DD276080A1 - METHOD FOR MOBILIZED CRANE CONTROL - Google Patents

Abstract

The method is used to implement an overall control concept with the components load moment limitation and partial automation and is intended for use in railway cranes, car turning cranes and crawler cranes. The inventive method works with a number of modules that are connected to sensors, the crane control devices and each other. The sensors detect as essential input variables the radius, the inclination of the machine according to the amount and direction, the position of the superstructure relative to the undercarriage, the suspension mode of the crane and the current state of the engine. The sensor signals are linked in the processing unit, which is preferably a microcomputer, and processed in the modules load moment limitation and partial automatic. In the method according to the invention, only the load curves are calculated, which are decisive for the current release variant or operating mode and the corresponding one.

Description

For this 1 page drawing

Field of application of the invention

The invention relates to a method for Mobilkrensteuerung to implement an overall control concept with the subcomponents load torque limitation and partial automation for use in railway cranes, car turning cranes and crawler cranes.

Cf.vrakterlt'.ik the confessed prior art A Gej smt control concept for mobile cranes is not known. Previous published works refer to

In the first place, on the overload protection. It is basically differentiated in Hubinstbegrenzer and Lastmomentbegrenzer.

A closer consideration should be the overcharging systems, which are designed as load moment limiters (LMB). In addition to the current lifting load, LMBs also process the outreach or the outreach proportional AuelegeranstellwinSel as actual words. Dss triggering the overload protection is again by an actual setpoint Vergich,

wherein the setpoints are available in the form of setpoint curves that represent the load curves. The

The type of presentation of the setpoint curves is closely related to the effect catfish of the LMB. For mechanical in OD 149792 and IM, for hydraulic-mechanical in DD 145393 and 121, for electromechanical in / 3 / and

for hydraulic LMB described in DE 3119836 and DE 3433104, the setpoint curves are usually designed as cams. For electrical LMBs, the load-bearing curve can be modeled as a polygon-like setpoint curve in a function potentiometer as described in / 4 / by impressing different reference voltages. After 151 , the load torque is limited by excitation control of an induction clutch.

Electronic LMB are described as embodiments without microcomputers in DE 2355523, DE 3420696, Ιβ /, ΠI and with microcomputers in DE 3019385, DE 3341287, DE 2640891, IBI, ISI, / 10 /, / 11 /, / 12 / described in the literature. When using micro-machines for load torque limiting, the known solutions shown have a number of Nachtellon, which ultimately reflected in the fact that by missing evaluation of the respective Kranbetriebszuptendo does not achieve optimal utilization of crane construction. This is how it usually gets

- Oborwagendrehwlnkel (position of the jib to the various tilting edges, the skrubon different maximum crane loads)

- Overall inclination according to amount and direction

- wind forces

- Vortragungsvorgrößerung under load

- Convenience of the Gosamtkonsiruktion

- dynamo Krfifto

not ausrokhond considered.

-2- 275 080

Solutions presented with dft * do not take into account such important problems as

• Possibility of easy adaptation by the crane operator for all types of crane installation, thereby greatly relieving the crane driver by minimizing the need for adjustment

• obviousness of the set setup variant,

• permanent indication of permissible load capacity, crane load and lift,

• display possibility of existing load capacity and reach,

• easy integration of the safety system into filtered crane types, which includes the ability to correct the load-bearing capacity curves due to lower permissible component stresses,

• storage and possibly display of the actually rusted state,

• High acceptance and low redundancy of the Bedlan elements and the display unit from the perspective of the crane driver. In addition, in the case of overload usually all drives, except for lowering, switched off, so that the only lastmomentverringernde measure lowering the load remains.

The main tenure of the hitherto known and disclosed in the literature embodiments of electronic LMB consists primarily in two basic aspects. On the one hand, there is an urgent requirement for large Mur read-only memories (ROM), which can store several load curves, the number of which - in particular for crane types with a large number of possible setup variants - can amount to a multiple of one hundred. On the other hand, these memory units must be reprogrammed in any changes to the crane design after previous redetermination on a temporary host computer outside the computer, which requires skilled professionals. Accordingly, the spoof-intensive electronic LMBs are to be described as extraordinarily variable in terms of the basic software to which the memory data (load curves, cut-off values, etc.) are to be calculated.

Another serious disadvantage of the solutions mentioned is the lack of a total control concept, in which control components for partial automation are integrated.

Object of the invention

The aim of the invention is to provide an overall control for allo permissive mobile cranes whose scope extends to the solutions presented by integrating the semi-automatic and by solving the problems criticized in the prior art to questions Her Lustmomentbegrenzung.

Explanation of the essence of the invention

The invention has for its object to develop an overall control of all freely mobile cranes, with the criticized in the art and open questions are answered and at the same time a solution for partial automation of working movements is created. Furthermore, technical-economic aspects such as increase of performance and utility value, improvement of operating convenience and mass-to-line ratio, increase of operational safety and degree of automation as well as device monitoring are realized. According to the invention the object is achieved in that substantially a number of modules with the sensors, the crane control devices and are interconnected.

The sensors detect as essential input variables the projection, the inclination of the device according to amount and direction, the position of the superstructure to the undercarriage, the set-up variant, the operating mode corresponding to the current operating mode and the current engine states. The sensor signals are linked in the processing unit, which is preferably a microcomputer, and processed in the modules load torque limitation and partial automatic. Within the load moment limitation, it is not necessary in the method according to the invention to have to make available simultaneously all setpoint curves of the load for all setup variables. In the ancestor according to the invention, the load curves are calculated. These are decisive for the current set-up variant - or operating mode. By taking into account the superstructure turning angle (position of the superstructure relative to the undercarriage and, consequently, the position of the boom to the tilting edge) and the Gesamtgerfitgeigung by amount and direction of a nearly optimal utilization of crane construction is achieved. This and the inclusion of Windkräfton, the load increase under load, the compliance of the overall design and the dynamic forces increases the reliability significantly. Through the sensible combination of the sensor values, the current engine conditions and the implemented principles of compute-intensive and thus memory minimum load torque limitation, a targeted shutdown of individual drives is made, which ultimately leads to a reduction of Havertiegefahr and thus also to increase the reliability and ease of use. Under targeted shutdown of individual drives is to be understood that only the drives are switched off and locked, which would increase the further Betieiben the. This is done both for danger situations which arise due to various forms of overloading (impermissible increase in the overturning moment beyond the limit value of the stability or exceeding the permissible values for the component strength) as well as as a result of impermissible overall spatial inclination.

All drives whose operation would result in a reduction of the danger situation are recognized and approved by an internal logic.

Notwithstanding this, the working efficiency and the operational safety considerably increases, since the crane user is transferred to the Lago to master the dangerous situations without any problems and without prior release of the load. The complex of semi-automatic systems integrated into the overall control concept comprises the automation of simple crane-level control of the implementation of the control and control procedures for the realization of horizontal gripper closing curves according to DD 252178 and DD 263990 and the selective spillage of work spaces. In order to achieve a high degree of flexibility, the simplest principles of a learning control system are implemented.

The limits of Kxanbewe young at the partial automatic and the blocking of Arbeits'i are specified by the crane operator

and from the processing unit Oberwacht. If the limit value and the actual value match, the processing unit accesses the crane control system and selectively switches off drives.

In addition to the above-mentioned modules, the described in the overall electronic control concept for mobile cranes

This is vortei'lhafterweise hierarchically structured and contains a whole set of other interfaces for any and easily incorporated more modules.

At the same time, the modular structure ensures that the subcomponents of the controller are separately operational and of each other

work independently.

Ausführungsbelsplel The invention will be explained in more detail using an exemplary embodiment. Fig. 1: Block diagram of the mobile crane control

The crane parameters lifting height 1, hook load 2, superstructure turning angle (position of the superstructure relative to the undercarriage) 3, boom angle 4, inclination of the machine (according to amount and direction) 5, setup variant (boom length, rope shearing, possibly special equipment) detected corresponding sensor and fed as electrical signals to the module crane parameters 7 and cached here.

In accordance with the determined setup variant, the load torque limiter module 8 calculates a field of load curves with the device inclination and the superstructure angle as parameters, using crane-specific fixed values that relate to the set-up variant. At the same time, the operating mode corresponding to the current set-up variant and operating mode is determined internally without the intervention of the crane user and the load-bearing curves are also calculated. The value field is stored in the module Load torque limiter 8.

With these waiting the Lastmomentbegrenzermodul 8 works in a conventional manner with comparison of actual and maximum value is determined. Is the maximum value of the load, which according to the Geräteeiguno, the Oberwagendrehwinkels and the projection (determined from boom length and Auslegeranstellwinkel) reaches the maximum value of the load and / or a limit of the overall spatial tilt, da3 Lastmomentbegrenzermodul 8 ensures a differentiated influence on the drive system of the crane , About the drive controller 11, which switches the drives 13 according to the signals from the manual control 12, only the drives are blocked, which are responsible for exceeding the maximum value, or would lead to a further increase in the actual value. This requires the detection of the current states of the engines. This information is provided by the drive controller 11 and transmitted to the Lastmomentbegrenzermodul 8.

The input unit 10 allows the input of limits for the working movements of the crane in the workspace. The monitoring au ', compliance with the specified limits is realized by the module partial automatic 9, which operates in parallel to Lastmomentber.renzermodul 8. If a limit coordinate of the predetermined working space is reached, the module 9 switches off the eritsprechenden drive via the drive control 11, The position of the crane in the working space takes the Teilautomatikr lodul 9 while the module crane parameters 7. Thus, a blockage of parts of the working space is possible. Also übenlie input unit 10 can enter automatic movements with their start and end coordinates. Their execution is organized by the partial automatic module 9, which controls the drives 13 via the drive control 11 active. After completion of the automatic movements of the regime is handed back to hand control 12. The modular structure of the overall control concept enables the integration of additional modules, such as the realization of 3-point closing curves and stock picking control. All modules are separately operational and can work independently of each other

 In all operations, the load torque limiter module 8 always maintains priority.

Claims (1)

Invention claim: Method for a mobile crane control, characterized in that the input variables converted by the sensors into electrical signals are lifting height (1), hook load (2), superstructure rotation angle (3), boom angle of attack (4), device inclination (5) and set-up variant (6) in a crane parameter module (7) are stored and processed, - at the start of work, from set-up variant (6) and specific fixed values in accordance with the set-up variant, a field of load-bearing curves with the device inclination and the superstructure turning angle is calculated and stored as parameters in a load torque limiter module (8), the maximum value of the load is determined from the field of load curves in accordance with the inclination of the machine, the superstructure angle of rotation and the radius of the load moment limiter module (8) and compared with the actual value of the actual load, - If the maximum value is exceeded, the Lastmomentbegrenzermodul (8) by means of the drive control (11), the drives (13), which have led to exceeding the maximum value, or leading to a further increase in the actual value, are stopped, the current engine states the Lastmomentbegrenzermodul (8) are transmitted from the drive control (11), - By the input unit (10) limits for the working movements of the crane in the working space are specified, for monitoring the module part automatic (9) is responsible, which shuts off the corresponding drive when reaching a limit coordinate on the drive control (11), the position of the Cranes in the working space is taken from the module crane parameters (7), - The input unit (10) allows the input of automatic motion sequences with the start and end coordinates, the execution of which module Teilautomatik (9) takes over the Ie drive control (11) the drives (13) actively controls and in all Arbeltsabläufen the primate on · S from the Lastmomentbegrenzermodul (8) given control signals.