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METHOD AND DEVICE TO CONTROL IN OPEN-LOOP THE SWAY OF PAYLOAD FOR SLEWING CRANES
METHOD AND DEVICE TO CONTROL IN OPEN-LOOP THE SWAY OF PAYLOAD FOR SLEWING CRANES
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机译:开环控制有效载荷摆动的方法和装置
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摘要
Method and systems for controlling the swing of a suspended load by a rotary crane moving along two axes, trolley and slewing, that are moving independently or together, and independently or together to the movement of the load along a third axis, the vertical (hoisting) axis.The device (10, 11, 12) calculates the speed profiles of slewing and trolley axes using as input variables the length of the cable in which is suspended the load, the distance between the axis of rotation and the trolley position, the set constant acceleration of slewing and trolley axes, the air resistance forces acting on the payload and on the hoisting system, the damping of the rotation movement due to the structure's elasticity of the hoisting system.
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