Anti-swinging control method capable of adjusting auxiliary suspension load transportation

Abstract

The invention relates to a method for controlling displacement of a load which is suspended at a suspension point of a crane as a hoist type. The suspension point is designed in a manner of displaceable along rotation around a first axis (ZZ') in swinging and furthermore displaceable along the translation in a second axis (XX') which is crossed with the first vertical axis (ZZ'). The method comprises the steps of: an acquiring step for a preset speed value (Vi), and a filtering step for filtering the preset speed value by means of a virtual model (X<arrow>=AX+BU) of a using state vector (X). The state vector (X) comprises a swinging angle component of the suspended load, and the swinging angular speed component of the suspended load. Furthermore state feedback control is performed on the virtual model. The correction gain (ki1,ki2) of the state feedback control can be represented by a same type parameter (Tc) which can be freely adjusted by the driver of the crane.

Description

technical field [0001] The present invention relates to the general field of cranes of the tower crane type, comprising a mobile hitch of the trolley type, at which a load to be displaced can be suspended, and to a method of assisting the driving of such a crane. Background technique [0002] It is known to provide control methods aimed at controlling and more specifically limiting the amplitude of pendulum vibrations or "sway", which is the purpose of suspending a load while the trolley is moving, and which is intended to improve the accuracy and safety of the transport operation of said load sex. [0003] For this purpose, it is known, for example according to document FR-2704847, to first formulate a setpoint for the position of the trolley, while passing this setpoint through a frequency cut-off for eliminating from said setpoint the frequencies capable of exciting the load oscillation mode. The pinhole filter is then applied to the setpoint to the trolley, and the sway...

AI Technical Summary

Problems solved by technology

[0006] However, such closed-loop servo control implements multiple sensors for eg measuring the real sway angle, which increases the complexity of the steering system and more generally the crane equipped with it, and thus increases the cost and the risk of failure

[0007] Furthermore, the complexity of the models used by the driving system and the amount of data used for measurement and processing tend to be relatively large and expensive in terms of computing power, memory and energy

[0008] Furthermore, the assistance provided or applied to the crane operator (crane driver) may tend to unduly dampen the response of the crane to the crane driver's settings, thus distorting the intuitive sense that the driver may have of the behavior of the crane, and especially Gives a bad impression to the driver: the crane is unresponsive and does not faithfully enforce its setpoints

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