Crane Hoist Anti-Sway Control Using PI Speed-Difference Feedback
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Solution Overview
Problem
Existing crane control systems face difficulties in effectively controlling the sway of a crane's hoist during operation, particularly due to complex control methods and poor anti-sway performance, especially when the hoist is operated in conjunction with a trolley or cart, or when sudden accelerations and decelerations occur.
Innovation Solution
A method and system that acquire speed differences between anti-sway motors to control torque output, using PI controllers to regulate torque based on speed differences and thresholds, ensuring the hoist remains within desired sway amplitude ranges, even during simultaneous operations of the trolley and cart.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the existing mechanical anti-sway control method is used with four motors, then the hoist sway amplitude can be reduced, but the control logic becomes complicated and requires repeated debugging
Solution Approach 1:
The patent changes the control parameter from complex multi-motor torque coordination to simple speed difference measurement. By measuring the speed difference between the hoist and trolley/cart, the system automatically determines when anti-sway action is needed, eliminating complex logic judgment procedures and debugging requirements while maintaining effective sway control.
Solution Approach 2:
The patent implements a feedback mechanism where the speed difference between the hoist and the moving platform (trolley or cart) is continuously measured and used to trigger anti-sway control actions. This feedback loop automatically adapts to operational conditions without requiring manual debugging or complex control logic.
2Reliability
If torque is increased to counteract sway, then sway amplitude is reduced, but the control method requires complex logic judgment and repeated sudden accelerations worsen the effect
Solution Approach 1:
The anti-sway system operates autonomously by automatically detecting speed differences and triggering appropriate control actions without requiring complex operator judgment or intervention. The system self-adjusts based on real-time speed measurements, eliminating the need for operators to make complex decisions about when and how to apply torque.
Solution Approach 2:
The patent replaces complex mechanical control logic and manual operation judgment with an automated electronic control system that measures speed differences and automatically adjusts motor torque. This substitution eliminates the need for complex logic judgment procedures and prevents the worsening effect of repeated sudden accelerations by providing smooth, automated control.
3Reliability
If four motors are used to pull the hoist corners, then anti-sway control is achieved, but debugging becomes even more complicated when trolley and cart operate in conjunction
Solution Approach 1:
The patent fundamentally changes the control parameter from multi-motor torque coordination to single parameter speed difference measurement. This parameter change simplifies the system so that the same control logic works effectively whether the trolley operates alone, the cart operates alone, or both operate in conjunction, eliminating the need for separate debugging for different operational scenarios.
Solution Approach 2:
The patent creates a universal anti-sway control system that handles all operational scenarios (trolley only, cart only, or combined operation) through a single unified control logic based on speed difference measurement. This universal approach eliminates the need for scenario-specific debugging and configuration that plagues the four-motor torque coordination method.
Data Source
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AI summary
The present application relates to a method, device and system for controlling a crane, and a storage medium. The method comprises: acquiring a first speed value of a first motor, the first motor being configured to pull a first end of the hoist of a crane; acquiring a second speed value of a second motor, the second motor being configured to pull a second end of the hoist of the crane, the second end being the opposite end of the first end in a trolley traveling direction of the crane; acquiring a first speed difference between the first speed value and the second speed value; acquiring a first speed difference threshold; and, if the first speed difference between the first speed value and the second speed value is smaller than the first speed difference threshold, sending a control instruction to the first motor to increase a torque output value of the first motor in the trolley traveling direction. A technical solution provided by the present application effectively prevents the hoist of a crane from swaying.