Crane Control Mode Switching for Load Swing Suppression
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Solution Overview
Problem
Conventional cranes face issues with operator discomfort due to mismatched operation characteristics during load transport operations, particularly when experienced operators encounter difficulties in stopping the boom's turning operation smoothly, leading to discomfort and inefficiency.
Innovation Solution
A crane system with a control unit that generates both basic and filtering control signals, allowing operators to switch between different control modes via a changeover switch, enabling selection of operation characteristics to match the operator's intended action, thereby prioritizing either swing suppression or operation feeling alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If a filtering control signal is used to suppress load swing, then load stability is improved, but the turning operation does not match the operator's intended action, causing operator discomfort
Solution Approach 1:
The patent applies dynamics by making the control characteristic changeable based on operational phase. The control device switches between first control characteristics (matching operator operation) and second control characteristics (suppressing load swing) depending on whether the crane is in acceleration phase or deceleration phase. This dynamic adjustment resolves the contradiction by applying the appropriate control mode at the right time.
Solution Approach 2:
The patent changes control parameters (control characteristics) based on the operational phase. The control device determines acceleration phase or deceleration phase and adjusts the control signal generation accordingly, using different gain values or filter parameters for each phase to balance operator comfort and load stability.
2Stability of the object's composition
If the turning operation continues to suppress boom swing after manual stop, then load swing is reduced, but the operation feels unnatural to experienced operators
Solution Approach 1:
The control system dynamically adjusts its behavior based on the detected operational phase. During deceleration phase, the system switches to control characteristics that prioritize load swing suppression, allowing experienced operators to maintain natural operation feel while still achieving swing reduction when needed.
Solution Approach 2:
The control device uses feedback from acceleration detection to determine the operational phase and adjusts the control signal generation accordingly. This feedback mechanism allows the system to adapt its control characteristics based on the current state, providing both natural operation feel and effective swing suppression.
Data Source
AI summary
This crane is provided with: a operable functional unit; an operation unit for receiving an operation input for operating the operable functional unit; an actuator that drives the operable functional unit; a first generation unit that generates a first control signal for the actuator on the basis of the operation input; a switch unit that can be switched between a first state and a second state; a first filter unit that filters the first control signal to generate a second control signal when the switch unit is in the second state; and a control unit that controls the actuator on the basis of the first control signal when the switch unit is in the first state, and controls the actuator on the basis of the second control signal when the switch unit is in the second state.