Patent ID: 6102221
Filing Date: 2000-08-15
Classification: B66C

Abstract:
A method of damping load oscillations during a traversing run of a load suspended at a height by a hoisting rope from a movable carriage on a track, the carriage powered by a motor controlled by a motor drive, the method being insensitive to changes in load height and comprising the steps of:(a) generating a motion reference signal, s(t), representative of a desired motion of the carriage;(b) constructing a damping signal from said motion reference signal substantially of the form:(1/4)+(t)+(1/2)+(t-T/2)+(1/4)+(t-T)where T is the period of oscillation of the load for load heights near the center of the desired range of load heights to be damped; and(c) coupling said damping signal to said motor drive to control carriage motion so that said damping signal causes load oscillations to be damped.