A crane, in particular a revolving tower crane or a bridge crane, and a method for controlling such a crane, having a hoist cable, which extends from a crane boom and carries a load-receiving means, drive devices for moving crane elements and displacing the load-receiving means, a control apparatus for controlling the drive devices such that the load-receiving means travels along a travel path, and a pendulum damping device for damping pendulum movements of the load-receiving means, wherein the pendulum damping device has a pendulum sensor for detecting pendulum movements of the hoist cable and/or of the load-receiving means and a controller component having a closed control circuit for influencing the control of the drive devices depending on pendulum signals that are indicated by pendulum movements detected by the pendulum sensor and are returned to the control loop.

This crane is provided with: a boom; a wire rope suspended down from a leading end section of the boom; a suspender that is fixed to a lower end of the wire rope and is for suspending a slinging tool for hanging a load; a calculation unit that calculates a first load, which is the weight of a member that is suspended down from the suspender; a slinging tool database unit that stores information pertaining to the slinging tool corresponding to the first load; a determination unit that determines whether a load is being suspended from the suspender; and a control unit that acquires the information pertaining to the slinging tool corresponding to the first load from the slinging tool database unit if the load is being suspended, and sets the vertical length of the slinging tool on the basis of the acquired information pertaining to the slinging tool.

This crane is provided with: a operable functional unit; an actuator; a generation unit that generates a first control signal including a first deceleration signal section composed of a control signal for decelerating a speed of the operable functional unit from a first speed to a second speed and a first constant-speed signal section composed of a control signal for maintaining the speed of the operable functional unit at the second speed; a filter unit for filtering the first control signal to generate a second control signal; and a control unit that controls the actuator so as to decelerate the operable functional unit based on the second control signal, then controls the actuator so as to maintain the speed at the second speed, and controls the actuator so as to zero the speed when a load has been moved to a location satisfying a prescribed condition.

This crane is provided with: a operable functional unit; an operation unit for receiving an operation input for operating the operable functional unit; an actuator that drives the operable functional unit; a first generation unit that generates a first control signal for the actuator on the basis of the operation input; a switch unit that can be switched between a first state and a second state; a first filter unit that filters the first control signal to generate a second control signal when the switch unit is in the second state; and a control unit that controls the actuator on the basis of the first control signal when the switch unit is in the first state, and controls the actuator on the basis of the second control signal when the switch unit is in the second state.

Provided is a crane including: an operable function part; an actuator; a generation part; a filter part filtering a first control signal and generating a second control signal; a control part controlling the actuator based on the second control signal; and a computation part computing information relating to a flow quantity estimated as the operable function part moving, if a stop signal has been inputted into the actuator at the present position of the operable function part, from when the stop signal has been inputted into the actuator to when the operation of the operable function part stops. The control part outputs the stop signal to the actuator if information relating to the present position of the operable function part, information relating to a target stop position whereat the operable function part is to be stopped, and the information relating to the flow quantity satisfy prescribed conditions.

An active composite variable damping rotational control device includes a variable damping module and a power module. The variable damping module includes a magnetorheological fluid tank and a rotational inertia wheel. The rotational inertia wheel is arranged in the magnetorheological fluid tank fully filled with magneorheological fluid. The power module includes a device tubular cavity, a driver, an encoder and a speed changer. The driver is fixed on the inner wall of the device tubular cavity. The driver, the encoder and the speed changer are coaxial. A driving shaft of the driver passes through the speed changer and extends into the magnetorheological fluid tank to be fixed perpendicularly at the center of the rotational inertia wheel. The control effect of the present invention may not be greatly affected by the change of a structural form and the change of an external load.

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.

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.

In embodiments, motion may be arrested and/or dampened using a motion arresting and dampening device comprising a lifting spreader bar, one or more bar mounted winches, deployment wire, a restorative inflation device, restraining wires and winches, hoses and controller, mechanical connection release system circuitry. Multiple restraints from winches mounted strategically on a vessel crane's boom may be applied to the spreader bar to restrain the bar during the lifting operation. The forces induced into the lifted object by the movement of the crane as it deploys the object into installation position are attenuated by the physical restrain of the adjustable wires. These adjustable wires may also be used to provide rotation of the object during final alignment of the object during installation.

A bidirectional thrust assembly comprises a motor, a selective power transfer mechanism, and a plurality of fans; wherein a change in direction of rotation of the motor causes the selective power transfer mechanism to change a torque transfer among the plurality of fans, wherein the fans may be opposing, and wherein the fans may be unidirectional. The bidirectional thrust assembly may be used in or by a plurality of craft or with respect to other objects which may need to be maneuvered, included suspended load control systems, vertical takeoff and landing craft, watercraft.