DE1961345B2 - Control for two slewing and luffing cranes working in parallel on a common load - Google Patents

Description

_A. . sin Vi sinT ¹ , sin 7 -., * = sin arc tg - - -J '-? -

κ - sin v, cos φ _Λ

and the computer (20) for solving the mathematical relationship

sin v'o * = j ' κ- - 2 κ sin y>, cos φ _ι + sin ² v, is designed; in it means

κ = a quantity that depends on the distance A between the two stationary cranes (3, 4), on the length α of the load in the longitudinal axis and on the length L of the jib (10)

according to the relation κ - ^A ~ °,

(/, = Position angle of the slewing gear of the guide crane,

1 / ', = angle of position of the luffing mechanism of the guide crane,

> i "- position angle of the slewing gear of the following crane and

V ₂ - Angle of position of the luffing mechanism of the following crane.

55

3. Control according to claim 1, characterized in that between Geschwindiekeitsiollwcrtgcber (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 gear or luffing mechanism of the following crane (4) has a controller (21 π or IZa) cnthälCdcssen Ausfan »with a limiting gear of the marker (29 or respectively . 30) is connected.

The invention relates to a controller for two in network operation on a common load working slewing cranes from a control stand, in which one can be operated by an operating lever Speed setpoint generator with a speed controller for the slewing gear of the guide crane and a speed controller for the slewing gear of the following crane as well as a speed controller each for the luffing gear of the two cranes and on the slewing gear and luffing gear of the Guide crane position transmitter are arranged, the outputs of which are connected to a computer.

In one of the DT-OS 19 06 599 described Execution of this type work two mobile single cranes on a common load. This is about a common speed setpoint generator for the slewing gear drive of a crane and a second Crane controlled, with the slewing gear of the second crane also having its own arithmetic unit Setpoint correction is learned in such a way that the two rotational speeds correspond to the predetermined sequence of movements correspond. The luffing gears of both cranes receive actual position values of the slewing gears - transformed by a corresponding arithmetic unit - in turn the assigned speed setpoints for the luffing gear drives. The ste! - actual values are transformed according to a mathematical relationship according to the locus curves that run through 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 of supplying function values as setpoint values for the luffing mechanisms to achieve a given function corresponding trajectory for a load. When operating the With both cranes, a larger loading area can be swept over than with cranes on a rotating one Platform are arranged because the cranes are placed at a greater mutual distance can be.

The invention brings an improvement in a control for two in interconnected operation to a common one Load working luffing cranes of the type mentioned in that the outputs of the Position transmitter with a computer to generate a position setpoint for the slewing gear controller on the following crane and with a computer to generate a position setpoint for the controller of the Luffing gear are connected to the following crane and that the controller for the luffing gear of the guide crane is on a speed setpoint generator that can be operated by the actuating lever is connected. on in this way a greater simplicity in the construction of the computing device can be achieved. While at the known version with separately installed cranes only the slewing gear of one crane directly can be controlled and the other engines (slewing gear of the second crane and luffing gear of the first and second crane) are tracked, is the individual movement in the invention of the guide crane in the luffing and slewing gear directly, d. H. controllable without delay, as only turning and luffing gear of the following crane can be controlled by computer. In addition, compared to the known design, in the z. B. in double operation a control command for the slewing gear of the first Crane always also a movement of the slewing gear

of the second crane and the luffing gear results in at least one of the two cranes, by virtue of the design according to the invention, the luffing gear of the guide crane can be controlled even when the slewing gear of the guide crane is stationary. This means that the luffing mechanism can be controlled independently and the load can be brought to any location within the working range of both cranes by deflecting the actuating lever accordingly. Obstacles ^Arbeitsbere: ch, z. B. on the upper deck, so can be avoided without cumbersome steering maneuvers.

Speed synchronization controls of two drives equipped with resolvers are known per se (VEM manual "The Technology of Electric Drives, Fundamentals", 2nd unchanged edition, 1967, VEB-Verlag Technik Berlin, pp. 307 to 309, in particular Figure 3.121). Such a speed synchronization control is not used in the subject matter of the invention, since when the load is moved in any direction to There must be no speed synchronization between the two cranes.

An exemplary embodiment of the invention is shown in the drawing. It shows

F i g. 1 shows an oblique view of two slewing and luffing cranes set up on the deck of a schifies in schematic representation,

F i g. 2 a common control device for the in FIG. 1 illustrated cranes and

F i g. 3 shows an excerpt from the in FIG. 2 shown control device with the position sensors the luffing and slewing gear of the guide crane and the downstream computers for the luffing and Slewing gear of the following crane.

Like F i g. 1 shows, two slewing luffing cranes 3, 4 are set up on a container ship designated 1 on both sides of a hatch 2, which work in interconnected operation on a common load 5 (container); n. The slewing and luffing cranes 3, 4 are operated from a common control station 6 attached to the slewing and luffing crane 3. Each of the rotary beu'en-luffing cranes 3, 4 has a slewing la or Tb, a cantilever 10 actuated rocker mechanism, a lifting mechanism 9 a 9 b which operates 8 α or 8 and b and on the rope. 11

In the case of the FIG. 2, a speed setpoint generator 13 with a controller 15 for the slewing gear la and a speed setpoint generator 14 with a controller 16 for the luffing gear 8α of a crane 3 serving as a guide crane is provided which can be operated by a common operating lever 12. On the slewing gear Ta and luffing gear 8α 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 φ ₂ * for a controller 21 of the slewing gear Ib on the crane 4 working as a follower crane and with a Computer 20 for forming a position setpoint value sin ψ., * For a controller 22 of the luffing gear Sb are connected to the following crane 4. <p ₂ gives the position angle of the slewing gear and ψ ₂ the position angle of the luffing gear of the follow-up crane of the guide crane 3 and, in the event of a deflection in the direction of _{travel ^ 1} *, only the luffing gear 8 α of the guide crane 3 is controlled. The deflection angle of the actuating lever is a measure of the speed setpoints φ _χ * and Vi * of the slewing or luffing mechanism of the guide crane 3 .

In the following it is assumed that a load S formed by a container from hatch 2 by bypassing a deck cargo 23 is to be transported onto the quay 24. First, each of the two Cranes 3, 4 in the

Is brought to the required starting position, the container is attached and, by jointly controlling the two hoists 9a , 9b , the cranes are brought to the appropriate delivery height via an operating lever (not shown). Then the actuation

Ao lever 12 in the driver's cab 6 is designed for the slewing gear and luffing mechanism, with which the speed setpoint generators 13, 14 (e.g. potentiometer) are adjusted and, depending on their control position, an electrical setpoint ^ ₁ * or Vi * for the respective downstream

th controller 15 or 16 is formed. These controllers 15 and 16 each contain a speed controller, a current controller for a subordinate current control loop, tax rates and command levels. A setpoint / actual value comparator 25 or 26 is used as Actual value is an electrical variable from the tachometer machine 27 or 28 of the rotating or luffing mechanism of the guide crane.

With the input of the speed setpoints (P ₁ * and V ₁ * in the controllers 15, 16 of the guide

Cranes 3 begin to move the slewing gear and luffing gear and, with the aid of the position transducers 17, 18 attached to them, generate signals for their respective positions, 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 φ., * For the controller 21 of the slewing gear 7b on the following crane 4 according to the following relationship:

sm φ, * - sm arc tg

sin w. sin φ. -

χ - sin

cos φ _ι

The actuating lever 12 is designed in a known manner so that with a deflection in the one marked travel direction φ, * only the slewing gear 7 a therein means κ a size that is dependent on the distance A of the two deck-mounted cranes 3, 4, on the length of the Containers; 5 in the longitudinal axis α and from

the length L of the boom 10 according to the relationship

A - α L

The computer 20 for the luffing gear 8b is designed to generate a position setpoint value sin y>., * For the controller 22 of the luffing gear Sb on the following crane 4 according to the following relationship:

sin v ^1. * = V κ ² - 2 «sin V ₁ cos φ ₁ + sin ² V ₁

Due to the design, the longitudinal axis of the container can always be kept parallel to the connecting route of the two cranes, regardless of its path curve. In this way, a container can be transported without needing to be rotated about its vertical axis and can be put down at the drop-off point. One-sided accessibility of a container can thus also be taken into account. In addition, through the above

specified dimensioning achieved a further simplification of the calculator.

The controllers 21, 22 included in the comparison to the controllers 15, 16 of the guide crane in addition to a speed regulator, tax rates, command stage, a target value-actual value comparator 21 b and 22 b have a positioner 21a and 22 a.

In a further embodiment of the invention, an amplifier (run-up amplifier) 29 or 30 with integral behavior is arranged between speed setpoint generator 13 or 14 and controller 15 or 16, which allows the setpoint φ ^ or V ₁ * to build up according to an adjustable time behavior and in an advantageous manner, the engine speeds of the two cranes 3, 4 can also be restrained by a limitation. This restraint is achieved by comparing the actual position values of the slewing and luffing mechanism Ib, Sb on the following crane with the position set values sin φ ₂ * and sin v ₂ * supplied by the slewing and luffing mechanism of the guide crane via the position controllers 21a, 22a . The actual position value on the slewing and luffing mechanism of the following crane is obtained by tachometer machines 35, 36.

Like F i g. 3 shows, according to an embodiment according to the invention, the computer 20 is an analog computer trained and possessed to represent the relationship

sin V ₂ * =} / κ ² - 2 κ sin ψ, cos ^ ₁ + sin ² V ₁

three inputs 20 a to 20 c. A voltage signal corresponding to the function value SIn ² V _{1 is} fed to the input 20 a, which is formed in the position transmitter 18 by electrically connecting two mechanically coupled inductive resolvers 18 a, 118 b in series. B to the input 20, a signal corresponding to the function value 2 κ ■ sin Vi · cos? · Optionally formed characterized in that the transmitter α 18 is connected through an amplifier 37 to the excitation of a resolver 17 a, in turn, with the slewing gear 7 a of the guide crane 3 is coupled. _{The signal 2 κ · sin V 1} · cos φ ₁ is then present at the output of the function generator 17 a and is sent to the input 20 b of the computer 20. A constant alternating voltage U is fed to the third input 20 c, from which an adjustable constant value κ ² is obtained in the computer 20 via an adjustable contradiction 20 d. In this computer 20, all three signals are rectified by the rectifier 20e and combined in an adder 20 /. The sum value formed there is sent to a square root 20 g, at the output of which the position setpoint value sin v ₂ * is available.

The computer 19 is also provided with three inputs 19 α to 19 c. The first input 19 a, a signal sin V ₁ s ^au the resolver supplied c 18th The input 19 b forms a mechanical shaft which is connected on the input side to the slewing gear 7 a of the guide crane and on the other hand to the rotor of a resolver 17 b , the exciter winding of which is connected to the input 19 a. In this way, a signal sin V ₁ · cos </ · 'is generated at the first output 31 of the resolver 17 b by connecting the resolver 18 c in series with the resolver 17 b. In a rotor winding of the resolver Mb rotated by 90 °, the signal sin Vi · sin φ _{1 is} formed at the output 32. The third input of the computer 19 is connected to the constant alternating voltage source U for forming the value κ, as already described above. The constant signal value κ and the signal value of the output 31 are rectified via rectifier 19 d and connected in series to a first input 33 of a divider 19 e . Which is of the resolver 17 applied ft via the rectifier 19 a "rectified signal of the output 32 at a second input 34 of the divider 19 e The output de;.. Divider 19 e / is connected to a static function generator 19 at its output stand the position -Set value sin φ ₂ for the controller of the rotation

Work of the following crane 4.

For this purpose 3 sheets of drawings

Claims (2)

Patent claims: 1. Control for two slewing luffing cranes working in parallel on a common load from a control stand, in which a speed setpoint generator, which can be operated by an operating lever, has a speed controller for the slewing gear of the lead crane and a speed controller for the slewing gear of the following crane, as well as a speed controller for each the luffing gear of the two cranes is provided and position transducers are arranged on the slewing gear and luffing gear of the guide crane, the outputs of which are connected to a computer, characterized in that the outputs of the position transducers (17, 18) are connected to a computer (19) to form a position - Setpoint (SIn ₇₂ *) for the controller (21) of the slewing gear (7b) on the Folsekran (4) and with a computer (20) to generate a position setpoint (sin ψ., *) For the controller (22 ) of the luffing mechanism (Sb) connected to the folee crane (4); Hnd and that the controller (16) for the luffing mechanism (8 α) of the guide crane (3) is connected to one of the actuating levers (12) operable speed setpoint generator (14) is connected. 2. Control according to claim 1, characterized in that the computer (19) for the solution the mathematical relationship