Velocity control method for preventing oscillations in crane

摘要

A method for removing the oscillation and reducing the position error of a load carried by an industrial crane comprising: a non-oscillation control algorithm which provides the trolley and load system with sufficient damping in order to remove the oscillations of the load by adjusting the trolley velocity in accordance with the oscillation angle of the load measured by an angle measuring device, a position control algorithm which controls the load to stop at the exact destination by generating the crane velocity proportional to the error between desired and actual positions, and a velocity paten plan algorithm which establishes the overall trolley velocity including a two-stage linear and parabolic deceleration of the trolley in accordance with the desired position and the applying time passed on the above two algorithms. These algorithms are stored in the computer memory and are sequentially applied. Therefore, even if the operator is ignorant of the complicated algorithm, the controls are automatically carried out by a computer.