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    Anti-sway Final Temp

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    Computer Software

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    Anti-sway Final Temp

    Uploaded by

    Computer Software
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    Copyright:

    © All Rights Reserved
    Download as PPS, PDF, TXT or read online from Scribd
    Download as pps, pdf, or txt
    7 views9 pages

    Anti-sway Final Temp

    Uploaded by

    Computer Software

    Copyright:

    © All Rights Reserved
    Download as PPS, PDF, TXT or read online from Scribd
    Download as pps, pdf, or txt
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    Electrical & Automation OC

    Control &www.LNTEBG.com
    Automation

    Anti-sway
    Swing Today, Gone Tomorrow.

    LARSEN & TOUBRO www.automation4me.com


    Electrical & Automation OC
    Control &www.LNTEBG.com
    Automation
    Sway in Crane
    Crane:
    • A crane is a mechanical lifting device equipped with hoists, wire ropes and
    sheaves that can be used both to lift and lower materials and to move them
    horizontally

    • Movement of heavy objects at Factories, warehouses, construction sites, and


    shipyards is often accomplished with cranes.

    Sway in Crane movement:


    While the physical structure of cranes varies widely, one essential element is
    constant - an overhead support cable which is used to lift and transport the
    payload.

    However, it also creates one of the biggest problems: Payload Oscillation or Sway.

    Movement of the load suspended from the crane resembles pendulum.


    When the load is accelerated or decelerated by the crane, sway or swing is
    induced.

    LARSEN & TOUBRO www.automation4me.com


    Electrical & Automation OC
    Control &www.LNTEBG.com
    Automation
    Need for Anti-Sway

    Safe Operation.
    • Avoid damage resulting from
    Collision and unskilled operator.
    • Reduction of Mechanical Stress
    on the Crane Structure.

    Improved Productivity. Anti-Sway


    • Less settling time (No delay & No
    loss Time).
    • Constant output irrespective of
    operator.

    LARSEN & TOUBRO www.automation4me.com


    Electrical & Automation OC
    Control &www.LNTEBG.com
    Automation
    Basics of Oscillation / Sway

    One of the most common example of oscillation / sway is the pendulum.

    If we push on a pendulum to start it swinging, it will oscillate at some


    frequency -- it will swing back and forth a certain number of times per
    second.

    For something to oscillate, energy needs to move back and forth between
    two forms.

    In a pendulum, energy moves between potential energy and kinetic energy.

    Eventually, any physical oscillator stops moving because of friction.

    LARSEN & TOUBRO www.automation4me.com


    Electrical & Automation OC
    Control &www.LNTEBG.com
    Automation
    Basics of Oscillation / Sway
    The pendulum movement can be characterized by a sinusoidal movement.

    The movement of the pendulum is defined by three distinct variables:

    Amplitude (A) – Sway amplitude is the max. distance that the load moves
    from the equilibrium position during a sway cycle.
    It is a measurement of the amount of energy
    that is in the system. A
    Amplitude is affected by the impulse of displacement
    on the load from center.

    Phase – Phase is the measure used to describe T


    the state of the system at any point in time.
    It is measured in degrees from 0 to 360 over
    which one complete period of oscillation will take place.

    Period (T) – Time Period refers to the amount of time necessary to


    complete one cycle of motion.

    LARSEN & TOUBRO www.automation4me.com


    Electrical & Automation OC
    Control &www.LNTEBG.com
    Automation
    Basics of Oscillation / Sway
    The equation of motion for the pendulum:
    The pendulum is modeled as a point mass at the end of a cable rod.
    θ = angle of pendulum (0=vertical) L = length of rod
    T = tension in rod m = mass of pendulum
    g = gravitational constant

    Time Period refers to the amount of time necessary to complete one


    cycle of motion.
    Equation for the Period:
    T = 2 (L/g)1/2

    The equation shows that.


    1. Time period is independent of the Weight of the material.
    2. Time Period is independent of angle of swing.
    3. Time Period is proportional to the square root of Length of the rod /
    rope.

    LARSEN & TOUBRO www.automation4me.com


    Electrical & Automation OC
    Control &www.LNTEBG.com
    Automation
    Control of Oscillation / Sway
    Double Acceleration (Input Shaping)

    T/2 A

    LARSEN & TOUBRO www.automation4me.com


    Electrical & Automation OC
    Control &www.LNTEBG.com
    Automation
    Control of Oscillation / Sway
    Control Scheme
    Crane System

    Automation
    (PLC with Drive Basic
    Sway Control) Function

    Load Height Measurement.


    Period of Oscillation.
    Control of Load Acceleration.

    LARSEN & TOUBRO www.automation4me.com


    Electrical & Automation OC
    Control &www.LNTEBG.com
    Automation

    T hankfor your
    You attention

    LARSEN & TOUBRO www.automation4me.com

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