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US 12,214,998 B2Granted
Mechanical anti-sway control method for cranes
AssigneeSiemens Aktiengesellschaft
InventorsFei Ye, Jian Xu
Life of this patent
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Abstract
Various embodiments of the teachings herein include methods for controlling a crane. The method may include: acquiring a first speed of a first motor pulling a first end of a hoist; acquiring a second speed of a second motor pulling a second end of the hoist opposite the first end; acquiring a first speed difference between the first speed and the second speed; acquiring a first speed difference threshold; and if the first speed difference 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.
Claims18
A method for controlling a crane, the method comprising:
- acquiring a first speed value of a first motor configured to pull a first end of a hoist of the crane, wherein, when the first end of the hoist moves toward the first motor, the first speed value is positive, and when the first end of the hoist moves away from the first motor, the first speed value is negative;
- acquiring a second speed value of the second motor 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, wherein, when the second end of the hoist moves toward the second motor, the second speed value is positive, and when the second end of the hoist moves away from the second motor, the second speed value is negative;
- 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 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.
3 more elements
A device for controlling a crane, the device comprising:
- a first speed acquiring unit to acquire a first speed value of a first motor, the first motor being configured to pull a first end of a hoist of the crane, wherein, when the first end of the hoist moves toward the first motor, the first speed value is positive, and when the first end of the hoist moves away from the first motor, the first speed value is negative;
- a second speed acquiring unit to acquire 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, wherein, when the second end of the hoist moves toward the second motor, the second speed value is positive, and when the second end of the hoist moves away from the second motor, the second speed value is negative;
- a first speed difference acquiring unit to acquire a first speed difference between the first speed value and the second speed value;
- a first speed difference threshold acquiring unit to acquire a first speed difference threshold;
- and
- a first PI controller programmed to, if the first speed difference between the first speed value and the second speed value is smaller than the first speed difference threshold, send a control instruction to the first motor to increase a torque output value of the first motor in the trolley traveling direction.
3 more elements
A system for controlling a crane, the system comprising:
- a first motor to pull a first end of a hoist of a crane;
- a second motor 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;
- a device comprising:
- a first speed acquiring unit to acquire a first speed value of the first motor, wherein, when the first end of the hoist moves toward the first motor, the first speed value is positive, and when the first end of the hoist moves away from the first motor, the first speed value is negative;
- a second speed acquiring unit to acquire a second speed value of the second motor, wherein, when the second end of the hoist moves toward the second motor, the second speed value is positive, and when the second end of the hoist moves away from the second motor, the second speed value is negative;
- a first speed difference acquiring unit to acquire a first speed difference between the first speed value and the second speed value;
- a first speed difference threshold acquiring unit to acquire a first speed difference threshold;
- and
- a first PI controller programmed to, if the first speed difference between the first speed value and the second speed value is smaller than the first speed difference threshold, send a control instruction to the first motor to increase a torque output value of the first motor in the trolley traveling direction.
6 more elements
Dependencies are inferred from the claim text.