Third-Order Filter for Tower Crane Anti-Oscillation Control
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Solution Overview
Problem
Existing control methods for tower cranes impose complexity and cost due to the need for numerous sensors and high computational resources, leading to instability and a lack of responsiveness in load movement, which affects the driver's intuitive control experience.
Innovation Solution
A method that involves third-order filtering of the control setpoint to generate a filtered piloting setpoint, ensuring the control signal is smooth and continuous, reducing the need for feedback sensors and simplifying the control system while maintaining responsive and stable load movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a closed-loop control system with numerous sensors is used to reduce swaying, then the control accuracy is improved, but the device complexity and cost increase
Solution Approach 1:
The patent extracts and removes the need for numerous feedback sensors (accelerometers, gyroscopes, encoders) from the control system. Instead of using sensor feedback, the invention uses an open-loop control approach with pre-calculated control commands based on the desired trajectory, eliminating the complex sensor network while maintaining control accuracy.
Solution Approach 2:
The control system performs self-correction through mathematical modeling and prediction algorithms that anticipate swaying movements. The system uses the known dynamics of the crane and load to generate compensating control commands without requiring external sensor feedback, making the system self-sufficient.
2Measurement precision
If a complex mathematical model with extensive data processing is used to control swaying, then the control precision is improved, but the computing resources and energy consumption increase
Solution Approach 1:
The control commands are pre-calculated based on the desired trajectory and system dynamics before execution. The control algorithm computes the necessary acceleration and velocity profiles in advance, allowing the system to execute predetermined control actions without requiring extensive real-time computational resources during operation.
3Stability of the object's composition
If strong feedback control is applied to reduce swaying, then the stability is improved, but the responsiveness to operator instructions deteriorates
Solution Approach 1:
The control system dynamically adjusts its behavior based on the operational phase. During acceleration and deceleration phases, the system applies stronger control actions to prevent swaying, while during constant velocity phases, it reduces control intervention to maintain responsiveness. The control gains and damping factors are varied dynamically to balance stability and responsiveness.
Data Source
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AI summary
The present invention relates to a method for controlling the movement of a load (1) suspended from an attachment point (H) of a lifting device (2), said method comprising an acquisition step (a) during which a "control command" (Vu) representative of the movement speed that the operator wishes to impart to the suspended load (1) is acquired, then a processing step (b) during which a command called an "execution command" (Vtrol) is developed from said control command (Vu) which is applied to a drive motor (7, 8) in order to move the suspended load (1), the processing step (b) comprising a C3 regularization substep (b4) by third-order filtering during which a third-order filter (F3) is applied to the control command (Vu) in order to generate a filtered control command (Vf) of regularity class C3,Then the execution instruction (Vtrol) is defined based on the filtered control instruction (Vf).