Anti-sway Model Synchronization via Torque Measurement
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Solution Overview
Problem
Existing anti-sway systems for hoisting appliances face challenges in achieving high accuracy and performance, especially in severe environments, due to the lack of sensors that can operate at high temperatures and the inability to model external behaviors such as sway caused by wind, mechanical behavior, and load geometry, leading to desynchronization issues.
Innovation Solution
A method that optimizes a real-time model for anti-sway functions by determining remarkable points based on torque measurements and synchronizing the mathematical model with these points to improve accuracy and performance, using a control device that communicates with a supervisory system and meter devices to adjust the anti-sway algorithm.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a close loop antisway system with sensors is used, then accuracy and performance are improved, but the system cannot operate in high temperature environments (over 100°C) and is sensitive to dust, snow, rain, and flying objects
Solution Approach 1:
The patent replaces optical sensors with a mechanical/torque-based measurement system. Instead of using optical sensors that detect load position and are sensitive to environmental factors, the system uses torque measurements from the hoisting mechanism to infer load position and calculate sway angles. This substitution eliminates the need for optical sensors, enabling operation in high temperature and harsh environmental conditions while maintaining measurement capability.
Solution Approach 2:
The patent introduces torque measurements as an intermediary parameter to indirectly determine load position and sway characteristics. Rather than directly measuring load position with optical sensors, the system uses torque data from the hoisting mechanism as an intermediary to calculate sway angles and control anti-sway actions. This intermediary approach bypasses the limitations of optical sensors in severe environments.
2Reliability
If an open loop antisway system is used, then harsh environments are tolerable, but accuracy and performance deteriorate due to inability to model external behaviors such as wind, mechanical behavior, and load geometry
Solution Approach 1:
The patent implements a feedback mechanism that continuously compares actual torque measurements with predicted torque values from the mathematical model. The difference (error signal) is used to adjust the anti-sway control actions in real-time. This feedback loop enables the system to adapt to external behaviors like wind, mechanical compliance, and load geometry changes, maintaining high accuracy while operating in harsh environments.
Solution Approach 2:
The patent dynamically adjusts model parameters based on real-time torque measurements and operating conditions. The mathematical model parameters are modified to account for external behaviors such as wind effects, mechanical compliance, and load geometry variations. This parameter adaptation allows the open-loop system to maintain accuracy by continuously updating its predictive model to match actual system behavior.
3Measurement precision
If sensor installation is performed to enable close loop control, then accuracy is improved, but installation is not always possible due to lack of energy availability or unavailable locations
Solution Approach 1:
The patent enables the system to use existing energy sources and structural components for measurement purposes. Instead of requiring separate powered sensor installations, the system uses the existing hoisting mechanism's torque measurements (which are already part of the control system) to infer load position and calculate sway. This self-service approach eliminates the need for additional sensor installations while maintaining measurement capability.
Solution Approach 2:
The patent makes the torque measurement system serve multiple functions: it not only controls the hoisting mechanism but also simultaneously measures load position, calculates sway angles, and provides data for anti-sway control. This multi-functionality eliminates the need for separate dedicated sensors, making installation feasible in locations where sensor mounting would be difficult or where energy availability is limited.
Data Source
AI summary
A method for optimizing a model used in real time by an antisway function for the transport of a load by a hoisting appliance, including a gantry able to move along a first axis and a trolley able to move along a second axis, wherein, when transported, the load presents a first sway along the first axis and a second sway along the second axis. The model represents the theorical sway of the load over time, including a first curve representing a first sway, a second curve representing a second sway, and a third curve representing a third sway being a vector of the first sway and the second sway. A control device determines a first remarkable point for the first curve or the second curve depending on the torque of the gantry or the trolley when one of the gantry and the trolley is accelerating, determines a second remarkable point for the first curve or the second curve depending on the torque of the gantry or the trolley when one of the gantry and the trolley is stopped, determines a first remarkable point or the second remarkable point for the third curve depending on a load measurement or the torque of the hoist mechanism when the gantry and the trolley are moving at a steady speed, and synchronizes the model with at least one of the remarkable points.