Anti-Sway Model Resynchronization for Gantry Hoist Loads
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Solution Overview
Problem
Existing antisway systems for hoisting appliances face challenges in achieving high accuracy and performance in severe environments due to sensor limitations and desynchronization of models with external behaviors, such as sway generated by wind, mechanical behavior, and load geometry, especially in conditions like high temperatures and harsh weather.
Innovation Solution
A method combining sensor measurements with an open-loop architecture using a digital sway model, synchronized through low-pass filters, to resynchronize the mathematical model in real-time by correcting time and amplitude differences based on remarkable points.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a close loop with sensors is used to improve accuracy and performance, then measurement precision is improved, but the system becomes vulnerable to severe environment conditions (high temperature, dust, snow, rain) and requires additional installation complexity
Solution Approach 1:
The patent introduces a mathematical model as an intermediary between the sensor measurements and the control system. This model acts as a mediator that processes sensor data while filtering out environmental noise and compensating for harsh conditions, thereby maintaining measurement precision without direct sensor exposure to severe environments
Solution Approach 2:
The patent replaces direct mechanical/optical sensor measurements with a computational mathematical model that simulates load behavior. This substitution allows the system to infer load position and sway characteristics through calculations rather than direct physical measurement, eliminating sensor vulnerability to environmental factors
2Reliability
If an open loop without sensors is used to work in harsh environments, then reliability is improved, but accuracy and performance deteriorate due to model desynchronization with external behaviors
Solution Approach 1:
The patent implements a feedback mechanism where sensor measurements are continuously compared with mathematical model predictions. The difference between actual measurements and model expectations is used to adjust and resynchronize the model in real-time, maintaining both reliability and accuracy despite environmental variations
Solution Approach 2:
The patent makes the mathematical model dynamic by continuously adjusting its parameters based on real-time sensor feedback. The model adapts its sway characteristics, timing, and amplitude parameters to match actual load behavior under varying environmental conditions, preventing desynchronization while maintaining operational reliability
3Measurement precision
If sensor installation is performed to improve measurement precision, then accuracy is improved, but device complexity and installation difficulty increase due to energy availability and location constraints
Solution Approach 1:
The patent enables the system to self-calibrate and self-synchronize using existing sensors and mathematical models without requiring complex external sensor installation. The system automatically adjusts its own parameters based on available data, eliminating the need for additional sensor infrastructure while maintaining measurement precision
Data Source
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AI summary
For optimizing a model used in real time by an antisway function for the transport of a load (6) by a hoisting appliance spanning a hoisting area and comprising a gantry and a trolley (2) able to transport the load (6) suspended to a hoist (1) mechanism hosted in the trolley (2), wherein, when transported, the load (6) presents a primary sway, the model comprising a model curve representing the theorical primary sway of the load (6) over time, an apparatus is able to: retrieve measurements of angles of the load (6) with respect to the trolley (2) to produce a measurement curve representing a primary sway of the load (6), apply a first filter to the measurement curve to obtain a first filtered measurement curve, calculate a first difference of time between the model curve and the first filtered measurement curve, apply a second filter to the first measurement curve to obtain a second filtered measurement curve, calculate a second difference of a maximum angle amplitude between the model curve and the second filtered measurement curve, synchronize the model based on the first calculated difference or the second calculated difference.