Crane Control Apparatus Adaptive Trajectory Swing Suppression
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Solution Overview
Problem
Crane operation control systems face challenges in maintaining planned movement trajectories and suppressing load swing during speed changes, especially in conditions like strong winds, where instantaneous speed adjustments are required, leading to potential collisions and incomplete swing suppression.
Innovation Solution
An operation control apparatus for cranes that includes a trajectory creating unit, vertical and horizontal direction command value updating units, acceleration/deceleration pattern calculation, and swing stop control to manage speed changes while maintaining planned trajectories and minimizing load swing by calculating and applying optimal acceleration/deceleration patterns based on changing rope length rates.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the speed is changed instantaneously to respond to external conditions (e.g., strong wind), then the response time is improved, but the swing of the suspended load increases and the trajectory deviates from the planned path
Solution Approach 1:
The patent applies dynamics by making the acceleration/deceleration pattern adaptive rather than fixed. The control device calculates and updates the acceleration/deceleration pattern in real-time based on the current rope length and its change rate, allowing the system to dynamically adjust to changing conditions while maintaining swing suppression. This resolves the contradiction by enabling responsive speed changes that adapt to the actual state of the system.
Solution Approach 2:
The patent changes the parameters of the acceleration/deceleration pattern based on the rope length change rate. By continuously monitoring how the rope length is changing and adjusting the acceleration/deceleration profile accordingly, the system can respond to external conditions while maintaining trajectory accuracy and minimizing load swing. This parameter adaptation resolves the contradiction between rapid response and stability.
2Stability of the object's composition
If the acceleration/deceleration pattern is determined using the rope length change rate at the start of speed change, then the initial swing suppression is improved, but the swing cannot be completely suppressed because the rope length change rate is not constant during the speed change
Solution Approach 1:
The patent implements feedback by continuously monitoring the rope length and its change rate during the speed change process. The control device updates the acceleration/deceleration pattern based on real-time measurements rather than relying solely on initial conditions. This closed-loop feedback mechanism ensures that the swing suppression remains effective throughout the entire speed change, maintaining both reliability and trajectory accuracy.
Solution Approach 2:
The patent makes the acceleration/deceleration pattern dynamic by updating it during the speed change based on the current rope length change rate. Instead of using a fixed pattern determined at the start, the system continuously adapts the pattern to match the actual state of the system, ensuring reliable swing suppression throughout the maneuver.
3Manufacturing precision
If the hoisting speed and lowering speed are changed to reduce trajectory deviation, then the trajectory accuracy is improved, but the speeds cannot be changed instantaneously requiring certain time which still results in trajectory mismatch
Solution Approach 1:
The patent applies dynamics by making the acceleration/deceleration pattern adaptive rather than fixed. The control device calculates and updates the acceleration/deceleration pattern in real-time based on the current rope length and its change rate, allowing the system to dynamically adjust to changing conditions while maintaining swing suppression. This resolves the contradiction by enabling responsive speed changes that adapt to the actual state of the system.
Solution Approach 2:
The patent changes the parameters of the acceleration/deceleration pattern based on the rope length change rate. By continuously monitoring how the rope length is changing and adjusting the acceleration/deceleration profile accordingly, the system can respond to external conditions while maintaining trajectory accuracy and minimizing load swing. This parameter adaptation resolves the contradiction between rapid response and stability.
Data Source
AI summary
An operation control apparatus for a crane for moving a suspended load in vertical and horizontal directions to a target position includes: a trajectory creating unit configured to create in advance a movement trajectory of the suspended load; a function creating unit configured to create a function indicating a relationship between a horizontal direction position and a height in the trajectory; a vertical direction command value updating unit configured to generate a vertical direction position command value by sequentially updating, in accordance with the horizontal direction position and based on the function, the vertical position at which the load should be present; a vertical direction control unit configured to generate a vertical direction speed command value based on the position command value; and a vertical direction driving unit configured to move the load in the vertical direction in accordance with the speed command value.