Abstract:  Aiming at the problem that the suspension load of crane hook rotates under strong wind due to lack of rotating power device, a suspension load anti-swing control device with gyro damper was proposed. Firstly, the hook driven by servo motor was used to rotate and position the suspension load, and the passive control of the single-axis mechanical gyroscope was adopted, thus the generated reaction moment of crane load was repressive when the suspension load rotates. Then, the device was optimized from two aspects(a gyro damper was built by adding a spring to the gimbal side of mechanical gyroscope; the posture of crane load was adjusted by wind control). Finally, the physical model of gyro damper,and wind combined control device was constructed, and the device was analyzed experimentally through real test. The results show that, comparing with the case without spring, gyro damper (with spring) can reduce the time for flywheel inclination angle to return to 0 by 43%, and greatly shorten the deviation time of flywheel inclination angle. In addition, comparing with the case without fan control, the combined control of gyro damper and wind power can reduce the time required to stop suspension load by 90%, which verifies the effectiveness of the antiswing control device.

Key words:  crane;load; anti-swing control; mechanical gyro; spring; damper

JIAO Hong-tao, WU Li-ren, DONG Fang. Anti-swing control device of crane load with gyro damper［J］.Journal of Mechanical & Electrical Engineering, 2022,39(1):128-133.