Method to optimize an anti-sway function

Abstract

A method for optimizing a model used in real time by an antisway function for the transport of a load by a hoisting appliance, including a gantry able to move along a first axis and a trolley able to move along a second axis, wherein, when transported, the load presents a first sway along the first axis and a second sway along the second axis. The model represents the theorical sway of the load over time, including a first curve representing a first sway, a second curve representing a second sway, and a third curve representing a third sway being a vector of the first sway and the second sway. A control device determines a first remarkable point for the first curve or the second curve depending on the torque of the gantry or the trolley when one of the gantry and the trolley is accelerating, determines a second remarkable point for the first curve or the second curve depending on the torque of the gantry or the trolley when one of the gantry and the trolley is stopped, determines a first remarkable point or the second remarkable point for the third curve depending on a load measurement or the torque of the hoist mechanism when the gantry and the trolley are moving at a steady speed, and synchronizes the model with at least one of the remarkable points.