Suspended Load Control with Predictive Gyroscopic Sway Compensation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional load sway damping systems fail to effectively stabilize loads suspended from ropes due to neglecting external disturbances such as wind or impacts, leading to complex swaying motions that compromise stability.
Innovation Solution
A device comprising a controllable actuator and multiple gyroscopes, controlled by a unified control unit, predicts and compensates for or prevents pendulum movements by generating balancing moments, orthogonal to the load's motion, using artificial intelligence and sensor feedback to maintain precise positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional load sway damping is used, then the system is simple, but it fails to effectively stabilize loads under external disturbances
Solution Approach 1:
The control system is segmented into multiple independent components: a crane control unit for basic crane operations and a separate load sway damping unit for stabilization. Each unit processes specific inputs (crane movements, external disturbances) and generates targeted control commands, allowing the system to handle complex stabilization tasks without overwhelming a single controller.
Solution Approach 2:
The load sway damping unit acts as an intermediary between the crane control unit and the actuators. It receives crane movement commands, predicts resulting load oscillations using a physics model, and generates compensating control signals to counteract unwanted movements, thereby mediating between crude crane control and precise load positioning.
2Adaptability or versatility
If the operational radius is increased, then the work area is expanded, but load sway and positioning accuracy deteriorate
Solution Approach 1:
The system implements feedback through sensors that detect load position, orientation, and motion in real-time. This feedback is fed into the load sway damping unit, which continuously adjusts control commands to counteract oscillations and maintain positioning accuracy regardless of the crane's operational radius or load position.
3Productivity
If the load is moved quickly, then productivity is improved, but spherical oscillations increase
Solution Approach 1:
The load sway damping unit performs preliminary action by predicting load oscillations before they occur. Using a physics model and knowledge of the crane's motion dynamics, it anticipates the direction and magnitude of upcoming oscillations and applies counteracting forces in advance, preventing oscillations rather than merely reacting to them.
Solution Approach 2:
The control system is fully dynamic, continuously adapting control parameters based on real-time crane motion, load position, and external disturbances. The physics model updates predictions dynamically, and control gains are adjusted according to the current operational state, enabling effective stabilization during rapid movements and variable working conditions.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The device ensures stable positioning and movement of loads by effectively counteracting external disturbances, allowing for accurate control and increased operational radius, especially in challenging environments like construction sites.
Implementation Method 1
The device has a plurality of gyroscopes that can be coupled to the load to transmit a moment of force, wherein the moment of force can be generated by a rotation of a rotational axis of at least one of the gyroscopes
Implementation Method 2
The device comprises a sensor for detecting a pendulum movement of the load, wherein the signals can be transmitted to the control unit
Data Source
Figure 1a
Figure 1b
Figure 1c
AI summary
The invention relates to an apparatus for controlling a load suspended on a cord, wherein the movable load has a controllable actuator, and a control unit is provided which is designed to use control commands to control the actuator in order to predict an anticipated counter-movement of the load, in order to equalize and/or prevent the counter-movement of the load by actuating at least one equalization device actuated by the control unit.