US5960969A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Method for damping load oscillations on a crane
Assignee: Individual
•
Filing: 1996-01-26
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Granted: 1999-10-05
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Expires: 2016-01-26
Abstract
Abstract A method and device for damping the oscillation of a load suspended from a rope on a crane is presented. A digital filter accepts an arbitrary velocity input signal and produces a velocity signal output similar to the input and that runs a bridge or trolley drive while damping the load's swing. One version of the damping filter may be implemented by programming a microprocessor to output a simple average of the input signal and the input signal delayed by one-half period of the pendulum motion of the load. A second version of the invention averages the input signals over the period of the pendulum motion to producing a damping signal. A third version of the invention averages the input signal with two delayed versions of the input signal. The third version will produce motion that will dampen load swing for a large range of rope lengths. Furthermore, if an additional signal representing rope length is taken, all three versions can be adapted to dampen swing for a full range of rope lengths.
Inventors
- 👤 Chris Xavier Habisohn
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-30 09:45
CPC Classifications
B; B66; B66C; B66C13/00; B66C13/04; B66C13/06; B66C13/063
Claims Analysis
Total Claims: 86
Claim 1
Independent Claim
229 words
A method of damping load oscillations during a traversing run of a load suspended by a hoisting rope from a movable carriage on a track, the carriage being powered by a motor controlled by a motor drive, the method comprising the steps of: (a) generating a first value of a motion reference signal representative of a desired motion of the carriage at a first time; (b) recording said first value of said motion reference signal in a memory; (c) generating a second value of said motion reference signal representative of a desired motion of the carriage at a second time which occurs after said first time; (d) recording said second value of said motion reference signal in said memory; (e) generating a third value of said motion reference signal representative of a desired motion of the carriage at a third time which occurs after said second time; (f) recording said third value of said motion reference signal in said memory, said first second and third values existing contemporaneously in said memory; (g) forming a damping signal based on a linear combination of said first, second and third values of said motion reference signal recorded at said steps (b), (d) and (f) with three non-zero coefficients; and (h) coupling said damping signal to said motor drive to control motion of the movable carriage to cause load oscillation to be damped.
Claim 2
Independent Claim
229 words
A method of damping load oscillations during a traversing run of a load suspended by a hoisting rope from a movable carriage on a track, the carriage being powered by a motor controlled by a motor drive, the method comprising the steps of: (a) generating a first value of a motion reference signal representative of a desired motion of the carriage at a first time; (b) recording said first value of said motion reference signal in a memory; (c) generating a second value of said motion reference signal representative of a desired motion of the carriage at a second time which occurs after said first time; (d) recording said second value of said motion reference signal in said memory; (e) generating a third value of said motion reference signal representative of a desired motion of the carriage at a third time which occurs after said second time; (f) recording said third value of said motion reference signal in said memory, said first second and third values existing contemporaneously in said memory; (g) forming a damping signal based on a linear combination of said first, second and third values of said motion reference signal recorded at said steps (b), (d) and (f) with three non-zero coefficients; and (h) coupling said damping signal to said motor drive to control motion of the movable carriage to cause load oscillation to be damped.
Claim 3
Dependent Claim
16 words
The damping method of claim 1 wherein said motion reference signal comprises a speed reference signal.
Claim 4
Dependent Claim
16 words
The damping method of claim 1 wherein said motion reference signal comprises an acceleration reference signal.
Claim 5
Dependent Claim
16 words
The damping method of claim 1 wherein said motion reference signal comprises a torque reference signal.
Claim 6
Dependent Claim
16 words
The damping method of claim 1 wherein said motion reference signal comprises a position reference signal.
Claim 7
Dependent Claim
33 words
The damping method of claim 1 wherein each of said steps (b), (d) and (f) comprises the step of storing data representing said values of said motion reference signal into a memory buffer.
Claim 8
Dependent Claim
54 words
The damping method of claim 1 further comprising the steps of: (i) setting a maximum acceleration limit for the carriage; (j) determining a limit range for said motion reference signal so that acceleration of the carriage does not exceed said maximum acceleration limit; and (k) limiting said motion reference signal to said limit range.
Claim 9
Dependent Claim
38 words
The damping method of claim 1 wherein said hoisting rope has a length, said method further comprising the step of determining when said steps (b), (d) and (f) are performed based on said length of said hoisting rope.
Claim 10
Dependent Claim
39 words
The damping method of claim 1 wherein said load is suspended at a height, said method further comprising the step of varying when steps (b), (d) and (f) are performed in response to a change in said load height.
Claim 11
Dependent Claim
28 words
The damping method of claim 9 wherein said hoisting rope has a length and wherein a change in said load height is detected using a rope length sensor.
Claim 12
Dependent Claim
32 words
The damping method of claim 1 wherein said hoisting rope has a length, said method further comprising the step of varying said non-zero coefficients based on said length of said hoisting rope.
Claim 13
Dependent Claim
34 words
The damping method of claim 1 wherein said load is suspended at a height, said method further comprising the step of varying said non-zero coefficients in response to a change in said load height.
Claim 14
Dependent Claim
28 words
The damping method of claim 12 wherein said hoisting rope has a length and wherein a change in said load height is detected using a rope length sensor.
Claim 15
Independent Claim
266 words
A method of damping load oscillations during a traversing run of a load suspended by a hoisting rope from a movable carriage on a track, the carriage being powered by a motor controlled by a motor drive, the method comprising the steps of: (a) generating a first value of a motion reference signal representative of a desired motion of the carriage at a first time; (b) recording said first value of said motion reference signal; (c) generating a second value of said motion reference signal representative of a desired motion of the carriage at a second time which occurs after said first time; (d) recording said second value of said motion reference signal; (e) generating a third value of said motion reference signal representative of a desired motion of the carriage at a third time which occurs after said second time; (f) recording said third value of said motion reference signal; (g) forming a damping signal based on a linear combination of said first, second and third values of said motion reference signal recorded at said steps (b), (d) and (f) with three non-zero coefficients; and (h) coupling said damping signal to said motor drive to control motion of the movable carriage to cause load oscillation to be damped, wherein each of said steps (b), (d) and (f) comprises the step of storing data representing said values of said motion reference signal into a memory array having a plurality of data storage locations, said method additionally comprising the step of shifting said data within said memory array when additional data is stored in said memory array.
Claim 16
Independent Claim
266 words
A method of damping load oscillations during a traversing run of a load suspended by a hoisting rope from a movable carriage on a track, the carriage being powered by a motor controlled by a motor drive, the method comprising the steps of: (a) generating a first value of a motion reference signal representative of a desired motion of the carriage at a first time; (b) recording said first value of said motion reference signal; (c) generating a second value of said motion reference signal representative of a desired motion of the carriage at a second time which occurs after said first time; (d) recording said second value of said motion reference signal; (e) generating a third value of said motion reference signal representative of a desired motion of the carriage at a third time which occurs after said second time; (f) recording said third value of said motion reference signal; (g) forming a damping signal based on a linear combination of said first, second and third values of said motion reference signal recorded at said steps (b), (d) and (f) with three non-zero coefficients; and (h) coupling said damping signal to said motor drive to control motion of the movable carriage to cause load oscillation to be damped, wherein each of said steps (b), (d) and (f) comprises the step of storing data representing said values of said motion reference signal into a memory array having a plurality of data storage locations, said method additionally comprising the step of shifting said data within said memory array when additional data is stored in said memory array.
Claim 17
Independent Claim
222 words
A method of damping load oscillations during a traversing run of a load suspended by a hoisting rope from a movable carriage on a track, the carriage being powered by a motor controlled by a motor drive, the method comprising the steps of: (a) generating a first value of a motion reference signal representative of a desired motion of the carriage at a first time; (b) recording said first value of said motion reference signal; (c) generating a second value of said motion reference signal representative of a desired motion of the carriage at a second time which occurs after said first time; (d) recording said second value of said motion reference signal; (e) generating a third value of said motion reference signal representative of a desired motion of the carriage at a third time which occurs after said second time; (f) recording said third value of said motion reference signal; (g) forming a damping signal based on a linear combination of said first, second and third values of said motion reference signal recorded at said steps (b), (d) and (f) with three non-zero coefficients; and (h) coupling said damping signal to said motor drive to control motion of the movable carriage to cause load oscillation to be damped, wherein said steps (b), (d) and (f) are repeated at a constant rate.
Claim 18
Independent Claim
222 words
A method of damping load oscillations during a traversing run of a load suspended by a hoisting rope from a movable carriage on a track, the carriage being powered by a motor controlled by a motor drive, the method comprising the steps of: (a) generating a first value of a motion reference signal representative of a desired motion of the carriage at a first time; (b) recording said first value of said motion reference signal; (c) generating a second value of said motion reference signal representative of a desired motion of the carriage at a second time which occurs after said first time; (d) recording said second value of said motion reference signal; (e) generating a third value of said motion reference signal representative of a desired motion of the carriage at a third time which occurs after said second time; (f) recording said third value of said motion reference signal; (g) forming a damping signal based on a linear combination of said first, second and third values of said motion reference signal recorded at said steps (b), (d) and (f) with three non-zero coefficients; and (h) coupling said damping signal to said motor drive to control motion of the movable carriage to cause load oscillation to be damped, wherein said steps (b), (d) and (f) are repeated at a constant rate.
Claim 19
Independent Claim
249 words
A method of damping load oscillations during a traversing run of a load suspended by a hoisting rope from a movable carriage on a track, the carriage being powered by a motor controlled by a motor drive, the method comprising the steps of: (a) generating a first value of a motion reference signal representative of a desired motion of the carriage at a first time; (b) recording said first value of said motion reference signal; (c) generating a second value of said motion reference signal representative of a desired motion of the carriage at a second time which occurs after said first time; (d) recording said second value of said motion reference signal; (e) generating a third value of said motion reference signal representative of a desired motion of the carriage at a third time which occurs after said second time; (f) recording said third value of said motion reference signal; (g) forming a damping signal based on a linear combination of said first, second and third values of said motion reference signal recorded at said steps (b), (d) and (f) with three non-zero coefficients, wherein said step (g) comprises the steps of: (g1) multiplying each of said first, second and third values of said motion reference signal by a respective coefficient to form three multiplied values; and (g2) adding said three multiplied values together; and (h) coupling said damping signal to said motor drive to control motion of the movable carriage to cause load oscillation to be damped.
Claim 20
Independent Claim
249 words
A method of damping load oscillations during a traversing run of a load suspended by a hoisting rope from a movable carriage on a track, the carriage being powered by a motor controlled by a motor drive, the method comprising the steps of: (a) generating a first value of a motion reference signal representative of a desired motion of the carriage at a first time; (b) recording said first value of said motion reference signal; (c) generating a second value of said motion reference signal representative of a desired motion of the carriage at a second time which occurs after said first time; (d) recording said second value of said motion reference signal; (e) generating a third value of said motion reference signal representative of a desired motion of the carriage at a third time which occurs after said second time; (f) recording said third value of said motion reference signal; (g) forming a damping signal based on a linear combination of said first, second and third values of said motion reference signal recorded at said steps (b), (d) and (f) with three non-zero coefficients, wherein said step (g) comprises the steps of: (g1) multiplying each of said first, second and third values of said motion reference signal by a respective coefficient to form three multiplied values; and (g2) adding said three multiplied values together; and (h) coupling said damping signal to said motor drive to control motion of the movable carriage to cause load oscillation to be damped.
Claim 21
Independent Claim
244 words
A method of damping load oscillations during a traversing run of a load suspended by a hoisting rope from a movable carriage on a track, the carriage being powered by a motor controlled by a motor drive, the method comprising the steps of: (a) generating a first value of a motion reference signal representative of a desired motion of the carriage at a first time; (b) recording said first value of said motion reference signal; (c) generating a second value of said motion reference signal representative of a desired motion of the carriage at a second time which occurs after said first time; (d) recording said second value of said motion reference signal; (e) generating a third value of said motion reference signal representative of a desired motion of the carriage at a third time which occurs after said second time; (f) recording said third value of said motion reference signal; (g) forming a damping signal based on a linear combination of said first, second and third values of said motion reference signal recorded at said steps (b), (d) and (f) with three non-zero coefficients; and (h) coupling said damping signal to said motor drive to control motion of the movable carriage to cause load oscillation to be damped, wherein said load is suspended at a height, said method further comprising the step of determining when steps (b), (d) and (f) are performed based on a desired range of load heights to be damped.
Claim 22
Independent Claim
244 words
A method of damping load oscillations during a traversing run of a load suspended by a hoisting rope from a movable carriage on a track, the carriage being powered by a motor controlled by a motor drive, the method comprising the steps of: (a) generating a first value of a motion reference signal representative of a desired motion of the carriage at a first time; (b) recording said first value of said motion reference signal; (c) generating a second value of said motion reference signal representative of a desired motion of the carriage at a second time which occurs after said first time; (d) recording said second value of said motion reference signal; (e) generating a third value of said motion reference signal representative of a desired motion of the carriage at a third time which occurs after said second time; (f) recording said third value of said motion reference signal; (g) forming a damping signal based on a linear combination of said first, second and third values of said motion reference signal recorded at said steps (b), (d) and (f) with three non-zero coefficients; and (h) coupling said damping signal to said motor drive to control motion of the movable carriage to cause load oscillation to be damped, wherein said load is suspended at a height, said method further comprising the step of determining when steps (b), (d) and (f) are performed based on a desired range of load heights to be damped.
Claim 23
Independent Claim
239 words
A method of damping load oscillations during a traversing run of a load suspended by a hoisting rope from a movable carriage on a track, the carriage being powered by a motor controlled by a motor drive, the method comprising the steps of: (a) generating a first value of a motion reference signal representative of a desired motion of the carriage at a first time; (b) recording said first value of said motion reference signal; (c) generating a second value of said motion reference signal representative of a desired motion of the carriage at a second time which occurs after said first time; (d) recording said second value of said motion reference signal; (e) generating a third value of said motion reference signal representative of a desired motion of the carriage at a third time which occurs after said second time; (f) recording said third value of said motion reference signal; (g) forming a damping signal based on a linear combination of said first, second and third values of said motion reference signal recorded at said steps (b), (d) and (f) with three non-zero coefficients; and (h) coupling said damping signal to said motor drive to control motion of the movable carriage to cause load oscillation to be damped, wherein said load is suspended at a height, said method further comprising the step of determining said non-zero coefficients based on a desired range of load heights to be damped.
Claim 24
Independent Claim
239 words
A method of damping load oscillations during a traversing run of a load suspended by a hoisting rope from a movable carriage on a track, the carriage being powered by a motor controlled by a motor drive, the method comprising the steps of: (a) generating a first value of a motion reference signal representative of a desired motion of the carriage at a first time; (b) recording said first value of said motion reference signal; (c) generating a second value of said motion reference signal representative of a desired motion of the carriage at a second time which occurs after said first time; (d) recording said second value of said motion reference signal; (e) generating a third value of said motion reference signal representative of a desired motion of the carriage at a third time which occurs after said second time; (f) recording said third value of said motion reference signal; (g) forming a damping signal based on a linear combination of said first, second and third values of said motion reference signal recorded at said steps (b), (d) and (f) with three non-zero coefficients; and (h) coupling said damping signal to said motor drive to control motion of the movable carriage to cause load oscillation to be damped, wherein said load is suspended at a height, said method further comprising the step of determining said non-zero coefficients based on a desired range of load heights to be damped.
Claim 25
Independent Claim
222 words
A method of damping load oscillations during a traversing run of a load suspended by a hoisting rope from a movable carriage on a track, the carriage being powered by a motor controlled by a motor drive, the method comprising the steps of: (a) generating a first value of a motion reference signal representative of a desired motion of the carriage at a first time; (b) recording said first value of said motion reference signal into a memory buffer; (c) generating a second value of said motion reference signal representative of a desired motion of the carriage at a second time; (d) recording said second value of said motion reference signal into said memory buffer; (e) generating a third value of said motion reference signal representative of a desired motion of the carriage at a third time; (f) recording said third value of said motion reference signal into said memory buffer, said first, second and third values existing contemporaneously in said memory buffer; (g) forming a damping signal based on a linear combination of said first, second and third values of said motion reference signal recorded at steps (b), (d) and (f) with at least two non-zero coefficients; and (h) coupling said damping signal to said motor drive to control motion of the movable carriage to cause load oscillation to be damped.
Claim 26
Independent Claim
222 words
A method of damping load oscillations during a traversing run of a load suspended by a hoisting rope from a movable carriage on a track, the carriage being powered by a motor controlled by a motor drive, the method comprising the steps of: (a) generating a first value of a motion reference signal representative of a desired motion of the carriage at a first time; (b) recording said first value of said motion reference signal into a memory buffer; (c) generating a second value of said motion reference signal representative of a desired motion of the carriage at a second time; (d) recording said second value of said motion reference signal into said memory buffer; (e) generating a third value of said motion reference signal representative of a desired motion of the carriage at a third time; (f) recording said third value of said motion reference signal into said memory buffer, said first, second and third values existing contemporaneously in said memory buffer; (g) forming a damping signal based on a linear combination of said first, second and third values of said motion reference signal recorded at steps (b), (d) and (f) with at least two non-zero coefficients; and (h) coupling said damping signal to said motor drive to control motion of the movable carriage to cause load oscillation to be damped.
Claim 27
Dependent Claim
16 words
The damping method of claim 19 wherein said motion reference signal comprises a speed reference signal.
Claim 28
Dependent Claim
16 words
The damping method of claim 19 wherein said motion reference signal comprises an acceleration reference signal.
Claim 29
Dependent Claim
16 words
The damping method of claim 19 wherein said motion reference signal comprises a torque reference signal.
Claim 30
Dependent Claim
16 words
The damping method of claim 19 wherein said motion reference signal comprises a position reference signal.
Claim 31
Dependent Claim
62 words
The damping method of claim 19 wherein each of said steps (b) and (d) comprises the step of storing data representing said values of said motion reference signal into a memory array having a plurality of data storage locations, said method additionally comprising the step of shifting said data within said memory array when additional data is stored in said memory array.
Claim 32
Dependent Claim
54 words
The damping method of claim 19 further comprising the steps of: (i) setting a maximum acceleration limit for the carriage; (j) determining a limit range for said motion reference signal so that acceleration of the carriage does not exceed said maximum acceleration limit; and (k) limiting said motion reference signal to said limit range.
Claim 33
Dependent Claim
37 words
The damping method of claim 19 wherein said hoisting rope has a length, said method further comprising the step of determining when said steps (b) and (d) are performed based on said length of said hoisting rope.
Claim 34
Dependent Claim
41 words
The damping method of claim 19 wherein said load is suspended at a height, said method further comprising the step of determining when steps (b), (d) and (f) are performed based on a desired range of load heights to be damped.
Claim 35
Dependent Claim
39 words
The damping method of claim 19 wherein said load is suspended at a height, said method further comprising the step of varying when steps (b), (d) and (f) are performed in response to a change in said load height.
Claim 36
Dependent Claim
28 words
The damping method of claim 19 wherein said hoisting rope has a length and wherein a change in said load height is detected using a rope length sensor.
Claim 37
Dependent Claim
31 words
The damping method of claim 19 wherein said hoisting rope has a length, said method further comprising the step of varying said coefficients based on said length of said hoisting rope.
Claim 38
Dependent Claim
36 words
The damping method of claim 19 wherein said load is suspended at a height, said method further comprising the step of determining said non-zero coefficients based on a desired range of load heights to be damped.
Claim 39
Dependent Claim
34 words
The damping method of claim 19 wherein said load is suspended at a height, said method further comprising the step of varying said non-zero coefficients in response to a change in said load height.
Claim 40
Dependent Claim
28 words
The damping method of claim 32 wherein said hoisting rope has a length and wherein a change in said load height is detected using a rope length sensor.
Claim 41
Dependent Claim
170 words
A load oscillation dampener for dampening oscillations of a load suspended by a hoisting rope from a movable carriage mounted on a support, the movable carriage being powered by a motor controlled by a motor drive, the dampener comprising: a signal generator adapted to generate at least three values of a motion reference signal representing desired motion of the carriage based upon operator input, each of said values of said motion reference signal being generated at a different time; a memory operatively coupled to said signal generator and adapted to store said values of said motion reference signal, said memory contemporaneously storing said at least three values of said motion reference signal; and a controller operatively coupled to said memory, said controller being adapted to generate a damping signal based upon a linear combination of said values of said motion reference signal contemporaneously stored in said memory and at least three non-zero coefficients and to transmit said damping signal to said motor drive to cause load oscillation to be damped.
Claim 42
Dependent Claim
170 words
A load oscillation dampener for dampening oscillations of a load suspended by a hoisting rope from a movable carriage mounted on a support, the movable carriage being powered by a motor controlled by a motor drive, the dampener comprising: a signal generator adapted to generate at least three values of a motion reference signal representing desired motion of the carriage based upon operator input, each of said values of said motion reference signal being generated at a different time; a memory operatively coupled to said signal generator and adapted to store said values of said motion reference signal, said memory contemporaneously storing said at least three values of said motion reference signal; and a controller operatively coupled to said memory, said controller being adapted to generate a damping signal based upon a linear combination of said values of said motion reference signal contemporaneously stored in said memory and at least three non-zero coefficients and to transmit said damping signal to said motor drive to cause load oscillation to be damped.
Claim 43
Dependent Claim
47 words
The dampener of claim 34 wherein said signal generator is adapted to generate at least three values of a speed reference signal representing desired speed of the carriage based upon operator input, each of said values of said speed reference signal being generated at a different time.
Claim 44
Dependent Claim
47 words
The dampener of claim 34 wherein said signal generator is adapted to generate at least three values of an acceleration reference signal representing desired acceleration of the carriage based upon operator input, each of said values of said acceleration reference signal being generated at a different time.
Claim 45
Dependent Claim
47 words
The dampener of claim 34 wherein said signal generator is adapted to generate at least three values of a torque reference signal representing desired torque of the carriage based upon operator input, each of said values of said torque reference signal being generated at a different time.
Claim 46
Dependent Claim
47 words
The dampener of claim 34 wherein said signal generator is adapted to generate at least three values of a position reference signal representing desired position of the carriage based upon operator input, each of said values of said position reference signal being generated at a different time.
Claim 47
Dependent Claim
220 words
A load oscillation dampener for dampening oscillations of a load suspended by a hoisting rope from a movable carriage mounted on a support, the movable carriage being powered by a motor controlled by a motor drive, the dampener comprising: a signal generator adapted to generate at least three values of a motion reference signal representing desired motion of the carriage based upon operator input, each of said values of said motion reference signal being generated at a different time; a memory operatively coupled to said signal generator and adapted to store said values of said motion reference signal; and a controller operatively coupled to said memory, said controller being adapted to generate a damping signal based upon a linear combination of said values of said motion reference signal stored in said memory and at least three non-zero coefficients and to transmit said damping signal to said motor drive to cause load oscillation to be damped, wherein said memory comprises a memory array having a plurality of data storage locations, each of said values of said motion reference signal being stored in a respective one of said data storage locations in said memory array, said memory array being adapted to shift said values of said motion reference signal within said memory array when additional data is stored in said memory array.
Claim 48
Dependent Claim
220 words
A load oscillation dampener for dampening oscillations of a load suspended by a hoisting rope from a movable carriage mounted on a support, the movable carriage being powered by a motor controlled by a motor drive, the dampener comprising: a signal generator adapted to generate at least three values of a motion reference signal representing desired motion of the carriage based upon operator input, each of said values of said motion reference signal being generated at a different time; a memory operatively coupled to said signal generator and adapted to store said values of said motion reference signal; and a controller operatively coupled to said memory, said controller being adapted to generate a damping signal based upon a linear combination of said values of said motion reference signal stored in said memory and at least three non-zero coefficients and to transmit said damping signal to said motor drive to cause load oscillation to be damped, wherein said memory comprises a memory array having a plurality of data storage locations, each of said values of said motion reference signal being stored in a respective one of said data storage locations in said memory array, said memory array being adapted to shift said values of said motion reference signal within said memory array when additional data is stored in said memory array.
Claim 49
Dependent Claim
39 words
The dampener of claim 34 wherein said hoisting rope has a length and wherein said signal generator is adapted to generate said values of said motion reference signal at different times based on said length of said hoisting rope.
Claim 50
Dependent Claim
193 words
A load oscillation dampener for dampening oscillations of a load suspended by a hoisting rope from a movable carriage mounted on a support, the movable carriage being powered by a motor controlled by a motor drive, the dampener comprising: a signal generator adapted to generate at least three values of a motion reference signal representing desired motion of the carriage based upon operator input, each of said values of said motion reference signal being generated at a different time, wherein said load is suspended at a height and wherein said signal generator is adapted to generate said values of said motion reference signal at different times based on a desired range of load heights to be damped; a memory operatively coupled to said signal generator and adapted to store said values of said motion reference signal; and a controller operatively coupled to said memory, said controller being adapted to generate a damping signal based upon a linear combination of said values of said motion reference signal stored in said memory and at least three non-zero coefficients and to transmit said damping signal to said motor drive to cause load oscillation to be damped.
Claim 51
Dependent Claim
193 words
A load oscillation dampener for dampening oscillations of a load suspended by a hoisting rope from a movable carriage mounted on a support, the movable carriage being powered by a motor controlled by a motor drive, the dampener comprising: a signal generator adapted to generate at least three values of a motion reference signal representing desired motion of the carriage based upon operator input, each of said values of said motion reference signal being generated at a different time, wherein said load is suspended at a height and wherein said signal generator is adapted to generate said values of said motion reference signal at different times based on a desired range of load heights to be damped; a memory operatively coupled to said signal generator and adapted to store said values of said motion reference signal; and a controller operatively coupled to said memory, said controller being adapted to generate a damping signal based upon a linear combination of said values of said motion reference signal stored in said memory and at least three non-zero coefficients and to transmit said damping signal to said motor drive to cause load oscillation to be damped.
Claim 52
Dependent Claim
38 words
The dampener of claim 34 wherein said load is suspended at a height and wherein said signal generator is adapted to vary said values of said motion reference signal in response to a change in said load height.
Claim 53
Dependent Claim
30 words
The dampener of claim 42 wherein said hoisting rope has a length and wherein said dampener additionally comprises a rope length sensor for detecting a change in said load height.
Claim 54
Dependent Claim
30 words
The dampener of claim 34 wherein said hoisting rope has a length and wherein said controller is adapted to vary said coefficients based on said length of said hoisting rope.
Claim 55
Dependent Claim
29 words
The dampener of claim 34 wherein said load is suspended at a height and wherein said coefficients are based on a desired range of load heights to be damped.
Claim 56
Dependent Claim
33 words
The dampener of claim 34 wherein said load is suspended at a height and wherein said signal generator is adapted to vary said coefficients in response to a change in said load height.
Claim 57
Dependent Claim
30 words
The dampener of claim 46 wherein said hoisting rope has a length and wherein said dampener additionally comprises a rope length sensor for detecting a change in said load height.
Claim 58
Dependent Claim
150 words
A load oscillation dampener for dampening oscillations of a load suspended by a hoisting rope from a movable carriage mounted on a support, the movable carriage being powered by a motor controlled by a motor drive, the dampener comprising: a signal generator adapted to generate at least three values of a motion reference signal representing desired motion of the carriage based upon operator input, each of said values of said motion reference signal being generated at different times; a memory operatively coupled to said signal generator and adapted to store said values of said motion reference signal contemporaneously; and a controller operatively coupled to said memory, said controller being adapted to generate a damping signal based upon a linear combination of said stored values with at least two non-zero coefficients, said controller being adapted to transmit said damping signal to said motor drive to cause load oscillation to be damped.
Claim 59
Dependent Claim
150 words
A load oscillation dampener for dampening oscillations of a load suspended by a hoisting rope from a movable carriage mounted on a support, the movable carriage being powered by a motor controlled by a motor drive, the dampener comprising: a signal generator adapted to generate at least three values of a motion reference signal representing desired motion of the carriage based upon operator input, each of said values of said motion reference signal being generated at different times; a memory operatively coupled to said signal generator and adapted to store said values of said motion reference signal contemporaneously; and a controller operatively coupled to said memory, said controller being adapted to generate a damping signal based upon a linear combination of said stored values with at least two non-zero coefficients, said controller being adapted to transmit said damping signal to said motor drive to cause load oscillation to be damped.
Claim 60
Dependent Claim
47 words
The dampener of claim 48 wherein said signal generator is adapted to generate a plurality of values of a speed reference signal representing desired speed of the carriage based upon operator input, each of said values of said speed reference signal being generated at a different time.
Claim 61
Dependent Claim
47 words
The dampener of claim 48 wherein said signal generator is adapted to generate a plurality of values of an acceleration reference signal representing desired acceleration of the carriage based upon operator input, each of said values of said acceleration reference signal being generated at a different time.
Claim 62
Dependent Claim
47 words
The dampener of claim 48 wherein said signal generator is adapted to generate a plurality of values of a torque reference signal representing desired torque of the carriage based upon operator input, each of said values of said torque reference signal being generated at a different time.
Claim 63
Dependent Claim
47 words
The dampener of claim 48 wherein said signal generator is adapted to generate a plurality of values of a position reference signal representing desired position of the carriage based upon operator input, each of said values of said position reference signal being generated at a different time.
Claim 64
Dependent Claim
39 words
The dampener of claim 48 wherein said hoisting rope has a length and wherein said signal generator is adapted to generate said values of said motion reference signal at different times based on said length of said hoisting rope.
Claim 65
Dependent Claim
43 words
The dampener of claim 48 wherein said load is suspended at a height and wherein said signal generator is adapted to generate said values of said motion reference signal at different times based on a desired range of load heights to be damped.
Claim 66
Dependent Claim
38 words
The dampener of claim 48 wherein said load is suspended at a height and wherein said signal generator is adapted to vary said values of said motion reference signal in response to a change in said load height.
Claim 67
Dependent Claim
30 words
The dampener of claim 55 wherein said hoisting rope has a length and wherein said dampener additionally comprises a rope length sensor for detecting a change in said load height.
Claim 68
Dependent Claim
30 words
The dampener of claim 48 wherein said hoisting rope has a length and wherein said controller is adapted to varying said coefficients based on said length of said hoisting rope.
Claim 69
Dependent Claim
29 words
The dampener of claim 48 wherein said load is suspended at a height and wherein said coefficients are based on a desired range of load heights to be damped.
Claim 70
Dependent Claim
33 words
The dampener of claim 48 wherein said load is suspended at a height and wherein said signal generator is adapted to vary said coefficients in response to a change in said load height.
Claim 71
Dependent Claim
30 words
The dampener of claim 59 wherein said hoisting rope has a length and wherein said dampener additionally comprises a rope length sensor for detecting a change in said load height.
Claim 72
Dependent Claim
207 words
A load oscillation dampener for dampening oscillations of a load suspended by a hoisting rope from a movable carriage mounted on a support, the movable carriage being powered by a motor controlled by a motor drive, the dampener comprising: a signal generator adapted to generate a plurality of values of a motion reference signal representing desired motion of the carriage based upon operator input, each of said values of said motion reference signal being generated at a different time; a memory array operatively coupled to said signal generator, said memory array having a plurality of data storage locations, each of said values of said motion reference signal being stored in a respective one of said data storage locations in said memory array, said memory array being adapted to shift said values of said motion reference signal within said memory array when another value of said motion reference signal is stored in said memory array; and a controller operatively coupled to said memory array, said controller being adapted to generate a damping signal based upon a linear combination of said values of said motion reference signal stored in said memory array and to transmit said damping signal to said motor drive to cause load oscillation to be damped.
Claim 73
Dependent Claim
207 words
A load oscillation dampener for dampening oscillations of a load suspended by a hoisting rope from a movable carriage mounted on a support, the movable carriage being powered by a motor controlled by a motor drive, the dampener comprising: a signal generator adapted to generate a plurality of values of a motion reference signal representing desired motion of the carriage based upon operator input, each of said values of said motion reference signal being generated at a different time; a memory array operatively coupled to said signal generator, said memory array having a plurality of data storage locations, each of said values of said motion reference signal being stored in a respective one of said data storage locations in said memory array, said memory array being adapted to shift said values of said motion reference signal within said memory array when another value of said motion reference signal is stored in said memory array; and a controller operatively coupled to said memory array, said controller being adapted to generate a damping signal based upon a linear combination of said values of said motion reference signal stored in said memory array and to transmit said damping signal to said motor drive to cause load oscillation to be damped.
Claim 74
Dependent Claim
47 words
The dampener of claim 61 wherein said signal generator is adapted to generate a plurality of values of a speed reference signal representing desired speed of the carriage based upon operator input, each of said values of said speed reference signal being generated at a different time.
Claim 75
Dependent Claim
47 words
The dampener of claim 61 wherein said signal generator is adapted to generate a plurality of values of an acceleration reference signal representing desired acceleration of the carriage based upon operator input, each of said values of said acceleration reference signal being generated at a different time.
Claim 76
Dependent Claim
47 words
The dampener of claim 61 wherein said signal generator is adapted to generate a plurality of values of a torque reference signal representing desired torque of the carriage based upon operator input, each of said values of said torque reference signal being generated at a different time.
Claim 77
Dependent Claim
47 words
The dampener of claim 61 wherein said signal generator is adapted to generate a plurality of values of a position reference signal representing desired position of the carriage based upon operator input, each of said values of said position reference signal being generated at a different time.
Claim 78
Dependent Claim
82 words
The dampener of claim 61 wherein said controller is adapted to periodically generate a plurality of values of said damping signal, each of said values of said damping signal being generated by determining the average of a first value of said motion reference signal generated at a first time and a second value of said motion signal generated at a second time, said first and second times being separated by a time difference corresponding to one-half the oscillation period of said load.
Claim 79
Dependent Claim
39 words
The dampener of claim 61 wherein said hoisting rope has a length and wherein said signal generator is adapted to generate said values of said motion reference signal at different times based on said length of said hoisting rope.
Claim 80
Dependent Claim
43 words
The dampener of claim 61 wherein said load is suspended at a height and wherein said signal generator is adapted to generate said values of said motion reference signal at different times based on a desired range of load heights to be damped.
Claim 81
Dependent Claim
38 words
The dampener of claim 61 wherein said load is suspended at a height and wherein said signal generator is adapted to vary said values of said motion reference signal in response to a change in said load height.
Claim 82
Dependent Claim
30 words
The dampener of claim 69 wherein said hoisting rope has a length and wherein said dampener additionally comprises a rope length sensor for detecting a change in said load height.
Claim 83
Dependent Claim
30 words
The dampener of claim 61 wherein said hoisting rope has a length and wherein said controller is adapted to vary said coefficients based on said length of said hoisting rope.
Claim 84
Dependent Claim
29 words
The dampener of claim 61 wherein said load is suspended at a height and wherein said coefficients are based on a desired range of load heights to be damped.
Claim 85
Dependent Claim
33 words
The dampener of claim 61 wherein said load is suspended at a height and wherein said signal generator is adapted to vary said coefficients in response to a change in said load height.
Claim 86
Dependent Claim
30 words
The dampener of claim 73 wherein said hoisting rope has a length and wherein said dampener additionally comprises a rope length sensor for detecting a change in said load height.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2002-10-04 | 2003-04-05 | 2003-10-05 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2006-10-04 | 2007-04-05 | 2007-10-05 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2010-10-04 | 2011-04-05 | 2011-10-05 | $7700.00 | Window Closed / Lapsed |