METHOD OF SUPPRESSING SWINGING OF A LOAD, PARTICULARLY A CRANE AND APPARATUS FOR MAKING THE SAME

摘要

The suggested method for suppressing swing of a load, particularly a crane load is characterized in that the value of a load suspension length on a bearing rope and the value of a set speed of the load feed are applied to the input of a control unit, wherein a signal is generated within a harmonic control unit as a response to the value of the load suspension length and the set speed. The signal is then applied to a difference unit where the same signal delayed in a transport delay unit is subtracted from that signal and the output signal of the difference unit is subsequently applied to a drive of the load travel as a signal of a required load travel profile. A crane (10) being provided with at least one drive (6) for a load (1) travel has a control unit (7) the output of which is connected to a control block (8), whereby said load (1) travel drive (6) is connected with the output of said control unit (7) the input of which is connected with a sensor (3) for evaluation of the bearing rope (2) suspension length.