DE19612423A1 - Redundant control and safety system for crane - Google Patents

Redundant control and safety system for crane

Info

Publication number
DE19612423A1
DE19612423A1 DE1996112423 DE19612423A DE19612423A1 DE 19612423 A1 DE19612423 A1 DE 19612423A1 DE 1996112423 DE1996112423 DE 1996112423 DE 19612423 A DE19612423 A DE 19612423A DE 19612423 A1 DE19612423 A1 DE 19612423A1
Authority
DE
Germany
Prior art keywords
control
plc
security
safety
safety circuits
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
DE1996112423
Other languages
German (de)
Inventor
Siegfried Dipl Ing Rudnik
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Priority to DE1996112423 priority Critical patent/DE19612423A1/en
Publication of DE19612423A1 publication Critical patent/DE19612423A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B9/00Safety arrangements
    • G05B9/02Safety arrangements electric
    • G05B9/03Safety arrangements electric with multiple-channel loop, i.e. redundant control systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • B66C13/18Control systems or devices
    • B66C13/22Control systems or devices for electric drives
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00Safety gear
    • B66C15/06Arrangements or use of warning devices
    • B66C15/065Arrangements or use of warning devices electrical
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/04Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/05Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
    • G05B19/058Safety, monitoring
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/10Plc systems
    • G05B2219/14Plc safety
    • G05B2219/14033Dual plc, dual I-O bus, dual I-O amplifier
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/10Plc systems
    • G05B2219/14Plc safety
    • G05B2219/14132Dual plc, each monitors other

Abstract

The control and safety system has safety current circuit with a pair of programmed controllers (1,2) in addition to the crane control and a redundant bus system (20).One of the programmed controllers (1) is used for both the crane control and the safety current circuit, the other used solely for the safety current circuit. The redundant bus system has a pair of individual parallel bus lines (21,22), with a single-channel or redundant sensor system coupled to a bus interface. The outputs of both programmed controllers are pref. compared for automatic cut-out when they do not agree.

Description

The invention relates to a control and security system stem for crane systems, with at least one control and associated safety circuits.

Crane systems fall under the general category of lifting witness. European standards apply in particular to hoists IEC 204-32. According to these standards, there is a difference between hoists Control on the one hand and safety circuits on the other distinguished. Interlocks in particular are used as the control defined that serve comfort and, if necessary, safe support circuits. Be as safety circuits one draws such interlocks that the stand safety of a crane and the protection of people.

It follows from the latter that the safety circuits are forced frequently a cut-off of the energy supply to the concerned effective drive for the crane system. An Si Safety circuit is considered an inevitable shutdown if the limit switch an inevitable separation when actuated of the control voltage and the downstream Lei switching device according to the closed-circuit principle.

Is the inevitable signal of the limit switch in an elec tronic control processed or edited, so must Errors in this electronic control are recognized. Of the Errors must either be reported or the drive must be reported directly switch off. The control for the drives may be the Si Do not render safety circuits ineffective. this means specifically, that the control in particular is not safe bridging circuits for operation, as with for example with a start-up aid from a security bar vanten shutdown. To this end, the state of the art already Known solutions to problems, especially in the publication  chung S. Rudnik "Automation of Container Cranes with Standard Systems "(special print on Siemens Engineering & Automation).

Based on the latter, it is the responsibility of the inventor well-known control and safety systems for crane systems controls and safety circuits, continue to improve.

The object is achieved in that in addition to actual control for the safety circuits two programmable logic controllers (PLCs) with one redun danten bus system are available. Preferably one is PLC both for control and partly for safety circuits are provided while the other PLC is off finally used for the safety circuits. The redundant bus system is advantageously implemented by two parallel single buses formed. It is preferred a single-channel or redundant sensor system with bus connection available.

With the invention, a redundant bus system is safe circuits and optional sensors with bus connection created especially for crane systems. Through the redundant electronic acquisition and the redundant electronic off In particular, the inter national standards.

Further details and advantages of the invention emerge from the following description of figures of exemplary embodiments len based on the drawing. Show it

Fig. 1 shows the layout of the redundant control and

Fig. 2 shows the completion of Fig. 1 with an associated Sen sorik.

As a rule, certain measurements can only be carried out on cranes be recorded electronically. This applies, for example  for loads, distances and / or speeds, which is why Safe circuits with signals that are not necessarily detected being constructed. In particular, are safety circuits according to the state of the art in certain areas only makeshift safety-related, e.g. B. by so-called Life zero monitoring.

Referring to FIG. 1, a control is present, by a ste he PLC 1 (Programmable Logic Controller) is realized, wherein a part of the PLC 1 for the safety circuits applies ver. As redundancy and for mutual monitoring of the failure, a second PLC 2 is set up, which only contains locks from safety circuits, for which a controllable switch 3 is indicated.

For both PLC systems 1 and 2 for corresponding drive units, which are designated in FIG. 1 with A and B, own independent electronic terminal strips 4 and 5 or 7 and 8 are installed, via which brakes 6 and 9 are activated, for example will. The electronic terminal strips 4 , 5 and 7 , 8 , as well as their respective PLC, are connected to two independent individual buses 21 and 22 of a common bus system 20 .

The signals of the safety circuits are connected to the inputs of the first PLC 1 as well as to the inputs of the second PLC 2 according to the closed-circuit principle. The locking result, for example the release of one of the brakes 6 or 9 , is carried by the first PLC 1 via the second PLC 2 to the contactor of the respective brake. The first PLC 1 transmits the locking result to the second PLC 2 . The second PLC 2 checks the result of the first PLC 1 with its own result. If they do not match, the central crane switch 3 is switched off.

Likewise, the second PLC 2 can transmit the locking result to the first PLC 1 . The first PLC 1 checks the result of the second PLC 2 with its own result. If there is a mismatch, the central crane switch is also switched off.

The exchange of results between the first PLC 1 and the second PLC 2 or vice versa can take place via a direct binary signal exchange and for example via a data connection 10 . Differences or deviations between the two PLCs 1 and 2 lead to a shutdown of the relevant power units. In contrast, information is exchanged centrally.

Based on Fig. 1 is the part of the redundant detection of inevitable signals in the two independent PLC systems 1 and 2 with mutual control and independent shutdown of the crane illustrated switch in case of failure of the controllers. In addition, in Fig. 2, the detection of the We ge, speeds and loads are supplemented electronically with redundant systems, so that Fig. 1 is optionally completed.

In FIG. 2, the connection takes place from the individual sensors 11 and 12, 13 and 14, 15 and 16, 17 and 18 in a corresponding manner. For example, 11 and 12 mean redundant sensors with signal processing for paths, 13 and 14 corresponding sensors for load, 15 and 16 corresponding sensors for the speeds of the drives and 17 and 18 corresponding setpoint settings of the speeds.

In the manner shown with reference to FIG. 2, the limit values can be formed independently in the two PLCs 1 and 2 and integrated in their respective functions. Since these locks can be successfully combined with other interlocks for other drives in the PLC, the conditions of the IEC standards are met. In particular, it is realized that safety circuits contain limitations of paths, speeds, loads and a combination of these values.

Claims (8)

1. Control and safety system for crane systems, with little least one controller and associated Sicherheitsstromkrei sen, characterized in that in addition to the actual control for the safety circuits two programmable logic controllers (PLCs 1 , 2 ) with a redundant bus system ( 20 ) available are.
2. Control and security system according to claim 1, characterized in that the one PLC ( 1 ) is provided both for control and also partially for the safety circuits ( 5 ), while the other PLC ( 2 ) is used exclusively for the safety circuits .
3. Control and security system according to claim 1, characterized in that the redundant te bus system ( 20 ) is formed by two parallel individual buses ( 21 , 22 ).
4. Control and security system according to claim 1, characterized in that a single channel or redundant sensor system ( 11 to 18 ) with bus connection is available.
5. Control and security system according to one of the preceding claims, characterized in that the signals of the safety circuits are connected both to the inputs of the first PLC ( 1 ) and to the inputs of the second PLC ( 2 ).
6. Control and security system according to claim 5, there characterized in that the contacts in the safety circuits according to the quiescent current principle and the contacts for the control according to the open-circuit principle are executed.  
7. Control and security system according to claim 1, characterized in that the two PLCs ( 1 , 2 ) are coupled to each other for the exchange of results and / or information exchange.
8. Control and security system according to claim 7, there characterized by that deviations in the results of the two PLCs to a shutdown al power parts.
DE1996112423 1996-03-28 1996-03-28 Redundant control and safety system for crane Withdrawn DE19612423A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE1996112423 DE19612423A1 (en) 1996-03-28 1996-03-28 Redundant control and safety system for crane

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE1996112423 DE19612423A1 (en) 1996-03-28 1996-03-28 Redundant control and safety system for crane

Publications (1)

Publication Number Publication Date
DE19612423A1 true DE19612423A1 (en) 1997-10-02

Family

ID=7789778

Family Applications (1)

Application Number Title Priority Date Filing Date
DE1996112423 Withdrawn DE19612423A1 (en) 1996-03-28 1996-03-28 Redundant control and safety system for crane

Country Status (1)

Country Link
DE (1) DE19612423A1 (en)

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000079353A1 (en) * 1999-06-22 2000-12-28 Pilz Gmbh & Co. Control system for controlling security-critical processes
DE10119621A1 (en) * 2001-04-21 2002-10-24 Daimler Chrysler Ag Data bus system for occupant protection system sensors has at least two data bus lines with mutually redundant sensors in different lines, sensors in different lines in different positions
EP1298503A1 (en) * 2001-09-28 2003-04-02 Claus Haag Joystick control
DE10233873A1 (en) * 2002-07-25 2004-02-19 Siemens Ag Crane system, especially container crane, has second controller for monitoring first controller, making own control intervention if safety-relevant control intervention by first controller inadequate
WO2004016542A1 (en) * 2002-07-25 2004-02-26 Siemens Aktiengesellschaft Crane system, in particular a container crane
WO2004029737A1 (en) * 2002-09-20 2004-04-08 Daimlerchrysler Ag Redundant control unit arrangement
WO2004077177A1 (en) 2003-02-28 2004-09-10 Gottwald Port Technology Gmbh Method and device for safely disconnecting electric drives
DE10309218A1 (en) * 2003-02-28 2004-09-16 Gottwald Port Technology Gmbh Electric drive safe disconnection method in which the drive position is monitored with sensors and the resultant signals compared in a redundant manner with predefined thresholds to switch off the drive if a limit is reached
DE10309219A1 (en) * 2003-02-28 2004-09-16 Gottwald Port Technology Gmbh Electric drive safe disconnection method in which the drive position is monitored with sensors and the resultant signals compared in a redundant manner with predefined thresholds to switch off the drive if a limit is reached
WO2005095256A1 (en) * 2004-03-17 2005-10-13 Putzmeister Aktiengesellschaft Mobile working device with supporting extension arms and method for erecting said device
US7206662B2 (en) 2002-07-25 2007-04-17 Siemens Aktiengesellschaft Crane installation, in particular container crane
EP1829812A2 (en) 2006-03-03 2007-09-05 Manitou Bf Control device, in particular for a handling machine
EP1930289A2 (en) * 2006-12-01 2008-06-11 Lockheed Martin Corporation Center of gravity sensing and adjusting load bar, program product, and related methods
DE19904892B4 (en) * 1999-02-06 2008-06-12 Wratil, Peter, Dr. Method for error suppression for input units in control devices
DE102007050708A1 (en) * 2007-10-22 2009-06-04 Phoenix Contact Gmbh & Co. Kg System for operating at least one non-safety-critical and at least one safety-critical process
DE10054745B4 (en) * 2000-05-17 2010-07-29 Continental Teves Ag & Co. Ohg Method for the safe transmission of sensor signals and apparatus for carrying out the method
KR101069611B1 (en) 2003-02-28 2011-10-07 고트발트 포트 테크놀로지 게엠베하 Method and device for safely disconnecting electric drives
US8505754B2 (en) * 2005-07-22 2013-08-13 Liebherr-Werk Ehingen Gmbh Crane, preferably crawler or truck crane
CN105523481A (en) * 2016-01-11 2016-04-27 辽宁国远电子有限公司 Built-in crane safety monitoring system
US10329731B2 (en) 2015-03-12 2019-06-25 Liebherr-Werk Nenzing Gmbh Method of operating a mobile work machine with a ground pressure limitation

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4108969A1 (en) * 1991-03-19 1992-09-24 Motion Systems Gmbh Computer-controlled hoisting system with at least two hoists

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4108969A1 (en) * 1991-03-19 1992-09-24 Motion Systems Gmbh Computer-controlled hoisting system with at least two hoists

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
Wratil, P.: Speicherprogrammierbare Steuerungen in der Automatisierungstechnik, Vogel Verlag Würzburg (1989), S. 239-243 *

Cited By (33)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19904892B4 (en) * 1999-02-06 2008-06-12 Wratil, Peter, Dr. Method for error suppression for input units in control devices
WO2000079353A1 (en) * 1999-06-22 2000-12-28 Pilz Gmbh & Co. Control system for controlling security-critical processes
US6532508B2 (en) 1999-06-22 2003-03-11 Pilz Gmbh & Co. Control system for controlling safety-critical processes
DE10054745B4 (en) * 2000-05-17 2010-07-29 Continental Teves Ag & Co. Ohg Method for the safe transmission of sensor signals and apparatus for carrying out the method
DE10119621A1 (en) * 2001-04-21 2002-10-24 Daimler Chrysler Ag Data bus system for occupant protection system sensors has at least two data bus lines with mutually redundant sensors in different lines, sensors in different lines in different positions
EP1298503A1 (en) * 2001-09-28 2003-04-02 Claus Haag Joystick control
WO2004016539A1 (en) * 2002-07-25 2004-02-26 Siemens Aktiengesellschaft Crane system, especially a container crane
WO2004016542A1 (en) * 2002-07-25 2004-02-26 Siemens Aktiengesellschaft Crane system, in particular a container crane
DE10233875B4 (en) * 2002-07-25 2008-08-14 Siemens Ag Crane system, in particular container crane
US7308337B2 (en) 2002-07-25 2007-12-11 Siemens Aktiengesellschaft Crane installation, in particular container crane
DE10233873A1 (en) * 2002-07-25 2004-02-19 Siemens Ag Crane system, especially container crane, has second controller for monitoring first controller, making own control intervention if safety-relevant control intervention by first controller inadequate
US7206662B2 (en) 2002-07-25 2007-04-17 Siemens Aktiengesellschaft Crane installation, in particular container crane
DE10233873B4 (en) * 2002-07-25 2006-05-24 Siemens Ag Control for a crane system, in particular a container crane
WO2004029737A1 (en) * 2002-09-20 2004-04-08 Daimlerchrysler Ag Redundant control unit arrangement
US7483778B2 (en) 2002-09-20 2009-01-27 Daimler Ag Redundant array of control devices
JP2006519149A (en) * 2003-02-28 2006-08-24 ゴットヴァルト ポート テクノロジー ゲーエムベーハーGottwald Port Technology Gmbh Method and apparatus for safely disconnecting an electric drive such as a frequency controlled three-phase crane motor
DE10309219A1 (en) * 2003-02-28 2004-09-16 Gottwald Port Technology Gmbh Electric drive safe disconnection method in which the drive position is monitored with sensors and the resultant signals compared in a redundant manner with predefined thresholds to switch off the drive if a limit is reached
DE10309218A1 (en) * 2003-02-28 2004-09-16 Gottwald Port Technology Gmbh Electric drive safe disconnection method in which the drive position is monitored with sensors and the resultant signals compared in a redundant manner with predefined thresholds to switch off the drive if a limit is reached
KR101069611B1 (en) 2003-02-28 2011-10-07 고트발트 포트 테크놀로지 게엠베하 Method and device for safely disconnecting electric drives
WO2004077177A1 (en) 2003-02-28 2004-09-10 Gottwald Port Technology Gmbh Method and device for safely disconnecting electric drives
US7515389B2 (en) 2003-02-28 2009-04-07 Gottwald Port Technology Gmbh Method and device for safely disconnecting electric drives
WO2005095256A1 (en) * 2004-03-17 2005-10-13 Putzmeister Aktiengesellschaft Mobile working device with supporting extension arms and method for erecting said device
US8505754B2 (en) * 2005-07-22 2013-08-13 Liebherr-Werk Ehingen Gmbh Crane, preferably crawler or truck crane
EP1829812A2 (en) 2006-03-03 2007-09-05 Manitou Bf Control device, in particular for a handling machine
EP1829812A3 (en) * 2006-03-03 2009-04-01 Manitou Bf Control device, in particular for a handling machine
FR2898120A1 (en) * 2006-03-03 2007-09-07 Manitou Bf Sa "control device, in particular for handling machine"
EP1930289A3 (en) * 2006-12-01 2013-07-10 Lockheed Martin Corporation Center of gravity sensing and adjusting load bar, program product, and related methods
EP1930289A2 (en) * 2006-12-01 2008-06-11 Lockheed Martin Corporation Center of gravity sensing and adjusting load bar, program product, and related methods
DE102007050708B4 (en) * 2007-10-22 2009-08-06 Phoenix Contact Gmbh & Co. Kg System for operating at least one non-safety-critical and at least one safety-critical process
DE102007050708A1 (en) * 2007-10-22 2009-06-04 Phoenix Contact Gmbh & Co. Kg System for operating at least one non-safety-critical and at least one safety-critical process
US8549136B2 (en) 2007-10-22 2013-10-01 Phoenix Contact Gmbh & Co. Kg System for operating at least one non-safety-critical and at least one safety-critical process
US10329731B2 (en) 2015-03-12 2019-06-25 Liebherr-Werk Nenzing Gmbh Method of operating a mobile work machine with a ground pressure limitation
CN105523481A (en) * 2016-01-11 2016-04-27 辽宁国远电子有限公司 Built-in crane safety monitoring system

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