-
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。
搜索结果
1 条记录 (耗时 0.025 秒)
