Kci Konecranes International Plc

Kci Konecranes Plc

Timo Sorsa

Olavi Jussila

The invention relates to a method for controlling swaying and swinging of a spreader in a crane and the load attached thereto, the crane comprising: a trolley, hoist gears, hoisting ropes, on which the spreader is suspended from the trolley, auxiliary gears provided with motors and motor control equipment and auxiliary ropes, and in which method the forces of the auxiliary ropes exerted on the spreader are controlled by moving the auxiliary ropes using the auxiliary gears by means of torque instructions (T) obtained on the basis of the rope forces (F) of the auxiliary ropes and the rotating speed data of the auxiliary gears, and whereby the rotating speed data of each auxiliary gear is formed gear-specifically as the difference between the measured rotating speed (n) of the auxiliary gear and the calculated rotating speed (n) of the auxiliary gear.

Method for controlling spreader in crane

The invention relates to a method for controlling swaying and swinging of a spreader in a crane and the load attached thereto, the crane comprising: a trolley, hoist gears, hoisting ropes, on which the spreader is suspended from the trolley, auxiliary gears provided with motors and motor control equipment and auxiliary ropes, and in which method the forces of the auxiliary ropes exerted on the spreader are controlled by moving the auxiliary ropes using the auxiliary gears by means of torque instructions (T) obtained on the basis of the rope forces (F) of the auxiliary ropes and the rotating speed data (n) of the auxiliary gears, and whereby the torque instruction of the motor control equipment in each auxiliary gear is formed gear-specifically as a sum of a static (T) and a dynamic (T) term.

The invention relates to a system for directing an apparatus, such as a crane bridge (1), moving on wheels along rails, which apparatus comprises a specified drive arrangement (m.sub.1, m.sub.2, m.sub.3, m.sub.4 ; k.sub.1, k.sub.2) on both sides of a roadway defined by rails (3), and which system comprises in the apparatus at least on one side of the roadway at least two successive detectors (d.sub.1, d.sub.2) in the direction of the rail (3) for measuring a lateral distance (l.sub.1, l.sub.2) of a specific part of an edge (e.sub.1, e.sub.2) of the apparatus to be driven from the rail, a control loop (CS) guiding the drive arrangements, a controller of the loop being able to direct the distance measurements (l.sub.1, l.sub.2) of the detectors (d.sub.1, d.sub.2) to desired values so that the apparatus to be driven will move straight, and an outer control loop (CU) whose controller is able to direct the reference value of the controller of the inner control loop in such a manner that the average of the distance measurements (l.sub.1, l.sub.2) provided by the detectors (d.sub.1, d.sub.2) reaches the desired reference value so that the wheels (2) of the apparatus to be driven will move in the middle of the rails (3).

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Jokela, Finland

Timo Sorsa