DE1961345A1 - Control for two luffing slewing cranes working in parallel on a common load - Google Patents

Description

Control for two slewing and luffing cranes working in parallel on a common load '

The invention relates to a controller for two in a network Cranes with slewing gear and luffing gear working on a common load from one control stand.

In a known embodiment of this type, two individual cranes stand on a common platform that can be rotated about a column. By rotating the platform, the two cranes make parallel slewing movements. To achieve a rotary movement of the platform and one each is used to control the two luffing mechanisms Control lever on a steering position. A special lever is used for the lifting movements. This parallel operation is so far was only carried out for a double crane with single kx'anes arranged on a platform. The double cranes are in theirs mechanical structure, however, relatively complex.

To include single cranes that cannot be rotated on a common Platform are arranged to work in double operation on a common load, it is also already known to have two to control stationary slewing and luffing cranes in interconnected operation. at this version is via a common speed setpoint generator the slewing gear drive of a crane and a second crane controlled, the slewing gear of the second crane a setpoint correction via its own arithmetic unit learns in such a way that the two rotational speeds correspond to the predetermined sequence of movements. The luffing mechanisms of both Cranes receive actual position values of the slewing gear - transformed by means of appropriate arithmetic units - in turn the assigned speed setpoints for the luffing gear drives. Here are the actual position values from the slewing gear

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according to a mathematical relationship according to the going through Reshaped loci and serve as setpoints for the luffing gear. The luffing mechanism control is therefore a follow-up control to the Slewing gear control. With this version "there is the possibility by supplying puncture values as target values for the luffing gear to achieve any movement path for a load that corresponds to a given puncture. For individual operation of the two cranes can sweep over a larger loading area will be as. with cranes on a rotating platform are arranged because the cranes can be set up at a greater mutual distance.

The invention brings an improvement in a control for two cranes with slewing gear and luffing gear working in interconnected operation on a common load, in that one of a common Operating lever for the speed setpoint generator with a controller for the luffing gear and a speed setpoint generator are provided with a controller for the slewing gear of a guide crane, and that on the luffing gear and Slewing gear of the guide crane position transducers are arranged, their electrical outputs both with a computer for formation a position setpoint for a controller of the luffing mechanism on a follow-up crane as well as with a computer to generate a position setpoint for a controller of the slewing gear are connected to the downstream crane. In this way a achieve greater simplicity in the construction of the computing device. While in the known version with separately installed cranes, only the slewing gear of one crane is directly controlled can be and the other! Cranes and luffing gears of the first and second crane) are tracked, is the individual movement of the invention Guide crane in the luffing and slewing gear directly * deh. Can be controlled without delay, since only slewing and luffing gears are used Computer controlled. In addition hinacs lcanxi opposite the known design, in which, for example, in the case of double operation, a control command for the slewing gear of the first crane is always also a

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Movement of the slewing gear of the second crane and the luffing gear results in at least one of the two cranes by which Training according to the invention, the luffing mechanism of the guide crane is controlled even when the slewing gear of the guide crane is stationary will. This means that the luffing mechanism can be controlled independently and the load within the working range of both Cranes can be brought to any location on any route by appropriately deflecting the operating lever can be. Obstacles in the work area, e.g. on the upper deck, can therefore be avoided without cumbersome steering maneuvers.

In the drawing, an embodiment of the invention is shown « Show it:

Fig. 1 is an oblique view of two set up on the deck of a ship Slewing and luffing cranes in a schematic representation,

FIG. 2 shows a common control device for the in FIG illustrated cranes and

FIG. 3 shows a section from the control device shown in FIG. 2 with the position sensors of the luffing and slewing gear of the guide crane and the downstream Computers for the luffing and slewing gear of the following crane. ;

As Fig. 1 shows, are on a designated 1 container ship Two slewing luffing cranes 3, 4 are set up on both sides of a hatch 2, which operate on a common load 5 (Container) work *. The slewing luffing cranes 3 »4 are operated by one on the slewing luffing crane 3 attached common control station 6 operated. Each of the two slewing luffing cranes 3 »4 has a slewing gear 7a or 7b, a luffing mechanism 8a or 8b and a hoist 9a or 9b 'that works on the rope 11.

In the control according to the invention shown in FIG. 2, a speed setpoint generator which can be operated by a common actuating lever 12 13 with a controller 15 for the slewing gear 7a and a G-speed setpoint generator 14 with a controller

8a

for the luffing mechanism / a crane serving as a guide crane 3

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seen. Position transducers 17 and 18, respectively, are arranged on the slewing gear 7a and luffing gear 8a of the guide crane 3, the outputs of which are connected to a computer 19 to generate a position setpoint value sin U 2 * for a Hegler 21 of the slewing gear 7b on the crane 4 operating as a follow-up crane "and with a computer, 20 for the formation of a position setpoint sini ^ * ^{fii: r} a controller 22 of the luffing gear 8b are connected to the follower crane 4, ψ ^ Si ^ * ^ ^en position angle of the slewing gear and ψ ^ the position angle of the luffing gear of the Follower crane.

The actuating lever 12 is designed in a known manner so that when it is deflected in the direction of travel ω ^ * shown, only the slewing gear 7a of the guide crane 3 is controlled, and when it is deflected in the direction of travel y /, only the luffing gear 8a of the guide crane 3 is controlled. The deflection angle of the actuating lever is a measure for the speed setpoint values φ. and TiA. of the slewing gear or luffing mechanism of the guide crane 3. In the event of a deflection in an oblique direction between the two mentioned. Direction of travel are the slewing gear and luffing gear of the guide crane 3 controlled together.

In the following it is assumed that a load 5 formed by a container is to be transported out of the hatch 2 onto the quay 24, bypassing a deck cargo 23. First, each of the two cranes 3, 4 is brought into the starting position required for the interconnected operation, the container is attached and brought by joint control of the two hoists 9a, 9b of the cranes via an operating lever, not shown, to the corresponding de delivery height. Then, the operating lever 12 arranged in the cab 6 for the slewing gear and luffing gear, whereby the GescKwLndigkelt setpoint adjuster 13, 14 (eg, potentiometer) to be adjusted and, correspondingly _# its control position ψ an electrical setpoint ^ or 1 ^ ₁ for each downstream regulator 15 or 16 is formed. These controllers .15 and 16 each contain a speed controller, a current controller for a subordinate current control loop, control

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Stagger sentences and commands. A setpoint / actual value comparator 25 "or 26 is an electrical variable from the tachometer machine as the actual value 27 "or 28 of the rotary" or Luffing gear of the guide crane fed.

By entering the speed setpoints <p, and "W in the controller 15, 16 of the guide crane 3 start rotating and To move the rocker and generate signals for their respective with the help of the position transmitter 17, 18 attached to them Position which are fed to the computers 19, 20.

According to one embodiment of the invention, the computer 19 is designed to generate a position setpoint value sin ^ f ₂ * - ^ r ^ en controller 21 of the slewing gear 7b on the following crane 4 according to the following relationship:

therein meant a size that is dependent on the distance A between the two deck-mounted cranes 5, 4, on the length of the container 5 in the longitudinal axis a and on the length L of the boom 10 according to the relationship ^ = ^A Γ ^a The computer 20 for the luffing gear 8b is designed to generate a position setpoint value sin $ P ₂ ^ ^{for the} 22 of the luffing mechanism 8b on the following crane 4 according to the following relationship:

sin V * »γ 3t ^z -2 κ sin ^ ₁ cozy, + sin ²

Due to the design, the longitudinal axis of the container can be independent from its curve always parallel to the connecting line of the two cranes. In this way, a container can be turned around its vertical axis without it needs, transport and deposit at the drop-off point. One-sided accessibility of a Containers are taken into account. In addition, a further simplification of the calculator is achieved by the dimensioning given above.

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The controllers 21, 22 contain in comparison to the "controllers 15, of the lead crane in addition to a speed controller, control sets, command levels, a setpoint-actual value equalizer 21b or 22b or a position controller 21a or 22a.

In a further embodiment of the invention, an amplifier (run-up amplifier) 29 or 30 with integral Verfc is arranged between speed setpoint generator 13 or 14- and controller 15 or 16, which build up the setpoint cp * or Ή ^ according to an adjustable time response can and in an advantageous manner, a restraint of the engine speeds of the two cranes 3, 4 can also be achieved by a limitation. This bondage is determined by comparison of the position actual values of the turning and luffing gear 7b, 8b, ^ie the sequence crane with the delivered from the rotation and rocker mechanism of the guide crane Stellunga setpoints sin Jp ₂ ^{and sin} V2 ^Ueter * positioner 21a, 22a reaches. The actual position value on the slewing and luffing mechanism of the following crane is obtained by tachometer machines 35, 36.

As Fig. 3 shows, the computer is by a inventive embodiment w 20 is formed as an analogue computer and has to

Presentation of the inspection

three inputs 20a to 20c. A voltage signal corresponding to the function value siny .. trains is fed to the input 20a, which signal is formed in the position transmitter 18 by electrically connecting two mechanically coupled inductive resolvers 18a, 18b in series. At the input 20b a signal corresponding to the function value 2 χ.sin "ψ ^ .cos ψ ^ is given, which is formed by the fact that the encoder 18a is given via an amplifier 31- to the excitation of a resolver 17a, which in turn ait the The slewing gear 7a of the guide crane 3. The signal 2; x, .sin W ₁ "cos" p, is then present at the output of the function generator 17a, which is sent to the input 20b of the computer 20

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is given. A constant alternating voltage IJ is fed to the third input 20c, from which an adjustable constant value ze is obtained via an adjustable resistor 20d in the computer 20. In this computer 20, all three signals are rectified by the rectifier 20e and combined in an adder 20f. The sum value formed there is sent to a square root 20g, at the output of which the position setpoint value sin Ip ^ * is available.

The computer 19 is also provided with three inputs 19a to 19c. A signal siny / from the resolver 18c is fed to the first input 19a. The input 19b is formed by a mechanical shaft which is connected at the input to the slewing gear 7a of the guide crane and, on the other hand, to the rotor of a resolver 17b, the field winding of which is connected to the input 19a. In this way, a signal sinu / »cos <f is generated at the first output 31 of the resolver 17b by connecting the resolver 18e in series with the resolver 17b. In a rotor winding of the resolver 17b rotated by 90, the signal siniz / «sin ψ is formed at the output. The third input of the computer 19 is connected to the constant alternating voltage source TJ for forming the value 3e, as already described above. The constant signal value ae and the signal value of the output are rectified via rectifier 19d and connected in series to a first input 33 of a divider 19 ″. The signal of the output 32 of the resolver 17a rectified via the rectifier 19d is applied to a second input 34 of the divider 19e. The output of the divider 19e is connected to a static function generator 19f. The nominal position value sin γ for the controller of the slewing gear of the following crane 4 is available at its output.

3 figures

4 claims

Claims (4)

- ■ - 8 - VTA 69/1461 M. control for two in network operation on a common ^ "" Load-working cranes with slewing and luffing gear from one Control station, characterized in that a speed setpoint generator (13) which can be operated by a common actuating lever (12) has a controller (15) for the slewing gear (7a) and a speed setpoint generator (14) has a controller (16) for the luffing mechanism (8a) of a Führuiigskran (3) are provided and that the slewing gear (7a) and luffing mechanism (8a) of the guide crane (3) position transducers (17 and 18) are arranged, the outputs of which with a computer (19) to form a Position setpoint (sin ^ ₂ *) for a controller (21) of the slewing gear (7b) on a following crane (4) and with | a computer (20) for _{generating a nominal position value (sin ^ 2} *) for a controller (22) of the luffing mechanism (8b) on the following crane (4) are connected ". _i; 2. Controller according to claim 1, characterized in that the computer (19) for solving the mathematical relationship: sin f * .sinarc tg *
^Jz * κ -sin and the computer (20) for solving the mathematical relationship " sin V ₂ * = y at? - 2 ac sin TjI ₁ cosiP _t + sin ² 'ty
is designed; in it mean: ^ l a quantity that depends on the distance A between the two stationary cranes (3, 4), on the length a of the load in the longitudinal axis and on the length L of the boom (10) according to the relationship: 9 (, =., Yy Position angle of the slewing gear of the lead crane, position angle of the luffing gear of the lead crane, φ ρ position angle of the slewing gear of the following crane and y2 position angle of the luffing gear of the following crane. - . - ■. . - - 9 10S8 25/0890 ■ - 9 - VPA 69/1461 3. Control according to claim 1, characterized in that between ■ speed setpoint generator (13 or 14) and Controller (15 or 16) an amplifier (29 or 30) with integral Behavior is arranged. 4. Control according to claim 3 »characterized in that the Controller (21 or 22) of the slewing or luffing gear of the! Following crane (4) contains a controller (21a or * 22a) whose output is connected to a limiting input of the amplifier (29 or 30). 109825/0890 ι "· j. Blank page