Abstract: The apparatus for controlling stacking of a load by a crane estimates a periodical displacement of a horizontal position of a tool. A speed with which the tool descends is controlled such that the tool or a load held by the tool lands on a desired position when the amplitude of the periodical displacement becomes maximum.

Abstract: A transverse trolley 11 is transversally movable on a crane girder. A driver is provided for the transverse trolley 11. A pair of sheave blocks 14, 15 which is movable relative to a transverse trolley 11 are disposed on both (right and left) sides of a transverse trolley 11. Drivers are provided for the sheave blocks. Detectors 31 through 38 are provided which detect the displacement and velocity of the transverse trolley 11, the sway displacement and velocity of a hoisted load-piece 23 on both (right and left) sides and the displacement and velocity of the two sheave blocks 14, 15. A notch is disposed on an operation controlling panel of the transverse trolley 11 for setting a trolley transverse velocity by an operator. A transverse notch-driving control quantity detector 40 is provided which outputs signals indicative of notch-driving control quantity (a trolley transverse velocity set value) which is set by operating the notch.

Abstract: For the positional correction of a load carrier (34) suspended on a trolley (22) a cable member (50′) of the lifting cable system interposed between the trolley (22) and the load carrier (34) is displaced in a horizontal direction at a location near the trolley (22) relative to the trolley (22) by imparting a movement onto a cable course influencing member (56) which is adjustably guided on the trolley in a horizontal direction and is subjected to the action of movement means (60) which again are supported on the trolley (22).

Abstract: A transverse trolley (11) is transversally movable on a crane girder. A driver is provided for the transverse trolley (11). A pair of sheave blocks (14, 15) which is movable relative to a transverse trolley (11) are disposed on both (right and left) sides of a transverse trolley (11). Drivers are provided for the sheave blocks. Detectors (31 through 38) are provided which detect the displacement and velocity of the transverse trolley (11), the sway displacement and velocity of a hoisted load-piece (23) on both (right and left) sides and the displacement and velocity of the two sheave blocks (14, 15). A notch is disposed on an operation controlling panel of the transverse trolley (11) for setting a trolley transverse velocity by an operator. A transverse notch-driving control quantity detector (40) is provided which outputs signals indicative of notch-driving control quantity (a trolley transverse velocity set value) which is set by operating the notch.

Abstract: A method and device for damping the oscillation of a load suspended from a rope on a crane is presented. A digital filter accepts an arbitrary velocity input signal and produces a velocity signal output similar to the input and that runs a bridge or trolley drive while damping the load's swing. One version of the damping filter may be implemented by programming a microprocessor to output a simple average of the input signal and the input signal delayed by one-half period of the pendulum motion of the load. A second version of the invention averages the input signals over the period of the pendulum motion to producing a damping signal. A third version of the invention averages the input signal with two delayed versions of the input signal. The third version will produce motion that will dampen load swing for a large range of rope lengths. Furthermore, if an additional signal representing rope length is taken, all three versions can be adapted to dampen swing for a full range of rope lengths.

Abstract: A method for moving a carriage of a crane a short distance while simultaneously damping the oscillation of its load. The method includes: determining the period of oscillation T of the load; moving the carriage a first displacement from an initial position to a desired final position; moving said carriage a second displacement from the desired final position back to said initial position, a time T/6 after said first displacement; and repeating the first displacement to provide a third displacement from the initial position back to said desired final position, a time T/6 after said second displacement; while causing load oscillations to be damped.

Abstract: Tele-operated machine including a moveable structure and a control device functionally connected to the moveable structure for operation by a human operator. An input processor apparatus responsive to the control device generates signals to move the moveable structure in a reduced vibration fashion. In a preferred embodiment, the tele-operated machine is a crane. The operator can cause fixed length incremental movements of a load supported by the crane to be accomplished with reduced levels of vibration after the move is completed.

Abstract: A lowering collision avoidance device includes a hoisting accessory swing detector, a rope winding speed detector, an arithmetic unit, a rope winding speed controller, and if desired, a rope length detector. The arithmetic unit computes a command value for the lowering speed based on the results of comparison between the amount of swing of a hoisting accessory detected by the hoisting accessory swing detector and a predetermined threshold level or a plurality of predetermined threshold levels; the direction of changes in the amount of swing computed based on the amount of swing of the hoisting accessory; and the lowering speed detected by the rope winding speed detector. The rope winding speed controller controls the lowering speed based on this command value.

Abstract: A method and device for damping the oscillation of a load suspended from a rope on a crane is presented. A digital filter accepts an arbitrary velocity input signal and produces a velocity signal output similar to the input and that runs a bridge or trolley drive while damping the load's swing. One version of the damping filter may be implemented by programming a microprocessor to output a simple average of the input signal and the input signal delayed by one-half period of the pendulum motion of the load. A second version of the invention averages the input signals over the period of the pendulum motion to producing a damping signal. A third version of the invention averages the input signal with two delayed versions of the input signal. The third version will produce motion that will dampen load swing for a large range of rope lengths. Furthermore, if an additional signal representing rope length is taken, all three versions can be adapted to dampen swing for a full range of rope lengths.

Abstract: A process for anti-sway control of a rotating boom or other three-degree-of-freedom crane wherein the load is hoisted, at variable hoist lengths, by a cable suspended from a point that can be moved in space in three dimensions, either freely, or under known constraints. Initial acceleration of the load induces an initial sway to the load. A second lateral acceleration, equal to the first lateral acceleration, is scheduled to be applied one-half a sway period later to remove the sway induced by the first acceleration. A third acceleration is applied to correct for half the excess sway induced by hoisting, by non-linearities in the pendulum, and by crane platform motion; and a forth acceleration, of equal magnitude as the third but in the opposite direction, is scheduled for one-half a sway period later, to correct the remaining half of the excess sway energy. The first and third accelerations are constrained by the ability of the crane to execute them and to execute the delayed second and fourth accelerations.

Abstract: An object of this invention is to provide a high performance and low cost crane rope steadying control method and apparatus for which mechanical or optical swing angle detecting means are not necessary.The invention provides a rope steadying control method for a crane or the like having a trolley driving apparatus for causing a load suspended by a rope of a crane or the like to travel, wherein swinging of a load suspended by a rope is stopped by calculating a swing load signal I.sub.2W * proportional to the rope swing angle and the load by computationally estimating a motor torque estimate signal .tau..sub.M * not including load torque fluctuations caused by swinging of the rope on the basis of gain coefficients and equivalent time constants of the control system and the drive system, and comparing this estimate signal .tau..sub.M * with an actual load torque .tau..sub.M and negatively feeding back to a trolley speed command N.sub.S of the trolley driving apparatus (1) a speed signal N.sub.

Abstract: The crane comprises a generally horizontal boom or other supporting structure having at least one rail thereon, a trolley having a reversible drive for moving the trolley in either direction along the rail, a wire rope hoist suspended from the trolley, and a load carrying device suspended from the hoist for selectively grasping and releasing a freight container or some other load. The crane has a control system which causes the trolley drive to stop the trolley momentarily at a first stopping position. Due to the control system, the drive then restarts the trolley and stops it at a second stopping position directly over a transfer position where the load is to be delivered and released. If the load is a freight container, the transfer position may be directly over a cell of a container ship. The control system includes an encoder for determining the length of the pendulum comprising the trolley, the hoist, the load carrying device and the load.

Abstract: 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.

Abstract: An apparatus and method of controlling a load oscillation dampener for a crane from which a load is suspended by a hoisting rope attached to a carriage driven by a motor controlled by a motion controller. A first direction signal corresponding to a first direction is applied to the motion controller for initiating motion of the carriage in the first direction and it is determined whether a second direction signal corresponding to a second direction is applied to the motion controller while the carriage is traveling in the first direction, the second direction being opposite the first direction. If the second direction signal was detected, the load oscillation dampener is deactivated to prevent uncontrolled motion of the carriage, and if the second direction signal was not detected, the load oscillation dampener is allowed to cause motion of the carriage to damp load oscillations.

Abstract: Method and device for controlling the swinging motion of an oscillating load suspended from a movable support, wherein the movement of the support is controlled by a speed setpoint. The method includes a step (AS1) for automatically controlling the actual swaying value of the oscillating load by means of a zero swaying value and a step (37) for adjusting the speed setpoint (CV) of the support according to a correction value (E1) determined during the automatic swaying control step (AS1). The invention can be used, for example, for moving a load by means of a harbour crane.

Abstract: An apparatus for stopping the transverse swing and skew motions of a hoisted cargo according to the present invention comprises a pair of movable frames (15) which are disposed on a transversely moving trolley (1) along left and right sides of the trolley (1) and which are movable with respect to the trolley (1) in a direction of movement of the trolley, two sets of guide sheaves (13, 14) for hoisting ropes fixedly arranged on each of said pair of movable frames (15) with a certain distance between the sets, and a pair of drive means (17) disposed on said trolley (1) for moving said pair of moving frames (15) independently with respect to said trolley (15), wherein the swing or skew motion, or a combination of these motions, of the cargo hoisted by the trolley (1) is reduced by the operation of the movable frames (15) (guide sheaves) disposed the opposite sides of the trolley (1).

Abstract: An apparatus and method of controlling a load oscillation dampener for a crane from which a load is suspended by a hoisting rope attached to a carriage which is driven by a motor controlled by a motion controller. A motion command having a duration is applied to the motion controller, the carriage is moved in response to the motion command, and it is determined whether the duration of the motion command is greater than a given time interval. If the duration of the motion command was less than the given time interval, the load oscillation dampener is deactivated to prevent uncontrolled motion of the carriage, and if the duration of the motion command was greater than the given time interval, the load oscillation dampener is allowed to cause motion of the carriage to damp load oscillation.

Abstract: A method for controlling the motion of a crane lifting carriage, or trolley, a load suspended from it, a swing damping system, and/or an operator control cab whereby an ideal sequence of accelerations for moving the lifting carriage is defined that will bring the load to a swing-free condition at the end of the sequence of accelerations, and corresponding lifting carriage speed change signals are developed. A pendulum swing angle of the load corresponding with the ideal sequence of lifting carriage accelerations is calculated. The swing angle calculation and a geometric model of the swing damping system are used to determine a swing damping system control signal which makes the swing damping system follow the swing angle of the load.

Abstract: The object of the invention is a method to control a harmonically oscillating load, in which method the load is transferred from a beginning state to a final state of the load oscillation and to a final velocity (V.sub.ref) of the point of suspension by controlling the load with control sequences which comprise consecutive acceleration pulses, whereby the beginning and final states of load oscillation and the beginning and final velocities of the point of suspension are measured or estimated. The control sequence a(t) of the load is formed from many standard duration acceleration pulses (a.sub.1, a.sub.2, a.sub.3) calculated on the basis of random beginning and final states of the load.

Abstract: The invention relates to a method for damping the load swing of a crane during the traversing motion of a load-carrying trolley and/or a trolley-carrying bridge. The method comprises determining substantially continuously the acceleration of the trolley/bridge and the instantaneous swing time constant, swing velocity (v) and deviation (s) from equilibrium of the pendulum formed by the load. When the velocity reference changes, the acceleration providing the desired change in velocity is determined, said acceleration being switched on immediately, and the acceleration compensating for the swing prevailing at the moment of change of the velocity reference is determined, said acceleration being switched on either immediately or, if the compensating acceleration exceeds the maximum acceleration permissible to the traversing drive when switched on immediately, when the pendulum formed by the load has reached its extreme position.

Abstract: A system and method for eliminating swing motions in gantry-style cranes while subject to operator control is presented. The present invention comprises an infinite impulse response ("IIR") filter and a proportional-integral ("PI") feedback controller (50). The IIR filter receives input signals (46) (commanded velocity or acceleration) from an operator input device (45) and transforms them into output signals (47) in such a fashion that the resulting motion is swing free (i.e., end-point swinging prevented). The parameters of the IIR filter are updated in real time using measurements from a hoist cable length encoder (25). The PI feedback controller compensates for modeling errors and external disturbances, such as wind or perturbations caused by collision with objects. The PI feedback controller operates on cable swing angle measurements provided by a cable angle sensor (27). The present invention adjusts acceleration and deceleration to eliminate oscillations.

Abstract: An unmanned operating method for a crane for moving containers in use in a harbor and the apparatus therefor compensates the influence due to a disturbance such as the wind in driving the crane, detects the position and posture of the spreader and crane, thereby allowing the container to be attached and detached automatically. Accordingly, a crane automation for moving containers is achieved.

Abstract: A method of deactivating an electronic load oscillation dampener on a crane when the crane is reverse plugged is present. Thus allowing the crane to stop faster in emergency situations.

Abstract: A method of automatically deactivating an electronic load oscillation dampener on a crane is presented. In the method, an inching time interval K is determined. In response to motion commands from the crane operator, carriage motion is initiated under the control of the load oscillation dampener so that load swing will be minimized. At the moment motion commands are removed, it is determined whether the time K has expired since the initiation of carriage motion. If the time K has expired, then the load oscillation dampener is deactivated allowing faster and more intuitive response of the crane to operator commands, including a rapid deceleration to a stop. If the time K has not expired, then the load oscillation dampener is kept active, causing load oscillations to be damped for the remainder of the run.

Abstract: The crane comprises a horizontal boom or other support structure having at least one rail thereon, a trolley along the rail, a rope hoist, and a load carrying device. A control system causes the driven trolley to be stopped momentarily at a first position. The control system then restarts the trolley and stops it at a second position directly over a transfer position. The control system includes an encoder for determining the total length of the pendulum of the crane and the load. The stopping of the trolley at the first position causes the load to swing forwardly into the first quarter of a pendulum cycle. The control system includes means for adjusting the distance between the first and second positions to correspond with the horizontal component traveled by the load during the first quarter of the pendulum cycle whereby the load is stopped without any residual swinging movements.

Abstract: A suspended load swaying and vibration preventing apparatus for simultaneously controlling prevention of swaying of a suspended load and suppression of vibration of a structural body is provided in a container crane or the like. A trolley position and a trolley velocity are detected by a trolley position detector and a trolley detector. A swaying shift and a swaying velocity of the suspended load is detected by an image sensor. Furthermore, a shift and a velocity of a structural body is detected by a structural body vibration detector. A controller receives the detection signals from these sections, calculates the optimum trolley velocity based upon a control theory and outputs a trolley velocity command. Then, a trolley drive device is driven in accordance with the trolley velocity command from the controller. The suspended load is delivered to a desired position in a stable manner under the condition that swaying of the suspended load and the vibration of the structural body are suppressed.

Abstract: A method of controlling a crane includes comparing a new velocity request to a previous velocity request and forming acceleration sequences based on each comparison. The acceleration sequences are stored. Charges in velocity based on the stored acceleration sequences are added for each given time wherein the sum of velocity changes is added to the previous velocity request to form a new control command.

Abstract: A process employing a computer controlled crane system for controlling the motion of a movable trolley from which a load is suspended at a variable hoist length therefrom to meet a selected arbitrary horizontal velocity reference while preventing sway of the load involves the steps of first, determining a lateral acceleration to reduce by a factor of one-half the sway energy contributed by (1) hoisting a load while the load is swaying; (2) non-linearities in the pendulum motion; (3) external forces such as wind, crane motion; and (4) non-vertical lifting of the load. Second, an additional acceleration of the same magnitude, but of opposite sign, is applied one-half a pendulum period latter to correct the remaining of the excess sway energy.

Abstract: An overhead traveling crane adapted to be supported on a pair of spaced apart, generally parallel first and second rails, the crane comprising a frame having opposite first and second ends, a first drive wheel which is rotatably mounted on the first end of the frame and which is adapted to roll along the first rail, a first idler wheel which is rotatably mounted on the first end of the frame and which is adapted to roll along the first rail, a second drive wheel which is rotatably mounted on the second end of the frame and which is adapted to roll along the second rail, a second idler wheel which is rotatably mounted on the second end of the frame and which is adapted to roll along the second rail, a first motor mounted on the frame and drivingly connected to the first drive wheel, a second motor mounted on the frame and drivingly connected to the second drive wheel, an idler shaft connecting the idler wheels such that the idler wheels rotate at the same speed, a hoist moveable along the frame in a direction

Abstract: A control system which stabilizes the hoisting rope of a suspension crane comprising a travel drive control unit capable of calculating a torque reference signal by a speed regulating controller having a proportional gain and an integrator or only a proportional gain on the basis of the deviation of a speed detection signal representing the rotating speed of a traveling motor for driving the trolley of the crane from a speed reference signal obtained by subtracting a damping control speed reference correction signal which is obtained by adding a damping factor to a swing angle calculated on the basis of the speed detection signal representing the rotating speed of the traveling motor or a calculated load torque on the traveling motor from a speed reference signal provided through a linear acceleration starter device by a speed reference device, of controlling the rotating speed of the traveling motor according to the torque reference signal, and of producing a damping effect for damping the oscillation of the

Abstract: To be able to acquire pendulum oscillations in the case of cranes with a high degree of accuracy, a marking having a reflecting surface is disposed in the area of the load. Mounted on the crane are both lighting equipment directed at the marking as well as a line-scanning camera that is likewise directed at the marking and that has an image-sensor linear array. The image-sensor linear array is aligned longitudinally to the direction of swing (x). Its signal is evaluated in an evaluation device to determine the instantaneous position of the marking.

Abstract: In a device for regulating the transfer of a load suspended by cables from the carriage of a lifting machine the carriage speed is controlled by means of a position corrector and an angle corrector weighted outputs of which are summed to establish the speed set point. The lifting machine operator has an operating mode selector connected to a control unit which enables the correctors as appropriate to the selected control mode.

Abstract: The invention is for the electronic control of the sway of a suspended load from a crane. The natural frequency .omega..sub.n of a simple pendulum is used to estimate the velocity and displacement of the suspended load, and a signal representative of measured load displacement is used to drive the estimated load displacement to the measured load displacement and modify the estimated velocity.

Abstract: The disclosure involves a crane having a main hoist drum and an auxiliary hoist drum for handling a load under normal and emergency (the latter actual or simulated) conditions, respectively. The latter condition involves a main hoist which is inoperative because of a failure or by intent. The auxiliary hoist drum is wrapped with about twice the length of cable as the main drum and can move the load up or down, irrespective of, load position if and when the main hoist becomes inoperative. Also disclosed is a novel method for moving a load. Steps include maintaining one drum in a non-rotating mode and rotating the other drum. An improved crane load block is also disclosed to have "floating sheaves" which help prevent excessive fleet angles.