DEVICE AND METHOD OF CONTROLLING SWINGING OF LOAD SUSPENDED FROM LIFTING APPARATUS Russian patent published in 2018 - IPC B66C13/06 

FIELD: control systems.

SUBSTANCE: disclosed is a device for controlling the swinging of a load suspended from motorised movable element (20) which can move along a horizontal axis. Control device comprises control unit (40) and inertial platform (30). Inertial platform (30) is able to determine the characteristic values of the angle of inclination of cable (27), which supports the load relative to the vertical and is equipped with a means of transmitting these values to control unit (40). Control unit (40) is equipped with a means of measuring and controlling the speed of motorised movable element (20) and is capable of processing these values, characterising the angle of inclination of cable (27) relative to the vertical, in order to calculate and transmit control actions aimed at dynamically changing the speed of motorised movable element (20), depending on the desired angle of inclination of cable (27) relative to the vertical. Control unit (40) comprises a gain-variable proportional controller, equipped with a means of calculating variable gain used to control the speed of motorised movable element (20) depending on the distance from the load to motorised movable element (20). Said distance lies between the maximum and minimum values, the variable gain is calculated as a function of distance (h) from the load to motorised movable element (20). Method for controlling the swinging of a load and a control device for a lifting device are also disclosed.

EFFECT: stabilization of load swinging is achieved both during normal operations and due to stages of sudden braking or acceleration.

12 cl, 8 dwg