US 12,214,998 B2
Mechanical anti-sway control method for cranes
Fei Ye, Shanghai (CN); and Jian Xu, Shanghai (CN)
Assigned to SIEMENS AKTIENGESELLSCHAFT, Munich (DE)
Appl. No. 17/922,419
Filed by Siemens Aktiengesellschaft, Munich (DE)
PCT Filed Apr. 29, 2021, PCT No. PCT/EP2021/061282
§ 371(c)(1), (2) Date Oct. 31, 2022,
PCT Pub. No. WO2021/219797, PCT Pub. Date Nov. 4, 2021.
Claims priority of application No. 202010367338.6 (CN), filed on Apr. 30, 2020.
Prior Publication US 2023/0166946 A1, Jun. 1, 2023
Int. Cl. B66C 13/00 (2006.01); B66C 13/06 (2006.01); B66C 13/22 (2006.01)
CPC B66C 13/063 (2013.01) [B66C 13/22 (2013.01); B66C 2700/0385 (2013.01); B66C 2700/08 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method for controlling a crane, the method comprising:
acquiring a first speed value of a first motor configured to pull a first end of a hoist of the crane, wherein, when the first end of the hoist moves toward the first motor, the first speed value is positive, and when the first end of the hoist moves away from the first motor, the first speed value is negative;
acquiring a second speed value of the second motor configured to pull a second end of the hoist of the crane, the second end being the opposite end of the first end in a trolley traveling direction of the crane, wherein, when the second end of the hoist moves toward the second motor, the second speed value is positive, and when the second end of the hoist moves away from the second motor, the second speed value is negative;
acquiring a first speed difference between the first speed value and the second speed value;
acquiring a first speed difference threshold; and
if the first speed difference is smaller than the first speed difference threshold, sending a control instruction to the first motor to increase a torque output value of the first motor in the trolley traveling direction.