Method to limit parameters of device in operation

FIELD: materials handling facilities.

SUBSTANCE: invention relates to methods of control and overload and failure protection of boom load-lifting cranes. According to proposed method, first and second threshold levels are set for at least one parameter characterizing load, geometry or operating conditions of device. Provision is made for checking said parameter in operation and comparing its value with first threshold level, forming of device control signal if parameter exceeds first threshold level, comparing parameter with second threshold level and forming signal to prohibit operation of device or its component part if second threshold level is exceeded. Moreover, rate of parameter changing is revealed, and first threshold level is set depending on rate of change of said parameter or reduced inertia moment or reduced mass of moving device or its component part.

EFFECT: improved efficiency of limiting of device parameters at dynamic operation, improved operating characteristics of device.

13 cl, 2 dwg

The invention relates to mechanical engineering and can be used in control systems and protection from overload and damage of various machines and mechanisms with moving parts, in particular jib cranes. The invention concerns a sensitive restriction parameters of the devices in dynamic operation modes and is applicable in cases when above certain thresholds must be returned to a safe condition of the moving part of the mechanism, installation etc.

A known method of controlling the hydraulic drive mechanism of the faucet by turning axis specifies the sensor at an angle proportional to the set speed mechanism, and the formation of the exponential control signal is driven with an amplitude proportional to the set speed [1].

In the known method is smooth launch crane mechanism that allows you to restrict its dynamic overload at start-up. But it does not necessarily smooth stop and, accordingly, the limitation of dynamic loads at the bus stop. There is no overload protection on freight moment and the protection of lifting equipment from damage in a collision with different obstacles.

Also known way to prevent overloading of the lifting machine, becoming the governmental overhead crane, by measuring the load (weight lifted cargo), job control load levels, detection of excess current load level targets, discrete off lifting mechanism for a fixed time interval if the load reaches the first reference level and the final discrete-off drive of the lifting mechanism, if the load exceeds the second reference level (the value of the limit load of the machine) [2].

In the development of this technical solution, the method limits the operating parameters of the device consists in the fact that the process control device is at least one of the selected parameters of its operation, pre-set two thresholds for each of the selected operating parameters of the device, when exceeding the first threshold value is controlled prohibit the operation of the device, and after a predetermined period of time to allow the operation of the device and compare each of the monitored values of the operating parameters of the device as with the first and second threshold values, and when exceeding the selected second threshold value, or when the preset number stops the device to seal the prohibit his work [3].

In these known technical solutions [2], [3] provides protection device (for example, lifting the machine from static overload. In addition, if the current load level reaches the first reference level is intermittent stopping of the lifting mechanism. This provides some preliminary slower rate and a corresponding reduction in dynamic loads when you stop lifting machine.

However, the specified reference levels of load are fixed and do not depend on the rate of change (increase) load and inertia of the device, which may be variable. This significantly reduces the effectiveness of the protection device (lifting the machine from overloading. For example, during heavy lifting for any reason and, accordingly, a rapid increase in the load value of the first threshold level may be too high, resulting in delay-off and, therefore, does not effectively prevent overloading of the lifting machine.

In addition, when reaching the controlled parameter of the first (lower) threshold value in the short-term peak overloads automatically ban the operation of the machine. However, the maximum overload short duration is not dangerous for rotodynamic machine. Therefore, automatic shut-off devices without control duration overload leads to decreased immunity and, consequently, the effectiveness of the protection system.

The last disadvantage has no way to control the lifting mechanisms with the fixation of their performance on pressure, geometry of the crane and its mode of operation, by measuring signals proportional to these characteristics, the comparison of these signals with valid values, and the subsequent generation of control signals of the movement interlock mechanisms, pre-set a fixed time interval, and the formation of the above signals, the lock only in case of exceeding the signals proportional to the characteristics of lifting mechanisms, valid values within a given interval of time [4].

In the known method is carried out to protect the device from static overload and prevents false tripping during transient overloads or in the presence of interference in a controlled signals.

However, the presence of time delay control signals movement interlock mechanisms not only improves, but on the contrary, significantly impairs the efficiency limitations of the selected device parameters (loading) in the dynamic mode is the first operation.

Close the technical nature of the technical solution [4] proposed load limiting device on the boom of a crane, in which the digital filtering of the signals exceeding the controlled parameters of the hoisting machine of valid values within a given interval of time [5].

Digital filtering in this way limits the operating parameters of the device (the boom of the crane does not allow you to turn it off, if within a given time interval signals exceeding are not continuous. But this provides only a slight increase in the noise immunity of the system constraints, ensuring its insensitivity to the effects of short-term overload and interference, but in no way improves the efficiency limitations of the operating parameters of the device (crane) in dynamic modes.

More perfect and the closest to the invention is a method of restricting the operating parameters of the device to prevent overloading of the lifting mechanism) by measuring the force of the lifting mechanism and forming an analog signal proportional to this force, differentiation (determine the rate of change of this signal assignments of the first and second fixed reference signals (levels), integrating a specified fractional part of the analog signal until the reviste analog signal of the first lower reference signal (level), comparing the differentiated analog signal with integrated a specified fractional part of a differential analog signal at the time of exceeding the analog signal of a second, higher, reference signal (level), detection of excess of differentiated analog signal integrated preset fractional differential analog signal and forming as a result of this signal overload lifting mechanism [6].

In this technical solution, as well as in all other known threshold (reference) levels of controlled signals do not depend on the speed of the device. It is not possible to effectively limit the operation of the device in dynamic modes, since, as already noted, increasing the rate of change of the controlled parameter for any reason, the determined value of the first threshold level may not ensure the prevention of an overload device (lifting machines).

Thresholds do not depend on variable parameters of the device, such as moment of inertia or mass of the moving parts of the device, which does not allow a timely manner to form a signal disconnection device in case of overload.

In addition, in a known way is use the speed control device, the inclusion in the opposite direction, and the control device taking into account fluctuations of the controlled parameter, which also leads to low efficiency limits the parameters of his work.

The aim of the invention is to increase the efficiency limitations of the selected device parameters in dynamic modes, as well as improve the operational characteristics of the device, for example by increasing the nominal capacity of the machine by reducing the dynamic loads.

In the method of limiting the operation of the device by setting the first (lower) and second (higher) threshold levels for each of the at least one of the selected operating parameters of the device, characterizing the load, geometry or its mode of operation, control operation of the device values of at least one of the selected parameters, and comparison of this value with the first threshold level and the signal control device when exceeding the controlled setting of the first threshold, comparing the values of the monitored parameter with a second threshold level and a complete prohibition of the operation of the device or its individual component parts in case of exceeding controlled by the setting of the second threshold level, and the identification of donatela and (or) during operation of the device the rate of change of the selected controlled parameter, this objective is achieved in that for each of at least one of the selected monitored parameters listed first and / or second threshold values are set depending on the rate of change of this monitored parameter during operation of the device.

This goal can be achieved also by the fact that when exceeding the controlled setting of the first threshold level specified signal processing control device is in the form of reducing the speed of movement of the mechanism, which leads to a change in this controlled setting. With the specified speed reduction can be carried out in a linear fashion, making it proportional reduction of the amount existing at the moment of achieving controlled by setting the first threshold value, to zero, when the increase of the monitored parameter to a value equal to the second threshold level.

When exceeding the controlled setting of the first threshold level specified signal processing control device can be performed by completely prohibiting the operation of the entire device or mechanism (integral part) of the device, leading to change this controlled parameter, and the second threshold level is chosen equal the m maximum permissible value of the controlled parameter, and the first threshold level is set less than the second threshold level by an amount equal to the possible increase of the controlled parameter after the complete prohibition of the operation of the device or mechanism, which is determined on the basis of the detected before and / or during operation of the device the rate of change of the selected controlled parameter and time to a full stop.

Re-enabling the device may only be carried out after reduction of the monitored parameter to a value equal to the first threshold level.

When exceeding the controlled parameter of the first and / or second threshold level, the formation of the control signal or the complete prohibition of the operation of the device can also be carried out in manual mode, which is additionally formed light and sound information signals to the operator of the device.

This goal can be achieved also by setting the first threshold level is less than the second threshold level by an amount proportional to the reduced moment of inertia or the mass of the moving mechanism of the device with the load.

After disabling the operation and stop of the device can be detected increment of the controlled parameter and the first threshold level may be set less than the second threshold is about level by the amount specified increment simultaneously memorizing the received value of the first threshold level and used for further control of the device.

Identified the increment value may be remembered as a function of the rate of change of the controlled parameter and (or) the moment of inertia and the present mass of the moving mechanism of the device with the load, and then be used when setting the first threshold level.

To achieve this goal additionally, you can set the time interval, and after exceeding the controlled parameter of the first and / or second threshold level, to be the inclusion of the device in the opposite direction during a specified interval of time. Thus the value of this predetermined time interval may be set proportional to the rate of change of the controlled parameter and (or) the moment of inertia and the present mass of the moving mechanism of the device with the load, or a proportional part of the period (e.g., half) of the oscillations of the controlled parameter when you stop the device.

After exceeding the controlled parameter of the first and / or second threshold level may be additionally implemented the ban control other mechanisms of the device, which can lead to INCR the structure of the selected controlled parameter.

To achieve this goal, additionally it can also be full time stop device, the disconnect device within the specified time when the achievement of a controlled parameter of the first threshold level, the subsequent resolution of the device, and re-enabling the device to control the increment of the controlled parameter and the resolution of the device, if it is reduced or a complete ban of the work, if the value of the controlled parameter is increased.

The technical essence of the proposed method limits the operating parameters of the device lies in the early identification of hazardous both static and dynamic operating modes of the device, and in determining the most rational bounds (threshold levels) timely discrete or proportional to disable the device. Given the distinctive features of the claimed technical solution directly affect the technical result achieved and ensure the effective achievement of this goal because:

- installation of the first and second threshold levels depending on the rate of change of the controlled parameters allows the stop device in the specified area without dangerous overshoot (without overload) and without underutilized what I capabilities of the device;

- smooth speed reduction device when exceeding the controlled setting of the first threshold level allows you to reduce the dynamic loads on the device, caused his abrupt disconnection. In relation to the lifting crane is, in addition, the increase of its rated capacity by reducing dynamic loads;

- re-enable the device only after lowering the monitored parameter to a value equal to the first threshold level, eliminates multiple “call” switch device near threshold levels, eliminating additional multiple dynamic loads;

- ability to work in manual mode allows you to duplicate the work of automation and thereby further increase the efficiency limitations of the operating parameters of the device;

- setting the first threshold level in dependence of the moment of inertia or given mass moving mechanism with load can significantly improve the efficiency limitations of the operating parameters of devices with variable moment of inertia or with variable mass. In particular, jib cranes moment of inertia to a large extent depends on the magnitude of the departure and weight of lifted load. Therefore, the time it stops the two which is non-permanent and accurate accounting of this time greatly increases the efficiency limitations of the device settings. For example, time stop turntable of the crane allows to significantly increase the efficiency of the coordinate protection of the crane;

- implementation of automatic detection increment controlled parameter after stopping the device and its subsequent storage, including a function of the rate of change of the controlled parameter and (or) the moment of inertia and the present mass of the moving mechanism of the device with the load, eliminates the error set threshold levels and, ultimately, to implement effective adaptive system restriction device settings;

briefly turn on the device in the opposite direction during a given time interval, including taking into account the variable inertia device, allows to realize how quickly stops the device and reduce the variation of the device at the bus stop (with a short inclusion antiphase existing fluctuations);

in the case when the value of the controlled parameter is close to the maximum permissible value, the prohibition control other mechanisms that can lead to an increase in this parameter, also significantly increases the efficiency limitations of the device settings. For example, if the boom crane omitted by the arrows I reached close to the maximum possible load on freight moment the ban lifting hoist in conditions where lowering the boom is not over, lead, obviously, to significantly improve the efficiency of cargo restrictions' moment device (crane);

- define the time stop device, the disconnect device within the specified time and the subsequent resolution of his work with simultaneous evaluation of the increment of the controlled parameter allows you to bring the device out of the danger zone without the use of additional external signals, which also increases the efficiency limitations of the device settings.

Considering the above mentioned distinguishing features of the claimed technical solution is not known from the prior art, give it new properties, ensuring the achievement of this goal.

Consider the essence of the proposed method limitations of the device parameters of the example system security load-lifting crane.

Figure 1 shows a functional diagram of the system security load-lifting crane, figure 2 - timing diagram of its operation.

Security system crane contains the electronic unit 1, the actuating unit 2 and the sensor operating parameters 3 crane. The electronic unit 1 is made in the form of a digital computer 4 and is connected to it management bodies 5, the Indus is kotorov 6, the memory unit 7 and the input / output data 8 that is connected to the inputs of the control unit 2 and the sensor operating parameters 3.

Sensors operating parameters 3 include sensor boom angle 9, the sensor length of the boom 10, the sensor weight (force sensor or a pressure sensor) 11, the angle sensor platform crane (sensor azimuth) 12 and other sensors, the installation of which is defined by the design, the specific crane.

Digital computing machine 4 can be executed on the microcontroller, controls 5 - in the form of a set of buttons-keys, indicators 6 in the form of LEDs, LCD indicators and audible warning device, and the memory unit 7 in the form of chips.

The device I / o 8 provides the coordination logic level input and output signals of a digital computer with 4 sensors 3 and the actuating unit 2.

The sensor boom angle 9 can be made on the basis of accelerometer sensors the length of the boom 10 and azimuth 11 - on the basis of the potentiometers.

Sensor weight 12 may be made in the form of strain gauge force sensor or strain gauge pressure sensors.

Communication device I / o with 8 sensors operating parameters 3 and with the Executive unit 2 can be performed using a separate Provo is s or in the form of a multiplex communication line (in this case, all connected devices 2, 3 and the block I / o information 8 are front-end controllers, such as type MSR).

When operating crane sensors operating parameters 3 provide measurements of the boot parameters of the crane and position it lifting (boom system). These parameters, or the calculated digital computing machine 4 on the basis of the complex parameters of the crane (for example, the degree of loading cargo moment, lifting height of main boom tip and so on)are controlled by the operating parameters of the device (crane), describing his load, geometry or operation.

For these controlled parameters in accordance with the proposed method the constraints are first and second threshold levels.

The second (higher) threshold level is set generally equal to the maximum permissible value of the corresponding parameter, or at some reduced level (with higher security requirements, as determined by operating conditions).

In particular, the magnitude of the second threshold level, determining a zone of valid location values lifting (boom) equipment of the crane, are entered by the operator when setting the coordinate security controls 5 located on the electronic unit 1 and sohranjajutsja the microprocessor memory of a digital computer 4 or the memory unit 7. And the magnitude of the second threshold level, determining the load on the crane truck moment determined a priori based on cargo characteristics of the crane and also stored in the microprocessor memory of a digital computer 4 or the memory unit 7 in the form of specific values or functions (for example, in the form of the dependence of the critical mass of lifted cargo from the flight and the length of the boom).

The magnitude of the first threshold level for monitored parameters are set below the value of the second threshold values, depending on the rate of change of the corresponding parameter from equivalent moment of inertia and the present mass of the moving device or its component parts, such as a boom crane with the load.

Digital computing machine 4, working on the program, via the device I / o 8 in turn makes a request to receive information from sensors 9-12. After receiving this information, the digital computing machine 4 according to the program contained in the microprocessor memory or in the memory unit 7, a known functional dependency determines the current load of the crane and lifting his position (boom) equipment. Allowable load and allowable position of the working equipment of the crane is stored as the first threshold level is in the microprocessor memory or in the memory unit 7. There, in the form of a second threshold levels are stored maximum allowable values of these parameters.

Digital computing machine 4 compares the actual loading of the crane and the actual position of lifting equipment with first and second threshold levels and, depending on the results of these comparisons, through the device I / o 8 passes on the Executive unit 2 control signals for the actuators of the faucet, enabling automatic restriction of its parameters (overload protection on freight moment and crash protection boom system with different obstacles). At the same time on the LEDs 6 are transmitted to the signal light and sound alarm about the modes and parameters of the crane.

During system operation, digital computing machine 4, producing the differentiation of the output signals of the sensors 3 (9-12) and, if necessary, additional calculations, determines the rate of change of the controlled parameters.

Algorithms for computing a digital computing machine 4 as the current values of the parameters, subject to the subsequent comparison with the threshold levels and the values of these threshold levels, take into account static and dynamic characteristics of the device (crane), including cargo description KRA is a, and known a priori or determined during operation of the crane shown moments of inertia or given mass of moving parts of the lifting crane. The desired values of the controlled parameters Y or threshold levels of U are represented, respectively, as functions F and ψ:

where X₁X₂... X_N- the initial values of the output signals of the sensors 9-12 and / or their differentiated value (rate of change).

Due to the limited capabilities of digital computers 4, located on the crane (or other device), based (1) are pre-defined when designing devices (security hoisting crane) and stored in the memory of a digital computer 4 or the memory unit 7.

Methods for the determination of dependency (1) well-known (see, for example, Y.A. Bychkov, Shcherbakov SV Analytical-numerical method of calculation of dynamic systems. - M.: Energoatomizdat, 2002, 368 C.) and can be implemented using the popular software system MathCad 2001 known company MathSoft.

To determine these dependencies (1) in General used:

- mathematical model of the crane, depending on its design and presented in the form of systems of differential equations of his movements;

with the system constraints, i.e. the limiting values of operating parameters of the crane, which is always known a priori;

the target function is a mathematical expression of the performance of the device.

In the proposed technical solution, the device performance (system safety valve) is determined by:

- reduction of dynamic loads on the crane and lift the goods;

- reduce overshoot (minimization of exceeding the second threshold level);

- reduce swinging of the cargo after the installation of the crane.

Thus, according to (1) define these methods and establish the procedure for determining a digital computing machine 4 first threshold level from the condition of best value one of the quality indicators.

While the embodiments of the device described in different claims, different views of the established quality criteria and the characteristics of the signal control valve (discrete control signals or analog).

According to (1) can be stored in a memory of a digital computer 4 or the memory unit 7 in the form of formulas and tables approximation (e.g., linear) intermediate values if necessary. Further, these formulas or tables directly using digital computing machine is Noah 4 to determine the current values of monitored parameters Y and next, values of the first threshold level U.

Explain in particular examples, the order of installation of the first threshold level.

Suppose that some of the controlled variable Y, for example, the load on the lifting body of the crane increases to a certain speed (figure 2). At time t₁this parameter reaches a first threshold level U₁that disables the output signal Z of the device I / o information 8, i.e. disable device (e.g., cargo winch, carrying out lifting). Further, the device continues to move due to its inertia and the moment of time t₂reaches the second threshold level U₁corresponding to the maximum permissible value of the parameter Y. the correct selected value of the first threshold U₁that is timely stop device without reloading (without exceeding the second threshold level U₂and without the under-utilization of the capabilities of the device (without loss of capacity of the crane).

If a parameter change Y occurs at a higher speed, while maintaining the same value of the first threshold U₁disconnect the device occurs at time U. Accordingly, the stop device occurs too late in the forbidden zone, i.e observed overload device (see figure 2, graph Y¹). To prevent this, in the proposed method parameter limitations of digital computing machine 4, measures the rate of change of the parameter Y, for example, by differentiating the output signal of the force sensor. 11. Next, using the obtained velocity values, for example, X₁according to the formula (1) defines the new value of the first threshold level (see figure 2, U₁ ¹). Thank you to the new, lower value of the first threshold level, occurs earlier turned off (at time t₃) and the controlled variable after stopping device remains on the border of the forbidden zone (see figure 2, graph Y²).

If not allowed, even short-term presence of the controlled parameter in the forbidden zone, caused for example by vibrations controlled parameter when you stop the device, then you can decrease the second threshold level U₂. The magnitude of this reduction may depend on the rate of change of the parameter Y in the operation of the device if, for example, the speed depends on the amplitude of this parameter when you stop the device.

In the interval between the first and second threshold levels may not discrete off and gradual decline of the speed of the mechanism of the device is, which leads to a change in this controlled setting. In this case, the Executive unit 2 forms are not discrete and proportional (smooth) signal disable device, changing, for example, is linear and proportional reduction of the parameter Y from the values existing at the time of its reaching the first threshold value, to zero, when the increase of the monitored parameter to a value equal to the second threshold level. In this case, is implemented, in particular, control system with feedback and reduced dynamic loads when you stop the device.

It's possible that after you disconnect the device automatically occurs a decrease in the value of the controlled parameter. In this case, to avoid re-enable the device and then its cyclic on/off, the control characteristic is introduced hysteresis. This is achieved by re-enabling the device carries out only after lowering the monitored parameter to a value equal to the first threshold level.

Obviously, the stop time of any mechanism, in addition to the speed, impact given the moment of inertia or the reduced mass moving mechanism with the load. From the point of implementation of the proposal the military way of limiting parameters, the view of the moment of inertia or mass has no fundamental differences from the accounting rate of change of the parameters and by typing in these moments of inertia, or mass as the parameter X in the formula (1).

Digital computing machine 4, by controlling the change of the signals of the sensors 9-12, determines the magnitude of the increments of all monitored parameters after you disconnect the device and then using the obtained data, sets the first threshold is less than the second threshold levels on the values of the increments, stores the received value of the first threshold level and uses them in the further control device. Moreover, these values can be remembered as a function of the rate of change of the controlled parameters and the following moments of inertia and reduced masses of the moving mechanisms of the device with the load. The result is an adaptive system limitations, device settings, automatically corrects inaccuracies setting the threshold levels during operation of the device.

In unexpected emergency cases, when digital computing machine 4 reveals the inevitability of getting controlled parameters in a prohibited area, and getting into a prohibited area is less desirable than dynamic overload device (Protodyakonov the crane), digital computing machine 4 automatically or by operator command, specified using controls 5, performs the inclusion of a specific mechanism in the opposite direction during a given time interval, and the value of this time is chosen proportional to the rate of change of the controlled parameter and (or) the moment of inertia and the present mass of the moving mechanism of the device with the load.

If there are significant fluctuations in the controlled parameter when the device is turned off, the detected digital computing machine according to the change of sign of the rate of change of this parameter, can be implemented in a forced calm of this parameter. For this purpose, the device can forcibly be turned in the opposite direction in time proportional part of the period (for example, a quarter or half of the oscillation period) (see figure 2, the time interval t₆-t₇). The required activation time is determined experimentally or by calculation on the basis of the fast damping of the controlled parameter.

Quite often overload on any monitored parameter occurs due to the inclusion of additional mechanisms. For example, if there was an increase in load is Rotodyne crane truck torque by lowering the boom and this controlled setting (load moment) was close to the maximum permissible value, that was in the interval between the first and second threshold values, the additional inclusion in this moment, for example, the mechanism for lifting winch is dangerous because it leads to rapid exit load moment in the forbidden zone. In the proposed method the limitations of such an emergency are excluded due to the fact that digital computing machine 4 after exceeding the controlled parameter threshold levels additionally prohibits the management of other mechanisms of the device, which can lead to an increase in the selected controlled parameter.

Digital computing machine 4 using its internal timer and controlling changes of the signals of the sensors 9-12, has the ability to determine the stop time of each mechanism of the device in different operating modes. This gives the ability to disable the device during a specified period of time while achieving controlled by setting the first threshold level, providing a guaranteed, non-exceeding of the second threshold level. After which the device may be allowed with simultaneous control of changing this controlled parameter. If this value decreases, digital computing machine 4 enables the device, or completely prevents, if the value of the monitored item the parameter increases. This ensures that the output from the danger zone without the use of additional hardware.

In any variant of the algorithm of the control unit of the digital computer 4 generates the control signals indicators 6, providing audible and visual indication of operating modes of the device. This allows manual control of the device using the controls 5.

Thus, the proposed method improves the efficiency limitations of the selected device parameters in dynamic modes, while improving the operating characteristics of this device.

Sources of information

1. As the USSR № 1197983 A, M. CL. 4 In 66 13/20, 15.12.1985.

2. As the USSR № 1597339 A1, M CL. 5 In 66 15/00, 17.10.1990.

3. Patent Of Russia № 2129727 C1, M CL. 6 G 05 B 13/02, G 06 F 17/00, 27.04.1999.

4. Patent Of Russia № 2116240 C1, M CL. 6 In 66 23/90, 27.07.1998.

5. Patent Of Russia № 2011632 C1, M CL. 5 In 66 23/90, 30.04.1994.

6. Patent USSR No. 952098, M. CL. 3 In 66 15/00, 15.08.1992.

1. A method of restricting the operating parameters of the device by setting the first and second threshold levels for each of at least one parameter characterizing the load, geometry or mode of the device, control the operation of the device the value of this parameter, comparing this value with the first on ohavim level and signal control device when the parameter over a first threshold level, comparing the parameter value with the second threshold level and the prohibition of the operation of the device or portion thereof in excess of the setting of the second threshold level, identifying the rate of change of this parameter, characterized in that at least one of the specified first threshold level is set depending on the rate of change of this parameter, or from the equivalent moment of inertia, or from the mass of the moving device or its component parts.

2. The method according to claim 1, characterized in that the control signal is generated when the parameter over the first threshold is used to reduce the velocity of the device or the portion thereof, which leads to changes in this parameter.

3. The method according to p. 2, wherein the specified speed reduction carried out linearly from the value existing at the time the parameter reaches a first threshold value to zero when the parameter is increased to a value equal to the second threshold level.

4. The method according to claim 1, characterized in that the first threshold level is set less than the second threshold level by an amount equal to the possible increase of the parameter after the complete prohibition of the operation of the device or its component parts, with the eat this value is determined based on the speed of the parameter change and stop time of the device or its component parts.

5. The method according to claim 1, wherein re-enabling the device or its components are carried out only after reduction of the parameter to a value equal to the first threshold level.

6. The method according to claim 1, characterized in that when the parameter over the first or second threshold level, the signal generation control or prohibition of the operation of the device is carried out in manual mode, which after exceeding the specified advanced form of light or sound information warning signal.

7. The method according to claim 1, characterized in that after disabling the operation and stop of the device or its components identify the increment parameter and set the first threshold level is less than the second threshold level by the amount specified increment remember the obtained value of the first threshold level and use it for further operation.

8. The method according to claim 7, characterized in that the detected value increment remember as a function of the rate of change of the parameter, and/or equivalent moment of inertia, or given the device's weight, or its component parts and then used when setting the first threshold level.

9. The method according to claim 1, characterized in that it further identify the direction of change of the parameter, specify the time interval specified by the CSO mapping parameter value with the first or second threshold level reveal their match then during a given time interval form the control signal, which is used to enable movement of the device or its component parts in the opposite direction.

10. The method according to claim 9, characterized in that the value of the specified time interval set proportional to the rate of change of the parameter, and/or equivalent moment of inertia, or given mass of the moving device, or its component parts.

11. The method according to p. 9, characterized in that the value of the specified time interval set proportional part of the period, such as half of the oscillation period of the option, when you stop the device or its components.

12. The method according to claim 1, characterized in that after exceeding a parameter of the first or second threshold level additionally prohibit running another part of the device, affecting the value of this parameter.

13. The method according to claim 1, characterized in that it further determine the time full stop device, when the setting of the first threshold switch off the device or its part within a specified time, after which permit operation of the device or its component parts, control the increment value and permit operation of the device or its component parts, if this value is reduced, which does not allow the work if the parameter value increases.