Provided is a crane that is capable of effectively suppressing oscillation related to the pendulum resonance frequency generated in a suspended load on the basis of the suspended length of a wire rope. The crane 1 calculates a suspended load oscillation resonance frequency ωx(n) determined on the basis of the suspended length L(n) of a wire rope (14.Math.16), and generates a control signal C(n) for an actuator according to an arbitrarily defined operation signal, and, on the basis of the resonance frequency ωx(n), generates from the control signal C(n) a filtering control signal Cd(n) for the actuator in which a frequency component in an arbitrarily defined frequency range is attenuated by an arbitrarily defined percentage. The frequency range of the attenuated frequency component and/or the percentage of attenuation is altered on the basis of the suspended length L(n) of the wire rope (14.Math.16).

The monitoring device and crane capable of displaying real-time hook bias angle to prevent oblique hoisting and anti-swaying. Its characteristics are:

a fixed pulley assembly a1 of a crane is hung on a lifting lug b2 of a crane boom b1 via a connector a3 with shackles a5, the other end of the connector a3 is connected to the fixed pulley assembly a1 with an articulated shaft a2, and the articulated shaft a2 is arranged in an orientation perpendicular to a fixed pulley axis; and a platform surface a6 perpendicular to the line of force action of the pulley block is arranged on the connector a3, an angle measuring instrument a7 is installed on the platform surface a6, The hook bias angle and direction accurately detected and displayed in real time provide a basis for the adjustment and control of the hook bias angle and direction during hoisting: It mainly includes turntable rotation centering and boom pitch centering for vertical hoisting.

A computer-implemented method for operating a crane includes generating speed data for a drive unit of the crane such that oscillations of the crane are suppressed; providing a compatibility model configured to describe a relation between input speed reference data of a drive unit of a crane and output position reference data of the drive unit of the crane; determining position reference data of the drive unit of the crane by inputting the speed reference data into the compatibility model; and providing the position reference data of the drive unit of the crane to a control of the drive unit of the crane and controlling the drive unit of the crane according to the position reference data.

Disclosed are various embodiments for stabilizing a hoisted object. A hoisted object such as a litter can have a tendency spin while being retrieved on a lift line. A device may be connected to the hoisted object to reduce a spin or other angular velocity of the hoisted object. The device may monitor stability of the hoisted object and determine that the hoisted object is unstable. The device may be configured to rotate at least one flywheel to apply torque to an enclosure of the device.

The present invention provides a linear quadratic regulator (LQR)-based anti-sway control method for a hoisting system, comprising the following steps: obtaining a target position of a trolley, and obtaining a planned real-time path of the trolley according to the maximum velocity v.sub.m and maximum acceleration a.sub.m of the trolley; establishing a dynamic model of the hoisting system according to a Lagrange's equation, for the Lagrange's equation, the trolley displacement x, the spreader sway angle θ, and the rope length l of the hoisting system being selected as generalized coordinate directions; observing lumped disturbance d using an extended state observer, and compensating for same in a controller, the lumped disturbance d comprising the dynamic model error and external disturbance to the hoisting system; tracking the planned real-time path of the trolley by a Q matrix and an R matrix using a linear quadratic regulator controller. The LQR-based anti-sway control method for a hoisting system provided by the present invention can make the hoisting system operate more smoothly, reduce sway during operation, and quickly eliminate sway when in place while observing the lumped disturbance using an extended state observer.

A rope swinging safety system that aims to eliminate the safety risks caused by a rope swinging process in rope cranes, automatically calculates the amount of swinging depending on the angle of the rope or the diameter of the safe working area, allows parameter adjustment manually or by a remote controller, prevents erroneous adjustments, prevents lifting process when a determined swinging limit is reached so that it can be adapted to different situations easily, and is capable of electronically transmitting to the remote controller, a device and a remote controller consist of the system.

The resonant frequency ωx(n) of horizontal shaking of a suspended load W suspended from the distal end of a telescopic boom 9 via wire ropes 14.Math.16 is calculated on the basis of the suspension length Lm(n).Math.Ls(n) of the wire ropes 14.Math.16; the characteristic frequency ωy(n) in the raising and lowering direction of the telescopic boom 9 is calculated; and, in accordance with an operation for raising and lowering the telescopic boom 9, the filtering control signal Cd(n) of an actuator is generated in which a frequency component in a discretionary frequency range is attenuated at a discretionary ratio with reference to the resonant frequency ωx(n) of the suspended load W, and in which a frequency component in a discretionary frequency range is attenuated at a discretionary ratio with reference to the characteristic frequency ωy(n) in the raising and lowering direction of the telescopic boom 9.

A method, computer system, and a computer program product for payload stabilization is provided. The present invention may include, in response to receiving at least one sensor data associated with a suspended payload, detecting an unstable movement in the suspended payload during a transport of the suspended payload. The present invention may also include implementing at least one sail coupled to the suspended payload to stabilize the detected unstable movement of the suspended payload.

An overhead transport vehicle includes a gripping unit to grip an article, an suspension unit by which the gripping unit is suspended, a drive unit that reels up the suspension unit to thereby raise the gripping unit, a detection unit to detect swing of the gripping unit, and a controller that controls the drive unit to reel up the suspension unit and store the gripping unit into the transport vehicle body. In reel-up control to reel up the suspension unit, when swing of the gripping unit exceeds a predetermined width, the controller stops reeling up the suspension unit, maintains the gripping unit at a standby position lower than a storage position, and then, reels up the suspension unit when the swing of the gripping unit becomes equal to or less than the predetermined width.

A system includes a motor configured to be coupled to a non-rigid load and a control system disposed within, or communicatively coupled to, a drive system configured to control an operation of the motor. The control system includes a processor and a memory accessible by the processor. The memory stores instructions that, when executed by the processor, cause the processor to generate a smooth move input profile to control the operation of the motor based on inputs specifying a desired operation of the motor, apply a notch filter having a notch filter frequency to the smooth move input profile to produce a filtered smooth move input profile, and send a command to the drive system based on the filtered smooth move input profile, wherein the command is configured to adjust the operation of the motor.