Device for controlling the movement of a load suspended from a crane
First Claim
1. A device for controlling movement of a load suspended by suspension cables from a suspension point of a hoisting machine, the suspension point being capable of performing a rotation movement about a vertical rotation axis and a translation movement along a translation axis, the rotation movement generating a first sway angle of the load along the translation axis, the control device comprising:
- calculation means for determining the first sway angle and a speed of the first sway angle, using as only input variables information representative of a length of the suspension cables, information representative of a distance between the rotation axis and the suspension point, and information representative of a rotation speed of the suspension point, and using as an internal variable an acceleration of the first sway angle.
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Accused Products
Abstract
A device for controlling movement of a load suspended by cables from a hook point that is rotatable about a vertical axis and movable translationally along an axis of translation, the movement of rotation generating a first or sway angle of the load relative to the axis of translation. The device calculates the first or sway angle and a speed of the first or sway angle, the only input variables used being the length of the cables, the distance between the axis of rotation and the hook point, and the speed of rotation of the hook point, while the acceleration of the first or sway angle is used as an internal variable.
26 Citations
22 Claims
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1. A device for controlling movement of a load suspended by suspension cables from a suspension point of a hoisting machine, the suspension point being capable of performing a rotation movement about a vertical rotation axis and a translation movement along a translation axis, the rotation movement generating a first sway angle of the load along the translation axis, the control device comprising:
calculation means for determining the first sway angle and a speed of the first sway angle, using as only input variables information representative of a length of the suspension cables, information representative of a distance between the rotation axis and the suspension point, and information representative of a rotation speed of the suspension point, and using as an internal variable an acceleration of the first sway angle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method for controlling movement of a load suspended by suspension cables from a suspension point of a hoisting machine, the suspension point being capable of performing a rotation movement about a vertical rotation axis and a translation movement along a translation axis, the rotation movement generating a first sway angle of the load along the translation axis, the method comprising:
a calculation that determines the first sway angle and a speed of the first sway angle, using as the only input variables information representative of a length of the suspension cables, information representative of a distance between the rotation axis and the suspension point, and information representative of a rotation speed of the suspension point, and using as an internal variable an acceleration of the first sway angle. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
Specification