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1.发明授权Pendulation control system with active rider block tagline system for shipboard cranes 有权用于船上起重机的主动车手块标线系统的调度控制系统公开(公告)号：US07367464B1
公开(公告)日：2008-05-06
申请号：US11700973
申请日：2007-01-30
申请人： Michael J. Agostini , J. Dexter Bird, III , Jeffrey P. Green , Frank A. Leban , Gordon G. Parker
发明人： Michael J. Agostini , J. Dexter Bird, III , Jeffrey P. Green , Frank A. Leban , Gordon G. Parker
IPC分类号： B66C23/53
CPC分类号： B66C13/063 , Y10S254/90
摘要： The inventive control system, as typically embodied, includes sensing mechanisms, a computational processing unit, and an algorithm for processing inputs and generating outputs to control a rotating pedestal crane equipped with a Rider Block Tagline System (RBTS). Typical inventive embodiments uniquely feature a processing algorithm that distributes various control modes that operate not only through the crane's hoisting, luffing, and slewing mechanisms but also through the crane's RBTS; the inventive algorithm thereby effectuates motion compensation and pendulation damping with respect to the crane. This algorithmic allocation of control represents a more efficient crane anti-pendulation methodology than conventional methodologies; in particular, the inventive methodology exerts significantly greater control of the payload while exacting significantly less burden upon the hoisting, luffing, and slewing mechanisms of the crane.
摘要翻译： 通常实施的本发明的控制系统包括感测机构，计算处理单元和用于处理输入并产生输出以控制配备有骑手块标线系统（RBTS）的旋转底座起重机的算法。 典型的发明实施例独特地具有一种处理算法，其分配不仅通过起重机的起重机，变幅和回转机构而且还通过起重机的RBTS进行操作的各种控制模式; 因此本发明的算法实现了相对于起重机的运动补偿和摆动阻尼。 这种控制算法的分配代表了比传统方法更有效的起重机防抱死方法; 特别地，本发明的方法对有效载荷进行显着更大的控制，同时明显减轻起重机的提升，变幅和回转机构的负担。
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2.发明授权Coordinated control of two shipboard cranes for cargo transfer with ship motion compensation 有权协调控制两艘船用起重机进行船舶运输补偿的货物转运公开(公告)号：US08195368B1
公开(公告)日：2012-06-05
申请号：US12587324
申请日：2009-09-30
申请人： Frank A. Leban , Gordon G. Parker
发明人： Frank A. Leban , Gordon G. Parker
IPC分类号： G06F7/70 , G06F19/00 , G06G7/00 , G06G7/76 , G05B19/18 , B66C13/18 , B63B27/00 , B63B35/00 , B65G67/60
CPC分类号： B66C23/52 , B63B27/10 , B63B2017/0072 , B66C13/063 , B66C23/00
摘要： The present invention is typically embodied to exert active control of two same-shipboard cranes performing joint lifting of a payload. Sensory signals indicative of ship motion, and of luff angle and hoist line length of both cranes, are transmitted to a computer. The sensory signals are processed by the computer using a ship motion cancellation algorithm, which solves for values of the respective luff angles and hoist line lengths of both cranes, such values achieving static equilibrium (e.g., zero motion horizontally, vertically, and rotationally in the same vertical geometric plane) of the suspended payload. Inverse kinematic control signals in accordance with the mathematical (e.g., minimum norm) solutions are transmitted by the computer to respective luff angle actuators and hoist line length actuators of both cranes so that the suspended payload tends toward steadiness. Inventive control thus acts on a continual basis to significantly reduce pendulation during the two-crane lifting operation.
摘要翻译： 本发明通常被实施为对执行有效载荷的联合提升的两个相同的船上起重机的主动控制。 指示船舶运动的感觉信号，以及起重机的起伏角和起重线路长度都被传送到计算机。 感觉信号由计算机使用船舶运动消除算法处理，该算法解决了两个起重机的相应的起伏角度和起重线路长度的值，这些值实现静态平衡（例如，水平，垂直和旋转的零运动 悬挂有效载荷的相同垂直几何平面）。 根据数学（例如，最小范数）解的反向运动控制信号由计算机发送到两台起重机的相应的倒角致动器和提升线路长度致动器，使得悬挂的有效载荷趋于稳定。 因此，本发明的控制作用在连续的基础上，以显着减少双起重机提升操作期间的弯曲。
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公开(公告)号：US5913955A
公开(公告)日：1999-06-22
申请号：US22729
申请日：1998-02-12
CPC分类号： F16F15/02 , B23B29/022 , Y10S82/904 , Y10S82/905 , Y10T408/23 , Y10T408/76 , Y10T409/304312 , Y10T82/10 , Y10T82/2595
摘要： The present invention provides vibration damping method and apparatus that can damp vibration in more than one direction without requiring disassembly, that can accommodate varying tool dimensions without requiring re-tuning, and that does not interfere with tool tip operations and cooling. The present invention provides active dampening by generating bending moments internal to a structure such as a boring bar to dampen vibration thereof.
摘要翻译： 本发明提供了可以在不需要拆卸的情况下阻尼多个方向上的振动的振动阻尼方法和装置，其可以适应不同的工具尺寸而不需要重新调谐，并且不干扰刀尖操作和冷却。 本发明通过产生诸如镗杆的结构内部的弯曲力矩来抑制其振动来提供主动阻尼。
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公开(公告)号：US5908122A
公开(公告)日：1999-06-01
申请号：US808821
申请日：1997-02-28
CPC分类号： B66C13/063
摘要： Methods and apparatuses for reducing the oscillatory motion of rotary crane payloads during operator-commanded or computer-controlled maneuvers. An Input-shaping filter receives input signals from multiple operator input devices and converts them into output signals readable by the crane controller to dampen the payload tangential and radial sway associated with rotation of the jib. The input signals are characterized by a hub rotation trajectory .gamma.(t), which includes a jib angular acceleration .gamma., a trolley acceleration x, and a load-line length velocity L. The system state variables are characterized by a tangential rotation angle .theta.(t) and a radial rotation angle .phi.(t) of the load-line. The coupled equations of motion governing the filter are non-linear and configuration-dependent. In one embodiment, a filter is provided between the operator and the crane for filtering undesired frequencies from the angular .gamma. and trolley x velocities to suppress payload oscillation. In another embodiment, crane commands are computer generated and controlled to suppress vibration of the payload using a postulated asymmetrical shape for the acceleration profiles of the jib, which profiles are uniquely determined by a set of parameters (including the acceleration pulse amplitude and the duration and coast time between pulses), or a dynamic programming approach.
摘要翻译： 在操作员指挥或计算机控制的操作中减少旋转起重机有效载荷振荡运动的方法和装置。 输入整形滤波器接收来自多个操作者输入设备的输入信号，并将其转换成起重机控制器可读的输出信号，以抑制与起重臂旋转相关的有效载荷切向和径向摆动。 输入信号的特征在于轮毂旋转轨迹γ（t），其包括起重角加速度+ E，um1γ+ EE，小车加速度+ E，um1×+ EE和负载线长度速度+ E， 点L + EE。 系统状态变量的特征在于负载线的切向旋转角θ（t）和径向旋转角度φi（t）。 控制滤波器的耦合运动方程是非线性和配置相关的。 在一个实施例中，在操作者和起重机之间提供过滤器，用于从角度+ E，点伽马+ EE和手推车+ E，点x + EE速度滤除不需要的频率，以抑制有效负载振荡。 在另一个实施例中，起重机命令是计算机生成和控制的，以使用用于起重臂的加速度曲线的假定的非对称形状来抑制有效载荷的振动，该轮廓由一组参数（包括加速度脉冲幅度和持续时间以及 脉冲之间的惯性时间）或动态规划方法。
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公开(公告)号：US10690033B1
公开(公告)日：2020-06-23
申请号：US16675093
申请日：2019-11-05
摘要： An aftertreatment system to treat exhaust gas from a diesel engine is provided. The aftertreatment system comprises a selective catalytic reduction catalyst on a diesel particulate filter (SCR-F); a first reductant injector connected to an exhaust gas passage upstream of the SCR-F; a downstream diesel oxidation catalyst (DOC) disposed downstream of the SCR-F; a selective catalyst reduction catalyst (SCR) disposed downstream of the downstream DOC; a second reductant injector coupled to an exhaust gas passage positioned between the downstream DOC and the SCR; and a controller to determine a desired particulate matter (PM) oxidation in the SCR-F and a desired system NOx conversion based on engine conditions, and to control a first reductant flowrate from the first reductant injector and a second reductant flowrate from the second reductant injector based on the desired PM oxidation in the SCR-F and the desired system NOx conversion.
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6.发明授权公开(公告)号：US06496765B1
公开(公告)日：2002-12-17
申请号：US09695815
申请日：2000-10-24
IPC分类号： G06F1900
CPC分类号： B66C13/063
摘要： A crane control system and method provides a way to generate crane commands responsive to a desired payload motion to achieve substantially pendulation-free actual payload motion. The control system and method apply a motion compensator to maintain a payload in a defined payload configuration relative to an inertial coordinate frame. The control system and method can further comprise a pendulation damper controller to reduce an amount of pendulation between a sensed payload configuration and the defined payload configuration. The control system and method can further comprise a command shaping filter to filter out a residual payload pendulation frequency from the desired payload motion.
摘要翻译： 起重机控制系统和方法提供了一种响应于期望的有效载荷运动来产生起重机命令的方式，以实现基本无假定的实际有效载荷运动。 控制系统和方法应用运动补偿器来相对于惯性坐标系将有效载荷维持在限定的有效载荷构造中。 该控制系统和方法还可以包括一个摆式阻尼器控制器，用于减少检测到的有效载荷配置和所定义的有效载荷配置之间的摆动量。 控制系统和方法还可以包括命令整形滤波器，以从期望的有效载荷运动中滤出残余有效载荷倾斜频率。
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公开(公告)号：US06442439B1
公开(公告)日：2002-08-27
申请号：US09339787
申请日：1999-06-24
IPC分类号： G05B1302
CPC分类号： B66C13/063
摘要： A command shaping control system and method for rotary boom cranes provides a way to reduce payload pendulation caused by real-time input signals, from either operator command or automated crane maneuvers. The method can take input commands and can apply a command shaping filter to reduce contributors to payload pendulation due to rotation, elevation, and hoisting movements in order to control crane response and reduce tangential and radial payload pendulation. A filter can be applied to a pendulation excitation frequency to reduce residual radial pendulation and tangential pendulation amplitudes.
摘要翻译： 用于旋转式起重机的命令成形控制系统和方法提供了一种减少由实时输入信号引起的有效负载弯曲的方式，来自操作员指令或自动起重机操作。 该方法可以采取输入命令，并且可以应用命令整形滤波器来减少由于旋转，升高和起重运动引起的有效负载弯曲的贡献，以便控制起重机响应并减少切向和径向有效载荷。 滤波器可以应用于摆动激励频率，以减少残余径向摆动和切向摆动振幅。
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