US 12,404,150 B2
Full-time anti-sway control method of bridge crane system based on inverter structure
Wan-Ping Chen, Taoyuan (TW); and Chun-Ju Wu, Taoyuan (TW)
Assigned to DELTA ELECTRONICS, INC., Taoyuan (TW)
Filed by Delta Electronics, Inc., Taoyuan (TW)
Filed on Oct. 1, 2021, as Appl. No. 17/491,982.
Claims priority of provisional application 63/138,640, filed on Jan. 18, 2021.
Claims priority of application No. 202111074834.3 (CN), filed on Sep. 14, 2021.
Prior Publication US 2022/0227604 A1, Jul. 21, 2022
Int. Cl. G06F 7/70 (2006.01); B66C 13/06 (2006.01); B66C 13/46 (2006.01); G05B 13/04 (2006.01)
CPC B66C 13/063 (2013.01) [B66C 13/46 (2013.01); G05B 13/042 (2013.01); B66C 2700/084 (2013.01); G05B 2219/41217 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A full-time anti-sway control method of a bridge crane system based on an inverter structure, the bridge crane system comprising an inverter for performing the control method and at least one motor controlled by the control method, the control method comprising steps of:
receiving a specified high frequency command and a frequency change time, wherein the frequency change time is an acceleration and deceleration time,
calculating a time setting range according to a plurality of system parameters and a rope length information of the bridge crane system, wherein the time setting range is the acceleration and deceleration time, wherein

OG Complex Work Unit Math
 where tacc/dec is the time setting range, ωrate is a rated speed, Trate is a rated torque, Jsys is a system inertia, Tswing is a natural swing period,
selecting a time setting value within the time setting range,
dividing the frequency change time into a plurality of time intervals according to the time setting value,
adjusting an operation frequency command to change between a low frequency command and the specified high frequency command within the plurality of time intervals to generate a frequency change curve,
estimating a swing angle and a swing speed by a swing angle estimation module in a sensorless manner according to the frequency change curve, a gravitational acceleration constant, and the rope length information,
designing a swing angle processing module according to the gravitational acceleration constant and the rope length information,
generating a frequency correction amount by the swing angle processing module according to the swing angle and the swing speed, and
superimposing the frequency change curve and the frequency correction amount to generate an anti-sway frequency command to drive the at least one motor.