Crane Boom Swing Suppression via Multi-Step Control
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Solution Overview
Problem
Crane systems face challenges in effectively suppressing the swing of suspended objects due to residual vibrations, earthquakes, wind, or other external factors when work is stopped, leading to instability during transportation.
Innovation Solution
A crane system that uses a combination of camera-based detection and control algorithms to calculate the maximum amplitude and swing direction of the suspended object, performing multiple control steps to adjust the boom's position and reduce swing, ensuring the suspended object is stabilized by moving the boom to specific reference positions to minimize oscillation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the crane uses conventional single-step control to stop the suspended object, then the control system is simple, but the swing suppression effectiveness is insufficient
Solution Approach 1:
The swing suppression control is divided into multiple sequential steps: first control moves the boom to a first shifted position to suppress swing in one direction, then second control moves the boom to a second shifted position to suppress swing in the opposite direction. This segmentation allows effective swing suppression while maintaining relatively simple control logic for each individual step.
Solution Approach 2:
The control system performs periodic swing suppression operations by alternating between first control and second control based on swing detection. The control alternates between moving the boom to counteract swing in opposite directions, creating a periodic action that continuously dampens the oscillation until the suspended object stabilizes at the reference position.
2Reliability
If the crane performs multiple control steps to suppress swing, then the swing suppression effectiveness improves, but the operation time increases
Solution Approach 1:
The control system performs periodic swing suppression operations by alternating between first control and second control based on swing detection. The control alternates between moving the boom to counteract swing in opposite directions, creating a periodic action that continuously dampens the oscillation until the suspended object stabilizes at the reference position.
Solution Approach 2:
The control system applies partial actions by performing swing suppression only when swing is detected, rather than continuously operating. The first control and second control are applied selectively based on the swing direction and amplitude, avoiding unnecessary operations and reducing overall operation time while maintaining effective swing suppression.
3Manufacturing precision
If the crane uses complex multi-step control algorithms, then the swing suppression precision improves, but the ease of operation decreases
Solution Approach 1:
The control system uses feedback from swing detection to determine when and how to apply first control and second control. The control alternates between different boom positions based on real-time swing information, creating a closed-loop system that automatically adjusts to suppress swing effectively while maintaining simple operational procedures.
Solution Approach 2:
The control system performs swing suppression automatically based on detected swing conditions, eliminating the need for manual intervention. The crane's control system self-adjusts by alternating between first control and second control to suppress swing, making the complex multi-step process transparent to the operator while maintaining high precision swing suppression.
Data Source
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AI summary
Provided is a crane capable of effectively suppressing the swing of the suspended object when the work to transport the suspended object is stopped. A crane (1) includes a boom (2) and a suspended object 16 suspended from the boom (2). The crane (1) is configured to perform, when in plane coordinates as seen vertically downward from above the crane, a position where the suspended object 16 is suspended from the boom (2) without swinging is defined as a reference position of the suspended object 16, a first control to operate, in a case where the suspended object 16 is at a first shifted position 16a1 shifted with respect to a first reference position, the boom 2 to approach the first shifted position 16a1 in the plane coordinates, and a second control to operate, in a case where the suspended object 16 is at a second shifted position 16a2 shifted from a second reference position that is a reference position after the first control, the boom 2 to approach the second shifted position 16a2 in the plane coordinates.