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=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.
Anti-swinging control method capable of adjusting auxiliary suspension load transportation
2015-08-05
Patent
Electronic Resource
English
IPC: | B66C Krane , CRANES |
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