 rotating in a horizontal plane. The system 100 includes an overhead crane 106 that rotates the object 104, an electronics module 128 that receives a command signal from an input / output ("IO") device 120, and a securing mechanism 132 that operably couples the object 104 to the overhead crane 106. Receipt of the command signal by the electronics module 128 triggers a series of processes that are executed by a processor 140 of the electronics module 128 to mitigate, if not effectively eliminate, torsional oscillations of the object 104. In particular, the processor 140 of the electronics module 128 calculates a torsional oscillation damping signal in response to receiving the command signal from the IO device 120 using an algorithm based at least in part on a mass-related value of the object. The processor 140 applies the calculated torsional oscillation damping signal to a set of motor control logic that, when executed, dampens torsional oscillations of the object 104 rotating in a horizontal plane. Importantly, as discussed throughout this application, the electronics module 128 (or motor control 238) operates the motor in a manner that causes the suspended object to rotate in a manner that effectively cancels out the torsional oscillations. Figure 1 The electronic module 128 in is a self-contained module that directly controls the operation of the securing mechanism 132 in a manner that mitigates, if not effectively eliminates, the torsional oscillations experienced by the object 104 when it rotates in the horizontal plane. As used throughout this disclosure, mitigation or elimination of torsional oscillations refers to torsional oscillations that would otherwise be introduced by the unmodified control signal when executed.

[0037] As used throughout this disclosure, the term "mass" or "mass of an object" refers to the mass of a load, the mass of a load and a fixing mechanism, the mass of a load, a fixing mechanism and a rotating motor, or a portion of the mass of a load, a fixing mechanism, a rotating motor and a cable.

[0038] The system 100 may be used in facilities where objects 104 to be transported throughout the facility or outdoor areas are too heavy, too large, or too oddly shaped to be manually transported by facility workers. For example, the system 100 may be used in manufacturing facilities, assembly lines, warehouses, storage units, refineries, foundries, nuclear power plants, coal and natural gas power plants, construction sites, and any other facility that receives and stores large objects that require mechanical means to transport the objects within the facility. In addition, although Figure 1 The electronic module 128 in the embodiment is shown to be used with a bridge crane, but the disclosed electronic module 128 may also be used with, for example, other types of cranes, such as bridge cranes, round cranes, cranes used in nuclear facilities, double-beam bridge cranes, single-beam bridge cranes, gantry cranes, or cantilever cranes. Furthermore, the scope of the present disclosure is not limited to cranes used in facilities.

[0039] For example, the system 100 may instead be used with a deck crane, crawler crane, floating crane, gantry crane, rough terrain crane, truck-mounted crane, bridge crane, polar crane, bulk handling crane, hammerhead crane, stacking crane, telescopic crane, portal crane, or tower crane.

[0040] Figure 1 The bridge crane 106 includes a trolley 108 and a lifting motor 124 for lifting and lowering the suspended object 104. In general, the lifting motor 124 can be any motor with sufficient power to lift and lower the suspended object 104. For example, the lifting motor 124 can be an induction motor, a servo motor, a stepper motor, a torque motor, a switched reluctance motor, a brushless DC motor, a DC motor, a synchronous motor, or an asynchronous motor.

[0041] The object 104 handled by the bridge crane 106 is shown suspended from the lifting motor 124 of the trolley 108 by the rope 116 and the fixing mechanism 132. As used throughout the disclosure, the term "object" refers to an object suspended from the bridge crane, an object suspended from the rope, a load suspended from the bridge crane, a load suspended from the rope, an object or load and a fixing mechanism, an object or load, a fixing mechanism and a rotating motor. The fixing mechanism 132 shown is provided with a rotating motor 135, which is used to rotate the object 104. There are no special requirements for the rotating motor that cannot be understood by a person of ordinary skill in the art. Any conventional motor known for use in these settings, such as an induction motor, a servo motor, a stepper motor, a torque motor, a switched reluctance motor, a brushless DC motor, a conventional DC motor, a synchronous or asynchronous motor, can be used. The benefits of the present invention can be achieved without installing the rotating motor 135 in the fixing mechanism 132. For example, the rotating motor 135 can be located at the top of the rope 116 as part of or connected to the bridge crane 108; Figure 2 shown.

[0042] The first portion of the rope 116a is operably coupled to the lifting motor 124 of the trolley 108 and extends from the lifting motor 124 of the trolley 108 to the fixing mechanism 132. There are no particular requirements for the composition of the rope 116. Figure 1 2 illustrates that a fiber rope may also be used in place of a metal chain, composite cable, or wire, and the term "rope" is intended to encompass all such arrangements known in the art. A second portion of rope 116b extends from a securing mechanism 132 to an object 104 suspended by a lifting motor 124 of a trolley 108, so that a rotating motor 135 is used to rotate the suspended object 104 in a horizontal plane. Positioning the securing mechanism toward the bottom of rope 116 can make connection and disconnection of object 104 easier.

[0043] There are no special requirements for the composition of the fixing mechanism 132 that would not be understood by a person of ordinary skill in the art. For example, any conventional fixing mechanism currently known for rotating a load or coupling a load to a lifting motor may be incorporated into a system that benefits from the new development. Figure 1 As shown, the fixing mechanism 132 includes a housing 132a, a first attachment mechanism 132b and a second attachment mechanism 132c. The housing 132a of the fixing mechanism 132 is elongated.

[0044] The first attachment 132b operably couples the first portion of the rope 116a to the lifting motor 124 of the cart 108, and the second attachment 132c connects the second portion of the rope 116b to the object 104. Figure 1 As shown, the first attachment mechanism 132b of the fixing mechanism 132 is a hook that receives the bottom of the first portion of the rope 116a. The first attachment mechanism can be a releasable structure or a permanent structure. The second attachment mechanism 132c of the fixing mechanism 132 is a hook that receives a portion of the object 104 or a rope, chain or cable wrapped around the moving object 104. Other arrangements can also be used.

[0045] Figure 1 The electronic module 128 shown calculates the torsional oscillation damping signal, adjusts the received control signal using the calculated torsional oscillation damping signal, and executes the adjusted control signal to cause the rotary motor 135 to operate and rotate the object 104. So configured, the electronic module 128 also functions as a motor control. As used throughout the disclosure, the term "motor control" refers to a contactor, switch, relay, drive, motor controller, or any control mechanism capable of operating a motor. In addition, as will be discussed in more detail later, the electronic module 128 is specially programmed and conventional electronic modules, such as those used to control pendulum motion, will not provide the benefits of the new development.

[0046] on the other hand, Figure 2 A second embodiment of a system 300 for suppressing torsional oscillations of a suspended object 304 or a portion of the system 300 rotating in a horizontal plane is shown. Similar to the system 100 of FIG1, Figure 2 The system 300 includes a bridge crane 306 having a trolley 308 disposed on and running along a track 312, a fixing mechanism 332, and a suspended object 304 coupled to the fixing mechanism 332. It also includes a device 320 that receives input from an operator and sends a command signal to an electronic module 328 in response to the input. Although Figure 2The system 300 is shown to include a cart 308, but the safety mechanism 332 may instead be coupled to an I-beam secured to the ceiling of the facility. As used throughout this disclosure, the terms "send" or "transfer" refer to sending from a first physical component to a second physical component, from a first electronic component to a second electronic component, and from one part of an electronic component to another part of the same electronic component (e.g., from one part of a processor to another part of a processor).

[0047] Figure 2 The system 300 shown in FIG. 1 includes a number of Figure 1 300. However, the system 300 includes a modified configuration and integration of the safety mechanism 332. Instead of being coupled to a lifting motor 324 disposed on or within the trolley 308, the system 300 is operably coupled to the trolley 308 and has a plurality of lifting motors 324 disposed on a fixing mechanism 332. In particular, the fixing mechanism 332 includes a vertical portion 332e coupled to the trolley 308 and a horizontal portion 332f rotatably coupled to the vertical portion 332e. Disposed within the vertical portion 332e of the fixing mechanism 332 is a rotary motor 335, which is operably coupled to a set of gears. The rotary motor 335 rotates the horizontal portion 332f together with the gear set, and the horizontal portion 332f ultimately causes the object 304 to rotate. In other words, the rotary motor 335 causes the horizontal portion 332f to rotate relative to the vertical portion 332e. However, in other embodiments, the rotation motor 335 and the fixing mechanism 332 may be configured to rotate the fixing mechanism 335 (ie, the vertical portion 332 e and the horizontal portion 332 ) relative to the cart 308 .

[0048] The horizontal portion 332f is elongated, and a plurality of lifting motors 324 are disposed at both ends of the horizontal portion 332f. The plurality of lifting motors 324 are operably coupled to the object 304. Specifically, a first lifting motor 324a of the plurality of lifting motors 324 is operably coupled to the object 304 through a first rope 316c, and a second lifting motor 324b of the plurality of lifting motors 324 is operably coupled to the object 304 through a second rope 316d.

[0049] like Figure 5 As shown. Figure 3 and 4As shown, the electronic module 128, 328 includes a memory 136 and a processor 140, and the processor 140 is configured to store and retrieve information in the memory 136. The memory 136 must be configured to store various parameters. In general, any conventional processor and memory can be suitable for the present invention, but in order to provide the benefits of the present invention, one of the parameters must be configured to store and identify values ​​related to mass for use in calculating the torsional oscillation damping signal. For example, the parameters may include the weight of the object 104, 304 itself, or the part of the system rotating in the horizontal plane, its oscillation period when rotating in the horizontal plane, or the moment of inertia of the object itself or the part of the system rotating in the horizontal plane.

[0050] The parameters may be manually input by a user via the IO device 120, 320 or pre-programmed onto the memory 136. In either case (e.g., manually input or pre-programmed), the parameters may be modified by the user, for example, using the IO device 120, 320. Moreover, the memory 136 has a memory capacity large enough to include a dedicated portion of the memory capacity for storing various parameters. As will be described in further detail later, when the electronic module 128, 328 receives a command signal from the IO device 120, 320, the processor, in processing the command signal, accesses specific parameters necessary for calculating the torsional oscillation suppression signal stored on the memory 136. Which parameter the processor 140 retrieves from the memory 136 depends on the command signal received by the electronic module 128, 328. The memory capacity with dedicated portions for various parameters ensures that the processor 140 can access and retrieve the necessary parameters to modify the received command signal in a manner that mitigates or substantially eliminates the torsional oscillations experienced by the object 104 or system 100.

[0051] The IO device 120, 320 shown is a user interface through which an operator provides commands to the bridge crane 106, 306. The IO device 120, 320 is communicatively coupled to the electronic module 128, 328 and is configured to send at least one command signal to the electronic module 128, 328. In particular, the IO device 120, 320 is a pendant that is communicatively coupled to the electronic module 128, 328 via a cable capable of transmitting signals. Alternatively, in other embodiments, the IO device 120, 320 can be communicatively coupled to the electronic module 128, 328 via Bluetooth or Wi-Fi. The IO device 120, 320 shown has different buttons, each of which corresponds to a unique command signal. For example, As will be discussed further below, one button may be used to rotate the object in a first manner, a second button may be used to rotate the object in a second manner different from the first manner, and a third button may be used to rotate the object in a third manner different from the first manner and the second manner. In any case, the IO device 120, 320 is configured to associate the first, second, and third buttons with unique command signals. The IO device 120, 320 transmits each unique command signal to the electronic module 128, 328, and the electronic module 128, 328 rotates the object 104, 304 in the first, second, or third manner depending on the button pressed by the operator.

[0052] As described above, for all of this information stored on the memory 136, using an IO device 120, 320 that lacks a display (e.g., a pendant) may be inefficient or frustrating because the operator may repeatedly select incorrect quality-related values ​​without knowing it. Therefore, there is a need for an IO device 120, 320 to verify or provide confirmation that the correct quality-related value has been selected without using a display. For example, the IO device 120, 320 may include an intelligent virtual assistant ("IVA") or an intelligent personal assistant ("IPA") that is capable of receiving voice commands and communicating with the operator. In this embodiment, the IO device 120, 320 may include multiple microphones and multiple speakers. In particular, the IO device 120, 320 may use multiple microphones to detect, listen to, and record voice commands from the operator. Once the IO device 120, 320 analyzes the voice command and performs the task associated with the specific voice command, the IVA, IPA, or other artificial intelligence ("AI") can use a speaker to talk to the operator and indicate which quality-related value was selected from the memory 136 or a remote database. As described above, the IO device 120, 320 may still receive input from the operator, but, in addition, the IVA, IPA or other AI may audibly inform the user which quality-related value has been selected.

[0053] In the disclosed systems 100, 300, there are no special requirements for the IO devices 120, 320 that would not be understood by a person of ordinary skill in the art. Any conventional IO devices 120, 320 known for use in these settings may be incorporated into the newly developed system to benefit from it. Figure 1 and 2 The IO device 120, 320 described and illustrated as a pendant may be another device capable of receiving input from a user and sending the received input to the electronic module 128, 328 in the form of a command signal. For example, the IO device 120, 320 may be a smart phone, a smart tablet, a tablet phone, a laptop, a desktop, a cabin controller or a radio controller disposed in a cabin of a bridge crane.

[0054] and Figure 1 and Figure 2 The IO devices 120, 320 and the electronic modules 128, 328 are described as different components, and the IO devices 120, 320 and the electronic modules 128, 328 can be combined into a single structural element that combines the structures and functions of the two. Again, such an arrangement is consistent with the teachings of the present disclosure, rather than deviating from it.

[0055] Figure 3 , 4 1 and 2 receive position commands ( Figure 3 ) and speed command ( Figure 4 ). And FIGS. Figure 3 and Figure 4 Given Figure 1 and 2 Electronic modules 128, 328 in separate figures. Figure 1 and 2 The electronic module 128, 328 is capable of receiving both the position command and the velocity command. The electronic module 128, 328 then interprets them and uses them to determine the torsional vibration damping signal. Figure 1-4 In the embodiment of FIG. 1 , the position and velocity commands are received by the electronic module 128 , 328 , which also calculates a torsional vibration damping signal and uses the calculated torsional vibration damping signal to directly control the rotation of the object 104 , 304 through the rotation motor 135 , 335 .

[0056] As described above, the mass-dependent value of the object 104, 304 (or the rotating component of the system) may be the oscillation period of the object 104, 304, the oscillation period of the rotating component of the system, the weight of the object 104, 304, the weight of the rotating component of the system, the moment of inertia of the object 104, 304, or the moment of inertia of the rotating component of the system. Once the electronic module 128, 328 determines the torsional oscillation damping signal using an algorithm based at least in part on the mass-dependent value of the object 104, 304 or the rotating component of the system 100, 300, the electronic module 128, 328 uses the torsional oscillation damping signal to operate the bridge crane 106, 306.

[0057] Advantageously, operating the bridge crane 106 306 using the torsional oscillation damping signal substantially reduces or eliminates any torsional oscillations experienced by the object 104 , 304 as the rotary motor 135 , 335 rotates the object 104 , 304 .

[0058] In particular, the memory 136 may include the weight of the object 104, 304 and the weight of the rotating parts of the system 100, 300. The weight of the object 104, 304 may be manually input into the IO device 120, 320 when the object 104, 304 is connected to the safety mechanism 132, 332, and the IO device transmits the weight to the electronic module 128, 328, and the electronic module 128, 328 is stored in the memory 136. The weight of the object 104, 304 and / or the decayed part of the system 100, 300 may also be measured by the sensor 144 (or multiple sensors) and transmitted directly from the sensor 144 to the electronic module 128, 328. In other examples, the sensor 144 may transmit the measured weight to the IO device 120, 320, which transmits the measured weight to the electronic module 128, 328. The sensor 144 may also display the measured weight on a user interface, and the user reads the measured weight and inputs it into the IO device 120 , 320 , and the IO device 120 , 320 transmits the measured weight to the electronic module 128 , 328 .

[0059] The weight of the object 104, 304 and / or the weight of the rotating components of the system may also be retrieved from a remote database (e.g., a server or cloud). In this embodiment, the electronic module 128, 328 may include a (wired or wireless) communication module that communicatively couples the electronic module 128, 328 to the remote database. Once the electronic module 128, 328 is communicatively coupled to the remote database, a user may select a specific object stored on the remote database by indicating to the electronic module 128, 328, via the IO device 120, 320, the unique name stored in the remote database corresponding to the object 104, 304 or the system 100, 300.

[0060] Bridge cranes are sometimes used to repeatedly rotate the same or substantially the same object. It is also common to use the crane to rotate several different objects in a facility, each of which has a different weight or moment of inertia. Therefore, it is desirable for the user to have a quick and efficient way to select, or otherwise indicate to the electronic module 128, 328, which object is suspended from the bridge crane 108, 308. Therefore, the weights of several different objects or elements can be stored in the memory 136 or a remote database, thereby allowing the user of the bridge crane 106, 306 to efficiently switch between objects that need to be rotated. When stored in the memory 136 or remote database, each object can be assigned a unique identifier. The unique identifier can be specific to the naming convention used in a particular facility, but in other examples, the unique identifier can be automatically assigned by the electronic module 128, 328 when the bridge crane 106, 306 first picks up the object 104, 304. In addition, the user can select the object 104, 304 from the memory 136 or remote database using the IO device 120, 320.

[0061] The memory 136 may also store the length of the rope 116, 316c, 316d or a function of the length, such as the height at which the object is suspended. In particular, the length (or function thereof) of the rope 116, 316c, 316d may be measured by a user before attaching the object 104, 304 to the fixing mechanism 132, 332 or after the object 104, 304 is suspended. In both cases, the user may manually enter the measured length or function into the IO device 120, 320, which then transmits the measured length of the rope 116, 316c, 316d or its function to the electronic module 128, 328 and subsequently stores it in the memory 136. The length of the rope 116, 316c, 316d or its function may also be measured by the sensor 144 (or multiple sensors) and transmitted directly to the electronic module 128, 328 by the sensor. In other examples, the sensor 144 may send the measured length to the IO device 120, 320, which in turn sends the measured length to the electronic module 128, 328. The sensor 144 may also display the measured length on a user interface, the user reads and inputs the IO device 120, 320, and the IO device 120, 320 sends the measured length to the electronic module 128, 328. The length 116, 316c, 316d of the rope or its function may also be retrieved from a remote database. In this embodiment, the (wired or wireless) communication module communicatively couples the electronic module 128, 328 to the remote database, and the user may then select the particular length of rope 116, 316c, 316d. The unique identifier corresponding to the rope length 116, 316c, 316d stored in the remote database is indicated to the electronic module 128, 328 via the IO device 120, 320 and thus stored in the remote database 316d. This rope length can be used in conjunction with the weight related value to improve the calculation of the torsional vibration damping signal.

[0062] The memory 136 may also store the periodic oscillations of the object 104, 304 as it rotates in the system. For example, the memory 136 may store the time required for half an oscillation, or the time required for two oscillations, etc. The user may manually input the oscillation period into the IO device 120, 320, which is then transmitted to the electronic module 128, 328 and then stored in the memory 136. The oscillation period may also be measured by a sensor 144 (or multiple sensors) and transmitted directly from at least one sensor 144 to the electronic module 128, 328. In other examples, the sensor 144 may transmit the oscillation period to the IO device 120, 320, which transmits the oscillation period to the electronic module 128, 328. The sensor 144 may also display the oscillation period on a user interface, which is read by the user and input by the user into the IO device 120, 320, which transmits the oscillation period to the electronic module 128, 328. The oscillation period may also be retrieved from a remote database. In such an instance, the (wired or wireless) communication module communicatively couples the electronic module 128, 328 with a remote database, after which a user can select a specific oscillation period stored on the remote database by selecting a unique name corresponding to the oscillation period of the object 104, 304 stored in the remote database through the IO device 120, 320.

[0063] The memory 136 may also store the moment of inertia of the object 104, 304 or the rotating components of the system. In particular, the moment of inertia may be measured, calculated, or otherwise determined by a user before attaching the object 104 to the fixing mechanism 132, 332 or after the object 104, 304 is suspended from the fixing mechanism 132, 332. In both cases, the user may manually input the moment of inertia or any function of the moment of inertia into the IO device 120, 320, which transmits the moment of inertia to the electronic module 128, 328 and then stores it in the memory 136. The moment of inertia may also be measured by a sensor 144 (or multiple sensors) and transmitted directly from the sensor 144 to the electronic module 128, 328. In other examples, the sensor 144 may transmit the moment of inertia to the IO device 120, 320, and the IO device 120, 320 may transmit the moment of inertia to the electronic module 128, 328. The sensor 144 may also display the moment of inertia on a user interface, the moment of inertia being read by a user and input by the user into the IO device 120 , 320 , which then transmits the moment of inertia to the electronic module 128 , 328 .

[0064] The moment of inertia may also be retrieved from a remote database. In this embodiment, the (wired or wireless) communication module communicatively couples the electronic module 128, 328 to the remote database, and a user may then select the specific moment of inertia stored in the remote database by selecting the unique name corresponding to the moment of inertia of the object 104, 300 or the system 100 stored in the remote database via the IO device 120, 320; The IO device 120 , 320 may receive at least one input from the operator.

[0065] The IO device 120, 320 is also capable of receiving and interpreting multi-function inputs (e.g., multiple interactions with the same input) in addition to single inputs (e.g., a single interaction with an input). The device can be programmed so that pressing the first button of the pendant in different ways transmits different command signals, causing different operations. For example, the device can be programmed so that the IO device 120, 320 continuously sends the first command signal to the electronic module 128, 328, and the electronic module 128, 328 responds to the electronic module 128, 328 causing the rotation motor 135, 335 to rotate the object 104, 304 in a horizontal plane, and the duration is substantially equal to the duration of pressing the first button. Pressing the same button a predetermined number of times (for example, twice, three times, four times, or one short press, one long press) continuously sends a second command signal from the IO device 120, 320 to the electronic module 128, 328. In response to the command signal, the electronic module 128, 328 causes the motor to rotate the object 104, 304 in a different manner, for example, rotating the object 104, 304 to a predetermined angular position.

[0066] The IO device 120, 320 can also receive multi-function input from a user that causes the overhead crane 106, 306 to rotate the object 104, 304 at various angular velocities. In particular, pressing the second button a predetermined number of times (e.g., two, three, four times, or one short press and one long press) in succession can send a third command signal from the IO device 120, 320 to the electronic module 128, 328. The third command signal, when executed by the electronic module 128, 328, can cause the electronic module 128, 328 to operate the rotation motor 135, 335 in a manner that causes the object 104, 304 to rotate at a predetermined angular velocity. In addition, the IO device 120, 320 can receive multi-function input from a user that causes the overhead crane 106, 306 to rotate the object 104, 304 at a predetermined angular displacement. In particular, pressing the third button a predetermined number of times in succession (e.g., twice, three times, four times, or short and long presses) can transmit a fourth command signal to the electronic module 128, 328 from the IO device 120, 320. The fourth command signal, when executed by the electronic module 128, 328, can cause the electronic module 128, 328 to operate the rotation motor 135, 335, thereby rotating the object 104, 304 at a predetermined angular displacement. Repeatedly pressing the third button a predetermined number of times can "superimpose" the predetermined angular displacements.

[0067] Depending on the type of IO device 120, 320 used in the system, the IO device 120, 320 may not require a user to enter a multi-function input. The device may be programmed to enable a user to manually enter the precise desired angular position of the object 104, 304. The IO device 120, 320 may also advantageously enable other variables and parameters of the object 104, 304 and system 100, 300 to be entered and used to dampen torsional oscillations of the object 104, 304. Additionally, using an IO device 120, 320 that includes a user interface allows the IO device 120, 320 to display information about the rotating object 104, 304.

[0068] For example, after the user interacts with the IO device 120, 320 in any of the above-described ways, the IO device 120, 320 may display the final angular position of the object 104, 304 and the total angular displacement of the object 104, 304 based on the input received from the user. The IO device 120, 320 may display the displacement and position information in real time, thereby enabling the user to accurately move the bridge crane 106, 306 and the object 104, 304. This may alleviate or completely eliminate the need for the user to rely on their memory when determining displacement and position.

[0069] Once the necessary quality-related values ​​are stored in the memory 136 of the electronic module 128, 328 or accessible in a remote database, the processor 140 calculates (or otherwise determines) the torsional oscillation suppression signal using an algorithm based in part on the single-phase daytime values. In response to a triggering event (e.g., receiving a command signal from the IO device 120, 320), the processor 140 can be configured to reference the memory 136 to obtain the specific quality-related values ​​necessary to calculate the torsional oscillation suppression signal. In order to perform this calculation, additional information, such as the length of the rope, an algorithm or an estimated common value of this length, etc., can be factored into the algorithm.

[0070] The quality-related values ​​do not need to be stored on the memory 136. Instead, the processor 140 can be configured to receive the quality-related values ​​from the IO device 120, 320 when the IO device 120, 320 sends a command signal to the electronic module 128, 328. Specifically, a user can manually enter the quality-related value into the IO device 120, 320, and the IO device 120, 320 transmits the quality-related value to the electronic module 128, 328. The IO device 120, 320 can then transmit the quality-related value to the electronic module 128, 328 together with the command signal providing the position command and / or speed command. Alternatively, or in addition, the IO device 120, 320 can be configured to provide the quality-related value to the electronic module 128, 328 independently of the transmission of the command signal. In this case, when the user manually enters the quality-related value in the IO device 120, 320, the IO device 120, 320 can transmit the quality-related value to the electronic module 128, 328.

[0071] As described above, in response to receiving the input, the IO device 120, 320 may send the command signal to the electronic module 128, 328. As shown in FIGS. 3 and 4, the command signal may appear in the form of a position command or a speed command, respectively. Specifically, the user may interact with the IO device 120, 320 in a variety of ways, and each input received by the IO device 120, 320 corresponds to a different command signal, which is sent to the electronic module 128, 328 and received by the processor 140. The processor 140 interprets and analyzes each command signal sent from the IO device 120, 320 to the electronic module 128, 328, and determines how to use the information received in the command signal.

[0072] For example, the command signal received by the electronic module 128, 328 from the IO device 120, 320 may include: Figure 3 The position command shown in the figure may include information indicating a predetermined angular position or a predetermined angular displacement. Based on this, the specific position information is included in The position command signal, the processor 140 calculates the torsional oscillation suppression signal using an algorithm based in part on the information provided in the position command signal and the mass-dependent value specific to the suspended object or the rotating component of the system. The position command signal received by the electronic module 128, 328 can generally include a final result. In other words, the position command signal can provide the electronic module 128, 328 with, for example, a final angular position or a final angular displacement. The processor 140 can then use the information provided in the position command signal and the mass-dependent value specific to the object 104, 304 being rotated to determine the torsional oscillation suppression signal. In turn, the processor 140 can then use the calculated torsional oscillation damping signal to execute the drive logic to operate the rotating motor 135, 335 to make the object 104, 304 reach the final angular position, or move at a predetermined angular displacement, while significantly reducing or effectively eliminating the torsional oscillations experienced by the object 104, 304 when the object rotates.

[0073] When the electronic module 128, 328 receives a command signal including a speed command instead of a position command, the processor 140 may be configured to undergo a substantially similar process. For example, the speed command received by the electronic module 128, 328 from the IO device 120, 320 described above may include: Figure 4 The velocity command shown may include information indicating a predetermined angular velocity or a predetermined angular acceleration. Based on the specific velocity information contained in the velocity command signal, the processor 140 may calculate a torsional oscillation suppression signal using an algorithm based at least in part on the information provided in the velocity command signal and a mass-related value specific to the suspended object 104, 304 or the system 100, 300. The velocity command signal received by the electronic module 128, 328 may also generally include a final result. In other words, the velocity command signal may provide the electronic module 128, 328 with, for example, a final angular velocity or a final angular acceleration. The processor 140 may then determine the torsional oscillation suppression signal using the information provided in the position command signal and a mass-dependent value specific to the object 104, 304 being rotated. In turn, the processor 140 may then use the calculated torsional oscillation damping signal to perform motor control to operate the rotating motor 135, 335 so that the object 104, 304 reaches a predetermined angular velocity or angular acceleration while mitigating or effectively eliminating the torsional oscillations experienced by the object 104, 304 when the object rotates. While it has been discussed that the processor 140 calculates the torsional oscillation damping signal in response to receiving a command signal from the IO device 120, 320, the calculation can be performed remotely and then transmitted back to the electronic module. For example, the electronic module can transmit the information necessary to calculate the torsional oscillation damping signal to a remote database or cloud. Once received, the remote database or cloud calculates the torsional vibration damping signal and transmits the calculated torsional vibration damping signal back to the electronic module Figure 5 and Figure 6 An example of converting a command signal into a torsional oscillation damping signal using a method called input shaping is shown. Input shaping is a technique for controlling acceleration. The motor control (e.g., motor control 238) reads a speed reference signal from the IO device 120, 320 and provides the necessary voltage and current combination to accelerate the motor to the reference speed. In other settings, a constant acceleration profile is often used to accelerate the motor to the desired speed. The input shaping technique applies a variable acceleration profile instead of a constant acceleration profile. This typically involves a step-by-step approach to acceleration. Specifically, the controller accelerates the motor for a period of time, stops accelerating, pauses for a period of time, and then continues to accelerate to full speed. The number of acceleration ramps, the rate of the ramps, and the duration of each ramp depend on the dynamics of the system. The specific type of input shaping described here is generally referred to as "bang-bang control". This type of control method is one of many methods that can be used with the disclosed electronic module. Input shaping, filters, or other techniques known to those skilled in the art utilize the mass-related values ​​described herein to appropriately calculate the desired torsional oscillation signal. This differs from current methods of damping the pendulum motion of crane loads, as these systems do not use mass-related values ​​to calculate the appropriate damping signal.

[0074] Figure 7-9 A third example system 200 is described by way of example. Figure 7-9 System 200.7-9 is similar to Figure 1 System 100 and Figure 2 The system 300 is a system 200, except that the system 200 modifies the command signals received from the device 220 using an algorithm based at least in part on a mass-related value of the suspended object 204 or a rotatable component within the system (i.e., downward from the rope 216a) to create a set of modified control commands that are sent to and executed by the motor control 238. When the motor control 238 executes the modified control commands, the motor control 238 operates the rotation motor 235 in a manner that mitigates or effectively eliminates the torsional oscillations experienced by the suspended object when rotating in the horizontal plane. Therefore, for ease of reference, and to the extent possible, the same or similar components of the system 100 will retain the same reference numbers, although the reference numbers will be increased by 100.

[0075] and Figure 1 System 100 and Figure 2 Similar to the system 300, Figure 7-9The system 200 includes a bridge crane 206 disposed on and running along a track 212, a fixing mechanism 232 suspended from a lifting motor 224 of a trolley 208, and a suspended object 204. It also includes the IO device 220, which receives input from an operator and sends a command signal to the electronic module 228 in response to the input. However, here, the electronic module 228 is retrofitted to an existing motor control 238. The electronic module 228 receives the command signal from the IO device 220, modifies the received command signal to mitigate or effectively eliminate the torsional oscillation experienced by the rotating object 204 or the rotating system component, and sends the modified command signal to the motor control 238. Therefore, the motor control 238 and the electronic module 228 are different components communicatively coupled to each other.

[0076] exist Figure 7-9 The system 200 shown in FIG. 1 includes many Figure 1 The system 100 shown in FIG. Figure 2 208. However, system 200 includes a modified configuration and integration of electronic module 228. In particular, electronic module 228 is not directly coupled to bridge crane 208, but is remotely configured on bridge crane 208 and interfaces with motor controller 238, which ultimately controls the rotation of object 204. In this case, "remote" is not limited to referring to electronic module 228 being located in a different facility than where bridge crane 208 is installed or in a completely different area of ​​the facility. Rather, "remote" also includes being arranged in a location proximate to bridge crane 208 but not directly coupled to bridge crane 208. That being said, in some examples, electronic module 228 of system 200 may be configured on bridge crane 208 or otherwise mechanically coupled to bridge crane 208.

[0077] Figure 7-9The electronic module 228 of the system 200 is communicatively coupled to the IO device 220 and the motor controller 238, which is ultimately communicatively coupled to the rotating motor 235. So configured, the electronic module 228 receives information and command signals sent from the IO device 220 before the information reaches the bridge crane 208. In addition, the electronic module 228 includes a memory 236, a processor 240, which stores information on the memory 236 and retrieves information from the memory 236, and is communicatively coupled to at least one sensor 244. The motor control 238 can be a conventional motor control that is communicatively coupled to the rotating motor 235 and operates the rotating motor 235 based on the received modified command signal. In some arrangements, the motor control 238 can be incorporated into the rotating motor 235 itself. In the disclosed system, there are no special requirements for the motor control 238 that cannot be understood by a person of ordinary skill in the art. Therefore, any conventional motor control 238 that accepts command signals can be used. As used throughout the disclosure, the term "motor control" refers to a contactor, a switch, a relay, a drive, a motor controller, or any control mechanism that can operate a motor.

[0078] The electronic module 228 of the system 200 differs from the electronic module 128 of the system 100 in how the electronic module 228 of the system 200 is configured to substantially reduce or completely eliminate the torsional oscillations experienced by the object 204 during rotation. Specifically, the IO device 220 receives at least one input from an operator, which the IO device 220 sends as a command signal to the electronic module 228. Each input received by the IO device 220 corresponds to a unique command signal, and when the unique command signal is received by the electronic module 228, a series of modifications to the received command signal are initiated. Figure 8 As shown, the IO device 220 sends a position command signal, which may include information indicating a predetermined angular position or a predetermined angular displacement. Once the electronic module 228 receives the position command signal from the IO device 220, the electronic module 228 then modifies the received position command signal. Specifically, the various ways in which the electronic module 228 modifies the received position command signal depends on the information contained in the received position command signal. For example, if the position command signal received by the electronic module 228 includes information indicating a predetermined angular position to which the object 204 is to be rotated, the electronic module 228 modifies the received position command signal so that when the modified control signal sent by the electronic module 228 to the motor control 238 is executed by the secondary electronic module 238, the torsional oscillations traditionally experienced by the object 204 are mitigated or effectively eliminated.

[0079] In such an embodiment, the processor 240 of the electronic module 228 is very similar to the processor 140 of the electronic module 128, and calculates the torsional oscillation suppression signal using an algorithm based in part on the information provided in the received position command signal and the mass-dependent value associated with the suspended object 204. The received position command signal can generally include a final result. In other words, the position command signal can provide the electronic module 228 with the final angular position to which the object 204 is to be rotated. The processor 240 then uses the information provided in the received position command signal and the mass-dependent value specific to the object 204 (or the rotatable component of the system) being rotated, and uses an algorithm based on this value to determine the torsional oscillation suppression signal. Once the processor 240 of the electronic module 228 calculates the torsional oscillation damping signal, the processor 240 modifies the received command signal using the calculated torsional oscillation damping signal to create a set of modified control signals. The electronic module 228 then sends the set of modified control signals to the motor controller 238, which controls the rotating motor 235 disposed within the safety mechanism 232. The motor control 238 operates the rotation motor 235 using the modified control signal so that the object 204 rotates to the predetermined angular position originally sent from the IO device 220 while experiencing little or no oscillation after reaching the final angular position.

[0080] Fig. 9 The IO device 220 is shown to send a speed command signal that includes information indicating a predetermined angular velocity or a predetermined angular acceleration. Once the electronic module 228 receives the speed command signal from the IO device 220, the electronic module 228 modifies the received speed command signal in various ways based on the information contained in the received speed command signal. For example, if the speed command signal received by the electronic module 228 includes information indicating a predetermined angular velocity at which the object 204 is to rotate, the electronic module 228 modifies the received speed command signal so that when the modified control signal is executed by the motor control 238, the torsional oscillations that the object 204 traditionally experiences are mitigated or effectively eliminated after reaching the final angular position.

[0081] Much like processor 140 of electronics module 128, processor 240 of electronics module 228 calculates torsional oscillation suppression signal 204 using an algorithm based in part on information provided in the received velocity command signal and mass-dependent values ​​associated with the suspended object. The received velocity command signal may generally include an end result.

[0082] In other words, the velocity command signal can provide the electronic module 228 with the final angular velocity, or final angular acceleration, of the object 204 as it rotates. The processor 240 then uses the information provided in the received velocity command signal and the mass-dependent value specific to the object 204 (or the rotatable component of the system) being rotated to calculate the torsional oscillation suppression signal. Once the processor 240 of the electronic module 228 calculates the torsional oscillation damping signal, the processor 240 then modifies the received velocity command signal using the calculated torsional oscillation damping signal to create a set of modified control signals. The electronic module 228 then sends the modified control signal to the motor controller 238 that controls the rotating motor 235. The motor control 238 uses the modified control signal to operate the rotating motor 235 to rotate the object 204 at the predetermined angular velocity or predetermined angular acceleration initially sent from the IO device 220, thereby rotating the object 204 at the final angular velocity or final angular acceleration, while mitigating or effectively eliminating subsequent torsional oscillations of the object 204 after the rotation.

[0083] Fig.10 A method 400 is shown in which torsional oscillations of a suspended object rotating on a horizontal plane are suppressed in a system including a motor control. The method 400 includes providing (step 404) a memory having a memory capacity, wherein a portion of the memory capacity includes a mass-related value of the object and an algorithm for calculating a torsional oscillation suppression signal using the mass-related value, and a processor configured to store information on the memory and retrieve information from the memory. The method 400 includes receiving (step 408) a command signal from an input / output (IO) device at the processor. The mass-related value of the object is retrieved from the memory by the processor in response to receiving the command signal from the IO device (step 412). The processor then calculates (step 416) a torsional oscillation damping signal as a function based at least in part on the mass-related value stored using the algorithm. Once the processor calculates the torsional oscillation damping signal, the calculated torsional oscillation damping signal is transmitted (step 420) to the motor controller. The motor control is then operated (step 324) based at least in part on the calculated torsional oscillation damping signal, the calculated torsional oscillation damping signal suppressing the torsional oscillations experienced by the object rotating on the horizontal plane.

[0084] Although the systems and methods discussed throughout the disclosure include a bridge crane 106, 206, 306, it should be understood that in some examples, a bridge crane is not necessary. Instead, the electronic module can be communicatively coupled to a safety mechanism that is not part of the crane or attached to the crane. For example, a rope can be securely coupled to a support structure and releasably coupled to a securing mechanism. So configured, the electronic module can dampen torsional oscillations of an object suspended from the rope even though the rope is not operatively coupled to a hoist motor of the bridge crane.

[0085] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0086] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0087] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0088] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0089] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0090] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A control method for suppressing torsional oscillation of a crane, characterized in that: The following steps are involved: S1. receiving a mass-related value of a rotating part of a system for suppressing torsional oscillations of a crane; S2. storing in a memory the mass-dependent value of the rotating component of the object or the system; S3. Calculate a torsional oscillation damping signal using an algorithm that is at least partially based on a received mass-dependent value of an object or a rotating component of a system, and transmit the torsional oscillation damping signal to a motor controller so that the motor controller operates the motor based on the torsional oscillation damping signal, thereby suppressing the torsional oscillation of the object rotating on the horizontal plane.

2. A system for implementing the control method for suppressing torsional oscillation of a crane as claimed in claim 1, characterized in that: A device comprising a memory configured to store a mass-related value of an object or a rotating component of a system; a housing, and a processor located within the housing; The memory stores at least one predetermined angle preference, wherein the predetermined angle preference includes a predetermined angular displacement or a predetermined angular position; The processor is configured to: receive mass-related values ​​of the object, store the mass-related values ​​of the object in a memory, calculate a torsional oscillation damping signal using an algorithm based at least in part on the mass-related values ​​of the object or a rotating component of the system, and transmit the torsional oscillation damping signal to the motor controller, thereby suppressing torsional oscillations of the object rotating in the horizontal plane.

3. A system for suppressing torsional oscillation of a crane according to claim 2, characterized in that: The mass-related values ​​include the measured weight of the object or rotating part of the system, the measured period of the undamped oscillation of the object in a horizontal plane and the reference moment of inertia of the object or rotating part of the system.

4. A system for suppressing torsional oscillation of a crane according to claim 2, characterized in that: The processor is configured to receive at least one predetermined angle preference and is configured to calculate a torsional oscillation suppression signal using the received predetermined angle preference.

5. A system for suppressing torsional oscillation of a crane according to claim 2, characterized in that: The processor is configured to receive at least one command signal from an input / output (IO) device, the processor being configured to determine the torsion using a predetermined angle preference and the at least one command signal to determine an oscillation damping signal.

6. A system for suppressing torsional oscillation of a crane according to claim 2, characterized in that: At least one predetermined angular position is stored in the memory, and the predetermined angular position includes (a) a predetermined angular displacement or (b) a predetermined angular position.

7. A system for suppressing torsional oscillation of a crane according to claim 5, characterized in that: The command signal includes at least one predetermined angular parameter including (a) a predetermined angular displacement or (b) a predetermined angular position; and the processor is configured to determine the torsional oscillation damping signal using the at least one command signal.

8. A system for suppressing torsional oscillation of a crane according to claim 5, characterized in that: The command signal includes at least one predetermined angular velocity, and the processor is configured to determine the torsional oscillation damping signal using the predetermined angular velocity and the at least one command signal.

9. A system for suppressing torsional oscillation of a crane according to claim 6, characterized in that: The memory has at least one predetermined angular velocity stored therein, and the processor is configured to determine a torsional oscillation damping signal using the predetermined angular velocity and the at least one command signal.

10. A system for suppressing torsional oscillation of a crane according to claim 2, characterized in that: The processor is configured to receive a sensor signal from a sensor, and the processor is configured to determine the torsional oscillation damping signal using the sensor signal.

Images