DK180746B1 - Control system for cantilever crane and method for controlling a cantilever crane - Google Patents

Control system for cantilever crane and method for controlling a cantilever crane Download PDF

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Publication number
DK180746B1
DK180746B1 DKPA202000935A DKPA202000935A DK180746B1 DK 180746 B1 DK180746 B1 DK 180746B1 DK PA202000935 A DKPA202000935 A DK PA202000935A DK PA202000935 A DKPA202000935 A DK PA202000935A DK 180746 B1 DK180746 B1 DK 180746B1
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DK
Denmark
Prior art keywords
crane
hoist
connection structure
distance
load connection
Prior art date
Application number
DKPA202000935A
Other languages
Danish (da)
Inventor
Peter Nebsbjerg Jens
Original Assignee
Hmf Group As
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Priority to DKPA202000935A priority Critical patent/DK180746B1/en
Priority to EP21191589.7A priority patent/EP3957594A1/en
Application granted granted Critical
Publication of DK202000935A1 publication Critical patent/DK202000935A1/en
Publication of DK180746B1 publication Critical patent/DK180746B1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/64—Jibs
    • B66C23/68—Jibs foldable or otherwise adjustable in configuration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/54—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with pneumatic or hydraulic motors, e.g. for actuating jib-cranes on tractors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • B66D1/48—Control devices automatic
    • B66D1/485—Control devices automatic electrical

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)
  • Jib Cranes (AREA)

Abstract

A method for controlling a crane (2) comprising a jib (4) having a crane tip (16) and a hoist (6) comprising a load connection structure (28), wherein the crane (2) configured to carry a load (14) and comprises: - one or more of jib actuators (8) arranged to activate the jib (4); - one or more hoist actuators (10) arranged to activate the hoist (6); - a control unit (12) configured control the one or more jib actuators (8) and the one or more hoist actuators (10) configured to change the distance (D) between the load connection structure (28) and the crane tip (16). The method comprises the step of providing a command (CA, CB) to the control unit (12) to activate the one or more jib actuators (8). The method comprises the following steps: - determining the change (deltaDjib) of the distance (D) between the load connection structure (28) and the crane tip (16) caused by motion of the jib (4) when executing the command (CA, CB); - determining a correcting signal (CS) suitable for at least partly counteracting the change (deltaDjib) of the distance (D) between the load connection structure (28) and the crane tip (16); - activating the one or more hoist actuators (10) by using the determined correcting signal (CS).

Description

DK 180746 B1 1 Jib Crane Control System and Method for Controlling a Jib Crane Field of invention The present invention relates to a control system and a method for controlling a crane comprising an articulated jib and a hoist (cable winch). The invention also relates to a lorry crane (truck-mounted) comprising a control system for controlling a crane comprising an articulated jib and a hoist.
Prior art When operating the jib of a crane having a jib mounted hoist, the motion of the jib will often affect the hoist in an undesired manner. When the jib is articulated, or parts of the jib are being telescopically displaced relative to each other the distance between a load carried by the hoist and the tip of the jib will change because the length of the uncoiled cable remains constant. US20050035077A1 discloses a method, by which this undesired effect can be avoided by installing a measuring device arranged and configured to send movement specific feedback to a regulator. Accordingly, the regulation loop can adjust the distance by sending a control signal to the hoist. When applying this regulation loop, one needs to measure the undesired effect continuously and correcting it by using the regulator. This means that the method has a limited speed of correction and requires that accurate measurements are carried out on a continuous basis. WO2019172415A1 discloses a method and a system for controlling a crane by applying sensor measurements to introduce correction movements when the sensor data reveals that the motion that the crane experienced has an undesired component. This solution is capable of carrying out corrections. However, the corrections can only be carried
DK 180746 B1 2 out after the undesired components of the motion has been realized.
Accordingly, it would be desirable to provide a solution, in which this drawback could be avoided.
Thus, there is a need for a method and a control system that reduces or even eliminates the above-mentioned disadvantages of the prior art. Summary of the invention The object of the present invention can be achieved by a method as defined in claim 1, a control system as defined in claim 7 and a crane as defined in claim 13. Preferred embodiments are defined in the dependent subclaims, explained in the following description and illustrated in the accompanying drawings.
The method according to the invention is a method for controlling a crane comprising a jib having a crane tip and a hoist comprising a load connection structure, wherein the crane is configured to carry a load attached to the load connection structure and comprises: - one or more of jib actuators arranged to activate the jib; - one or more hoist actuators arranged to activate the hoist; - a control unit configured control the one or more jib actuators and the one or more hoist actuators configured to change the distance between the load connection structure and the crane tip, wherein the method comprises the step of providing a command to the control unit to activate the one or more jib actuators, wherein the method comprises the following steps: - determining the expected change of the distance between the load connection structure and the crane tip caused by motion of the jib when executing the command; - determining a correcting signal suitable for at least partly counteracting the change of the distance between the load connection structure and the crane tip;
DK 180746 B1 3 - activating the one or more hoist actuators by using the determined correcting signal.
Hereby, it is possible to provide a method, by which a correction is made before undesired motion actually occurs.
The method suggests application of a feedforward approach.
In this manner it is possible to generate a correcting signal and activate the one or more hoist actuators by using the determined correcting signal at that point in time, at which the operator selects and executes a command causing a motion of the jib.
Accordingly, the errors that has to be corrected by the method according to the invention are smaller than the errors needed to be corrected by using prior at systems.
At the same time, the method according to the invention is capable of providing a faster and more precise system than the prior art systems.
If the jib is extending, the hoist will release wire at the same time, hereby minimising the errors to be adjusted by the feedback.
The method according to the invention provides a simple, faster and more accurate regulation because it is proactive eliminating majority of the side-effect before it appears instead of allowing it to appear and then react.
The hoist is sometimes known as a cable winch used for lowering and hoisting a load.
In one embodiment, the one or more of jib actuators comprise one or more hydraulic cylinders.
DK 180746 B1 4 In one embodiment, the one or more hoist actuators comprise one or more motors. In one embodiment, the one or more hoist actuators comprise one or more hydraulically driven motors. In one embodiment, the one or more hoist actuators comprise one or more electrically driven motors. The control unit configured control the one or more jib actuators and the one or more hoist actuators configured to change the distance between the load and the crane tip. By the term “control” is meant activate and/or deactivate and/or turning on and/or turning off. Providing a command to the control unit to activate the one or more jib actuators means that the control unit is applied to initiate activation of the one or more jib actuators. This step may comprise application of a regulator connected to the one or more jib actuators.
Determining the expected change of the distance between the load connection structure and the crane tip caused by motion of the jib when executing the command may be calculated by using the control system and kinematics of the jib. In one embodiment, one or more sensor output may be used to carry out the determination of the change of the distance between the load and the crane tip caused by motion of the jib when executing the command.
Determining a correcting signal suitable for at least partly counteracting the change of the distance between the load connection structure and the crane tip may be done in several ways.
The correcting signal is a feedback in the form of a linear or angular position or derivative thereof (e.g. linear or angular velocity or acceleration). This feedback is sent to the control unit which through a closed loop path regulates the error from an operator-defined setpoint.
DK 180746 B1 When a command is provided, the control unit will through the feedforward path calculate a proactive response. 5 The activation of the one or more hoist actuators by using the determined correcting signal may be carried out in several ways. In one embodiment, the command is forwarded to a control valve.
In one embodiment, the term “determining” includes that one or more calculations are carried out.
By the phrase “determining the change of the distance between the load connection structure and the crane tip caused by motion of the jib when executing the command” is meant that the “expected” change of the distance between the load connection structure and the crane tip caused by motion of the jib when executing the command is determined” In one embodiment, the control unit comprises a single control device configured to control the one or more jib actuators and the one or more hoist actuators.
In one embodiment, the control unit comprises a first control device configured to control the jib actuators and a second control device configured to control the hoist actuator(s).
By the term “determining a correcting signal suitable for at least partly counteracting the change of the distance between the load connection structure and the crane tip” is meant determining a correcting signal that at reduces the magnitude of the change of the distance between the load connection structure and the crane tip.
DK 180746 B1 6 In one embodiment, the load connection structure is a hook.
In one embodiment, the load connection structure is an eye (ring- shaped structure). In one embodiment, the crane is a lorry crane (truck-mounted). It may be an advantage, that the correcting signal is selected in such a manner that activating the one or more hoist actuators by using the determined correcting signal, when not considering the effect of the jib, will cause a hoist induced change of the distance between the load connection structure and the crane tip that is smaller than the jib induced change of the distance between the load connection structure and the crane tip.
This can be expressed as in the following equation: (1) AD gist < ADy In one embodiment, AD, < 0.9 AD; In one embodiment, AD, < 0.8 ADy, In one embodiment, AD, < 0.75 ADy,
In one embodiment, AD, < 0.5 AD; In one embodiment, AD, < 0.4 AD, In one embodiment, AD, < 0.3 AD,
DK 180746 B1 7 In one embodiment, AD, < 0.25 AD; Hereby, the method can take into consideration that the speed of the hoist is faster than the speed of the displacement of telescopic extensions of the jib. It provides a simple way to implement the system. In one embodiment, the command is forwarded to a control valve in a scale from +100 to -100. If the operator of the crane commands +100 straight away this is reached through a first order filter. In this situation it may be advantageous that the correcting signal is decreased by a factor in the rage -0.45 to -0,15. It may be preferred that the correcting signal is decreased by a factor in the range -0.3 to -0.2 such as -0.25.
This is a very simple way to execute the correction.
Other ways to calculate the feedforward, apart from a factor, includes a filter, a table and an interval.
In one embodiment, the feedforward is only activated by the extensions of the jib and fly-jib. The feedforward is, however, carried out in such a manner that the feedback does correct all other movements detected in the tip of the crane.
In one embodiment, the method and control system according to the invention comprises a filter is a system that performs mathematical operations to reduce or enhance certain aspects of a signal.
In one embodiment, the filter is a recursive filter.
In one embodiment, the filter is a non-recursive filter.
DK 180746 B1 8 In one embodiment, the method and control system according to the invention comprises both a recursive and a non-recursive filter.
The filter may include the current value or a combination of the current and previously values.
Filters can be simple or complex, of lower or higher order.
In one embodiment, the feedforward calculation is carried out by using a table.
This may be accomplished in a manner, in which the table is applied by the control system to look up the current value in the table to see the expected reaction.
In one embodiment, one column in the table would be inputs, whereas another column would be outputs.
The control system would therefore for each command be able to select a counter-command from the table.
In one embodiment, the control system carries out the feedforward calculation by using intervals.
The idea of intervals allows the system to react different to an input depending on its value.
In many systems, a threshold exists.
Accordingly, a certain value acts as a threshold.
Therefore, the system should react different on each side of the threshold.
In one embodiment, there can be multiple intervals.
In one embodiment, the control system carries out the feedforward calculation by using an equation of a line.
The equation of a line is another option.
Here an input value gets multiplied by a factor before a constant is subtracted or added on.
In this way the line can be lifted over a threshold.
This is our current implementation of the feedforward: y=ax +b
In one embodiment, the control system carries out the feedforward calculation by using transfer functions.
A transfer function is a
DK 180746 B1 9 mathematical expression of an action. It allows the control system to calculate an output if we know the input or vice versa. It transfers the input to an output. In this case the action is the action of a crane’s dynamic actions. In order to make the operation in the controller faster this mathematical expression is simplified. It is a balance between accuracy and efficiency.It is possible to calculate an action from its command to the extensions and hence calculate another command to the hoist to counter this action. When a transfer function is modelled a regulator can be found mathematical. It is therefore both used for the feedforward and the feedback.
If several commends are selected simultaneously by the operator, the method comprises the following steps: - determining the expected change of the distance between the load connection structure and the crane tip caused by motion of the jib when executing all commands; - determining a correcting signal suitable for at least partly counteracting the change of the distance between the load connection structure and the crane tip and - activating the one or more hoist actuators by using the determined correcting signal.
The basic idea is to control the hoist in such a manner that, which allow us to keep the distance between the load and the crane tip constant.
It may be beneficial that the method is configured to be used to control a crane that comprises one or more sensors and wherein a sensor output is provided from one or more of the sensors, wherein the sensor output is used by the control unit to determine the change of the distance between the load and the crane tip caused by motion of the jib when executing the command.
DK 180746 B1 10 It may be an advantage that the one or more sensors are configured and arranged to measure one or more of the following: - a position of structure with respect to a predefined coordinate system; - a velocity of structure with respect to a predefined coordinate system; - an acceleration of structure with respect to a predefined coordinate system; - an angular position of structure with respect to a predefined coordinate system; - an angular velocity of structure with respect to a predefined coordinate system or - an angular acceleration of structure with respect to a predefined coordinate system; It may be advantageous that the one or more sensors are configured and arranged to measure a position of structure with respect to a predefined coordinate system. It may be beneficial that the one or more sensors are configured and arranged to measure a velocity of structure with respect to a predefined coordinate system. It may be advantageous that the one or more sensors are configured and arranged to measure an acceleration of structure with respect to a predefined coordinate system.
It may be beneficial that the one or more sensors are configured and arranged to measure an angular position of structure with respect to a predefined coordinate system. It may be advantageous that the one or more sensors are configured and arranged to measure an angular velocity of structure with respect to a predefined coordinate system.
DK 180746 B1 11 It may be beneficial that the one or more sensors are configured and arranged to measure an angular acceleration of structure with respect to a predefined coordinate system.
It may be an advantage that the step of: - determining the expected change of the distance between the load connection structure caused by motion of the jib when executing the command; - determining a correcting signal suitable for at least partly counteracting the change of the distance between the load connection structure; - activating the one or more hoist actuators by using the determined correcting signal, are carried out on a continuous basis, wherein the sampling frequency of the determination of the change of the distance between the load connection structure caused by motion of the jib when executing the command is at least 5 Hz.
Hereby, it is possible to provide a method that automatically compensates for the undesired effects of the motion of the jib on a continuous manner.
In one embodiment, the sampling frequency is at least 10 Hz.
In one embodiment, the sampling frequency is at least 20 Hz.
In one embodiment, the sampling frequency is at least 30 Hz.
In one embodiment, the sampling frequency is at least 40 Hz.
In one embodiment, the sampling frequency is at least 50 Hz.
DK 180746 B1 12 In one embodiment, the sampling frequency is 50 Hz. In a preferred embodiment, the method comprises the step of applying a regulator to regulate the one or more hoist actuator(s).
In one embodiment, the regulator is in fluid communication with the one or more hoist actuator(s), wherein the one or more hoist actuator(s) are hydraulically driven.
In one embodiment, the regulator is electrically connected with the one or more hoist actuator(s), wherein the one or more hoist actuator(s) are electrically driven.
In one embodiment, the crane comprises a manual hoist control element, wherein the method comprises the following steps - determining the expected change of the distance between the load connection structure and the crane tip caused by motion of the jib when executing all commands; - determining a correcting signal suitable for at least partly counteracting the change of the distance between the load connection structure and the crane tip and - activating the one or more hoist actuators by using the determined correcting signal, when the manual hoist activator control element is not activated, wherein no automatic correction signal is executed by the hoist actuator when the manual hoist control element is activated (by the user). Accordingly, the operator may control the hoist manually if the operator desires. If the operator does not activate the manual hoist control element. This allows (experienced) operators to operate the crane in the same way as they are used to.
DK 180746 B1 13 In one embodiment, the manual hoist control element is an operating lever. In one embodiment, the manual hoist control element is a J-stick.
It may be an advantage that the method comprises the step of determining the acceleration of the load and selecting: a) a first mode if the acceleration of the load is positive; b) a second mode if the acceleration of the load is negative and c) a third mode if the acceleration is zero, wherein the way by which the one or more hoist actuators are activated by using the determined correcting signal depends on the mode. Hereby, it is possible to provide a more accurate way of compensating for the undesired effects of the motion of the jib. In one embodiment, the sampling frequency depends on the mode. In one embodiment, the acceleration of the load is determined by using a position sensor or an accelerometer arranged on a structure, to which the load is mechanically connected. In one embodiment, the acceleration of the load is determined by using a position sensor or an accelerometer arranged on the tip of the jib.
In one embodiment, the control system is primarily activated. This means that the system is constantly activated in order to keep the distance between the load connection structure and the crane tip constant.
In one embodiment, the control system is configured to allow the operator to use the hoist to temporarily disable the control system.
DK 180746 B1 14 In one embodiment, the control system is primarily deactivated.
This means that the system is deactivated. In this way the operator can activate control system to maintain the distance between the load connection structure and the crane tip at a fixed level when needed.
In one embodiment, the acceleration of the load is determined by using a position sensor or an accelerometer arranged on a structure, to which the load is mechanically connected.
In one embodiment, the acceleration of the load is determined by using a position sensor or an accelerometer arranged on the tip of the jib.
In one embodiment, the control system is primarily activated. This means that the system is constantly activated in order to keep the distance between the load and the crane tip constant.
In one embodiment, the method is configured to allow the operator to use the hoist to temporarily disable the control system.
In one embodiment, the control system is primarily deactivated.
This means that the system is deactivated. In this way the operator can activate control system to maintain the distance at a fixed level when needed.
The control system according to the invention is a control system for a crane comprising a jib having a crane tip and a hoist comprising a load connection structure, wherein the crane is configured to carry a load attached to the load connection structure and comprises: - one or more of jib actuators arranged to activate the jib; - one or more hoist actuators arranged to activate the hoist; - a control unit configured control (activate and deactivate) the one or more jib actuators and the one or more hoist actuators configured to
DK 180746 B1 15 change the distance between the load connection structure and the crane tip, wherein the control system comprises a control unit configured to activate the one or more jib actuators, wherein the control system is configured to: - determining the expected change of the distance between the load connection structure and the crane tip caused by motion of the jib when executing the command; - determining a correcting signal suitable for at least partly counteracting the change of the distance between the load connection structure and the crane tip; - activating the one or more hoist actuators by using the determined correcting signal.
Hereby, it is possible to provide a control system enabling that a correction is made before undesired motion actually occurs.
The control system method is based on application of a feedforward approach. In this manner it is possible to generate a correcting signal and activate the one or more hoist actuators by using the determined correcting signal at that point in time, at which the operator selects and executes a command causing a motion of the jib. Accordingly, the errors that has to be corrected when using the invention are smaller than the errors needed to be corrected by using prior at systems. At the same time, the invention provides a faster and more precise system than the prior art systems.
If the jib is extending, the hoist will release wire at the same time, hereby minimising the errors to be adjusted by the feedback.
The control system according to the invention provides a simple, faster and more accurate regulation because it is proactive eliminating
DK 180746 B1 16 majority of the side-effect before it appears instead of allowing it to appear and then react. The control unit configured control the one or more jib actuators and the one or more hoist actuators configured to change the distance between the load connection structure and the crane tip. By the term “control” is meant activate and/or deactivate and/or turning on and/or turning off.
It may be an advantage, that the control system is configured to select the correcting signal in such a manner that activating the one or more hoist actuators by using the determined correcting signal when not considering the effect of the jib will cause a hoist induced change of the distance between the load connection structure and the crane tip that is smaller than the jib induced change of the distance between the load connection structure and the crane tip.
This can be expressed as: AD; < AD, In one embodiment, AD, < 0.9 AD; In one embodiment, AD, < 0.8 ADy, In one embodiment, AD, < 0.75 ADy, In one embodiment, AD, < 0.5 AD; In one embodiment, AD, < 0.4 AD, In one embodiment, AD, < 0.3 AD,
DK 180746 B1 17 In one embodiment, AD, < 0.25 AD; Hereby, the control system can take into consideration that the speed of the hoist is faster than the speed of the displacement of telescopic extensions of the jib. It provides a simple way to implement the system.
If several commends are selected simultaneously by the operator, the control system is configured to: - determining the expected change of the distance between the load connection structure and the crane tip caused by motion of the jib when executing all commands; - determining a correcting signal suitable for at least partly counteracting the change of the distance between the load connection structure and the crane tip and - activating the one or more hoist actuators by using the determined correcting signal.
The basic idea is to control the hoist in such a manner that, which allow us to keep the distance between the load connection structure and the crane tip constant.
It may be beneficial that the control system is configured to be used to control a crane that comprises one or more sensors configured to provide sensor output, wherein control unit is configured to apply the sensor output to determine the change of the distance between the load connection structure and the crane tip caused by motion of the jib when executing the command.
It may be advantageous that the one or more sensors are configured and arranged to measure one or more of the following:
DK 180746 B1 18 - a position of structure with respect to a predefined coordinate system; - a velocity of structure with respect to a predefined coordinate system; - an acceleration of structure with respect to a predefined coordinate system; - an angular position of structure with respect to a predefined coordinate system; - an angular velocity of structure with respect to a predefined coordinate system or - an angular acceleration of structure with respect to a predefined coordinate system; In one embodiment, the control system is configured to: - determining the expected change of the distance between the load connection structure and the crane tip caused by motion of the jib when executing the command; - determining a correcting signal suitable for at least partly counteracting the change of the distance between the load connection structure and the crane tip; - activating the one or more hoist actuators by using the determined correcting signal, on a continuous basis, wherein the sampling frequency of the determination of the change of the distance between the load connection structure and the crane tip caused by motion of the jib when executing the command is at least 5 Hz.
Hereby, it is possible to provide a control system that automatically compensates for the undesired effects of the motion of the jib on a continuous manner.
In one embodiment, the sampling frequency is at least 10 Hz.
In one embodiment, the sampling frequency is at least 20 Hz.
DK 180746 B1 19 In one embodiment, the sampling frequency is at least 30 Hz. In one embodiment, the sampling frequency is at least 40 Hz.
In one embodiment, the sampling frequency is at least 50 Hz.
In one embodiment, the sampling frequency is least 50 Hz.
In one embodiment, the crane comprises a manual hoist control element, wherein the control system is configured to: - determining the expected change of the distance between the load connection structure and the crane tip caused by motion of the jib when executing the command; - determining a correcting signal suitable for at least partly counteracting the change of the distance between the load connection structure and the crane tip; - activating the one or more hoist actuators by using the determined correcting signal, when the manual hoist activator control element is not activated, wherein the control system is configured to operate the crane in a manner, in which no automatic correction signal is executed by the hoist actuator when the manual hoist control element is activated (by the user).
This allows the operator to control the hoist manually by using the manual hoist control element.
As soon as the operator does not activate the manual hoist control element, the automatic correction of the hoist will be carried out by the control system. The invention allows the operator to operate the crane in the same way as the operator is used to.
DK 180746 B1 20 In one embodiment, the manual hoist control element is an operating lever. In one embodiment, the manual hoist control element is a J-stick. It may be advantageous that the control system is configured to determine the acceleration of the load and select: a) a first mode if the acceleration of the load is positive; b) a second mode if the acceleration of the load is negative and c) a third mode if the acceleration is zero, wherein the way by which the one or more hoist actuators are activated by using the determined correcting signal depends on the mode. In one embodiment, the sampling frequency depends on the mode. In one embodiment, the control system is primarily activated. The system is constantly activated keeping the distance between the load connection structure and the crane tip constant at all time. When needed the operator will use the hoist to temporarily disable the system and in rare cases disable the system from the controller. In one embodiment, the control system is primarily deactivated. The system is deactivated. In this way the operator can activate to maintain the distance between the load connection structure and the crane tip constant when needed from the controller. The crane according to the invention is a crane comprising a control system according to the invention.
The control system is suitable for operating a lorry crane (truck mounted crane) having at least one boom configured to carry a load.
DK 180746 B1 21 The jib may be a telescopic, or fixed arm that is used to move objects.
The jib may be of any suitable type and size.
In one embodiment, the jib is a multi-segment telescopic jib.
In one embodiment, the jib is a fixed arm.
In one embodiment, the jib comprises a pair of sections and hinge members pivotally connecting one section to the other for swinging movement with respect thereto.
The control system is configured to be integrated with the hoist.
The control system is activated when the hoist is activated.
If the distance between the tip of the crane and the load connection structure be changed it can be done by adjusting with the hoist on the controller.
This operation will yield a new setpoint with the new distance and the system will continue to keep this distance until another is chosen by the operator.
The invention makes it possible to activate the system when the operator activates the hoist because they work together.
If the operator does not want the system active, he can simply use the system to lock a certain position and disable the system afterwards.
Description of the Drawings The invention will become more fully understood from the detailed description given herein below.
The accompanying drawings are given by way of illustration only, and thus, they are not limitative of the present invention.
In the accompanying drawings: Fig. 1 shows a schematic, perspective view of a crane according to the invention; Fig. 2 shows a block diagram of a crane according to the
DK 180746 B1 22 invention; Fig. 3 shows a flowchart illustrating the workflow of a method according to the invention; Fig. 4 shows a perspective view of a crane according to the invention and Fig. 5 shows a flowchart illustrating the workflow of a method according to the invention.
Detailed description of the invention Referring now in detail to the drawings for the purpose of illustrating preferred embodiments of the present invention, a crane 2 of the present invention is illustrated in Fig. 1.
Fig. 1 is a schematic, perspective side view of a crane 2 according to the invention. The crane 2 is a truck-mounted crane (lorry crane) that comprises a crane base, onto which a telescopic and articulated jib 4 is mounted. The jib 4 comprises a first telescopic segment Si; and a second segment S; rotatably attached to the first segment Si. The first telescopic segment S; is rotatably attached to the crane base and a jib actuator 8 formed as a hydraulic cylinder 8 is arranged to rotate the first telescopic segment Si with respect to the crane base. Another jib actuator 8” is arranged to telescopically extend (lengthen) and shorten the first telescopic segment Si. The second segment S> can be rotated relative to the first segment Si by means of a hydraulic cylinder 8’.
The crane 2 comprises a hoist comprising a cable 22 guided by rotatably mounted cable rollers 24. The hoist comprises a hoist actuator
10. The hoist actuator 10 is arranged at the crane base but may be arranged in a different position.
The crane 2 carries a load 14 fixed to a load connection structure (a
DK 180746 B1 23 hook) 28 provided in the distal end of the cable 22. A sensor 18 configured to detect the distance D between the load connection structure 28 and the crane tip 16. When the distance D is changed, the distance between the load 14 and the crane tip 16 will change equally.
Accordingly, the sensor can monitor any change distance D between the load connection structure 28 and the crane tip 16 in order to keep the distance D constant. In one embodiment, the sensor is a wire sensor. In one embodiment, the sensor is an optical sensor.
Fig. 2 illustrates a block diagram of a crane according to the invention. The crane 2 comprises a jib 4 having three segments Si, Sz, S3 and a crane tip 16. The jib 4 is telescopic and articulated. The jib 4 is mounted on a column 32 placed on a crane base 30.
The crane 2 is equipped with at hoist (cable winch) 6 driven by a hoist actuator 10 arranged to coil and uncoil a cable 22 (indicated with a dotted line). The cable 22 is wound on the hoist 6 and is guided along the jib 4 by means of a plurality of cable rollers 24 to the tip 16 of the jib 4. An attachment structure (for instance a hook like shown in Fig. 1 and Fig. 4), may arranged at the free end of the cable 22 hereby enabling attachment to a load 14.
The direction and magnitude of movements of the cable 22 is measured by a sensor 18 arranged at the roller 24 that is closest to the load 14.
The sensor signals are fed to a control unit 12 preferably on a continuous basis.
The jib 4 carries a load 14 attached to a load connection structure 28 arranged in a distance D from the crane tip 16. The crane 2 comprises one or more of jib actuators (not shown) arranged to activate the jib 4 and hereby achieve articulation of the segments Si, Sz, Ss. Moreover, the crane 2 comprises one or more of jib actuators (not shown)
DK 180746 B1 24 arranged to activate the jib 4 and hereby achieve thrust movements B1 (jib extension) and/or B»> (fly-jib extension). It is indicated that the jib 4 of the crane 1 can perform both articulation movements Ai (boom movement), A> (jib movement), As: (fly-jib movement) and also thrust movements Bi (jib extension), B.. (fly-jib extension). The control unit 12 is configured control the one or more jib actuators (see Fig. 1 og Fig. 4) and the hoist actuators 10. The hoist actuator 10 is configured to change the distance D between the load connection structure 28 and the crane tip 16. The control unit 12 is adapted to maintain distance D relative constant by carrying out a feedforward approach.
This means that the control unit 12 configured to ensure that change AD of the distance D between the load connection structure 28 and the crane tip 16 remains close to zero (within a predefined range so that the change AD of the distance D is smaller than a predefined level). This can be expressed as: (2) AD < L wherein L is a predefined allowable level (e.g. 25 cm). The control system 20 is configured to execute commands.
These commands may be inserted by operator of the crane 2 by means og a human-machine interface (HMI) device 34 of suitable type.
In Fig. 2 the HMI device 34 is a remote control 34 configured to communicate with the control unit 12. When the operator 36 by means of the remote control 34 inputs a command Ca (for performing an articulation Ai, Az, Az) and/or Cg (for performing a thrust movement Bi, Bz) and/or Cy (for activating the hoist actuator 10), the command Ca, Cg will be received by the control
DK 180746 B1 25 unit 12. The control unit 12 will determine the change AD;» of the distance D between the load connection structure 28 and the crane tip 16 caused by motion of the jib 4 when executing the command Ca, Cs.
Hereafter the control unit 12 will determine a correcting signal Cs suitable for at least partly counteracting the change AD;ji, of the distance D between the load connection structure 28 and the crane tip 16 caused by the motion of the jib 4. The control unit 12 will immediately activate the hoist actuator 10 by using the determined correcting signal Cs.
Accordingly, the hoist actuator 10 and the jib actuators are activated simultaneously. In this manner it is possible to achieve that the change AD of the distance D between the load connection structure 28 and the crane tip 16 remains close to zero so that the load 14 can be manipulated with the highest possible accuracy by the crane 2.
The control unit 12 is connected to a hydraulic valve 26 that is in fluid communication with the hoist actuator 10 and the jib actuators (not shown). The hydraulic valve 26 is configured to generating actuating signals C'a, C's, C's to the hoist actuator 10 and the jib actuators, respectively. The actuating signal Ca is applied to actuate the jib actuators responsible for articulation Ai, Az, As of the jib 4. The actuating signal C's is applied to actuate the jib actuators responsible for trust movements Bi, Bz of the jib 4. The actuating signal C's is applied to actuate the hoist actuator 10.
The sensor 18 configured to detect the distance D between the load 14 and the crane tip 16 on the basis of one or more sensor signals X. The sensor signals X may include an angular position 6 an, an angular velocity oa, an angular acceleration «, a position y, a velocity v or an acceleration a. Since the sensor 18 monitors the distance D, the control unit 12 has updated information about the distance D. Accordingly, the control unit 12 can determine the most optimum correcting signal Cs for
DK 180746 B1 26 remain a constant distance D between the load connection structure 28 and the crane tip 16. If the control system 20 is deactivated, it would be possible to raise or lower the load 14 relative to the crane tip 16. In Fig. 2 a lowered load 14 is indicated with a dotted line. When the control system 20 is activated, the control system 20 would use a feedforward approach to keep the distance D constant.
When the operator 36 gives a command Ca and/or Cg the control unit 12 will immediately generate a correcting signal Cs that causes the hoist actuator 12 to counteract the expected change ADji of the distance D between the load connection structure 28 and the crane tip 16 caused by the motion of the jib 4.
In this way the hydraulic valve 26 only has to correct relative small errors. Accordingly, the control system 20 is capable of providing a faster and more precise regulation of the distance D than the prior art systems.
If for example, the jib 4 is extending, then the hoist actuator 10 will release cable 22 at the same time, leaving a small error to be adjusted by the feedback.
Therefore, the system and method according to the invention, provides a simple, fast and more accurate regulation by proactively eliminating majority of the side-effect before it appears instead of allowing it to appear and then react afterwards.
In one embodiment, the following formula is used or corrections of commands where extensions are included.
(3) Cs = Cs feedforward + Cs feedback,
DK 180746 B1 27 where Cs is the correcting signal, Cs feedforward iS the part of the correcting signal which comes from the feedforward signal and Cs feedback is the part from the feedback loop. In other words, a proactive part that corrects the current movement and a part that correct last cycles error.
If extensions are not part of the command the following equations can be used: (4) Cs = Cs feedback (5) ADjib = ADfeedback + ADfeedforward (6) ADjib > ADfeedforward Fig. 3 illustrates a flowchart illustrating the workflow of a method according to the invention. The method comprises four steps I, II, III, IV.
In the first step I, a command Ca or Cs is selected. The selection may be accomplished by an operator as shown in and explained with reference to Fig. 2. Using a remote control 34 to select the command Ca or Ce is a practical solution. However, in one embodiment, the command Ca or Cs may be inputted directly to the control unit 12. In the second step II, the expected change of the distance D between the load connection structure 28 and the crane tip 16 caused by executing the command Cx and/or Ce is determined. This may be done by using the control unit 12 to perform a calculation taking into account parameters indicative of the kinematic of the crane jib 4. Such parameters may be measured by sensors arranged at the jib 4. In the third step III, a correcting signal Cs to be sent to the hoist actuator 10 is determined. The determination may be based on a calculation of the expected change of the distance D between the load 14 and the crane tip 16 caused by motion of the jib 4 when executing
DK 180746 B1 28 the command Ca and/or Cs referred to in the second step II.
In the fourth step IV , the command Ca and/or Cs are executed by the jib actuator(s) 8 and the correcting signal Cs is simultaneously executed by the hoist actuator 10.
This sequence (step I-IV) is repeated in an ongoing manner as long as the control is suitable (as long as the distance D is intended to remain zero or close thereto).
Fig. 4 illustrates a perspective view of a crane 2 according to the invention. The crane 2 is a lorry crane (truck-mounted crane) equipped with a telescopic and articulated jib 4. The jib 4 comprises a first segment Si and a second segment S; rotatably attached to the first segment Si. The jib 4 comprises a third telescopic segment Ss that is rotatably attached to the second segment S».
The first segment S; is attached to a crane base. A first jib actuator 8 formed as a hydraulic cylinder 8 is arranged to rotate the second segment S; with respect to the first segment Si. A second jib actuator 8' formed as a hydraulic cylinder 8’ is arranged to rotate the second segment S> with respect to the third segment Ss. A third jib actuator 8” is arranged to telescopically extend (lengthen) and shorten the third telescopic segment Ss. The second segment S> can be rotated relative to the first segment Si by means of a hydraulic cylinder 8’.
The crane 2 comprises a hoist comprising a cable 22 guided by rotatably mounted cable rollers 24. The hoist comprises a hoist actuator
10. The hoist actuator 10 is arranged at the crane base but may be arranged in a different position.
The crane 2 carries a load 14 fixed to a load connection structure formed as hook 28 attached to the free end of the cable 22. A sensor
DK 180746 B1 29 adapted to detect the distance between the load connection structure 28 and the crane tip is arranged at the crane tip. Accordingly, the sensor can monitor any change distance D between the load connection structure 28 and the crane tip.
Fig. 5 illustrates a flowchart illustrating the workflow of a method according to the invention. The method comprises five steps V, VI, VII, IX, XL.
In the first step V, it is determined if the manual hoist control element is activated. The manual hoist control element may for example be an operating lever or a J-stick.
If the manual hoist control element is activated nor correcting signal is executed by the hoist actuator 10 as indicated in step X. This means that the operator operates the hoist manually. This manual control mode continues as long as the operator activates the manual hoist control element.
If, however, the manual hoist control element is not active (this is the case when the operator does not activate the manual hoist control element). The steps VI, VII, IIX and IX corresponding to the steps I, II, III, IV (shown in and explained with reference to Fig. 3), respectively, are carried out.
This means that the operator can use the manual hoist control element to control the hoist when desired. Whenever, the operator does not use the manual hoist control element to control the hoist, however, the control system will automatically Carry out the correction scheme as indicated in the steps VI, VII, IIX and IX.
DK 180746 B1 30 List of reference numerals 2 Crane 4 Jib 6 Hoist 8,8, 8” Jib actuator Hoist actuator 12 Control unit 10 14 Load 16 Crane tip 18 Sensor 20 Control system 22 Lifting cable 24 Cable roller 26 Hydraulic valve 28 Load connection structure (e.g. hook) 30 Crane base 32 Column 34 Human-machine interface 36 Operator D Distance AD Change of distance ADjib Change of distance caused by jib activity ADnoist Change of distance caused by hoist activity ADfeedforward Change of distance ADfeedback Change of distance Ca, CB Command Cs Correcting signal Cs teedforward Signal Cs feedback Signal C'a, C's, CH Actuating signal
DK 180746 B1 31
0 Angular position ® Angular velocity o Angular acceleration y Position
Vv Velocity a Acceleration f Sampling frequency Ai, Az, Az Articulation Bi, Bz Trust movement
1, HI, III, IV Step
Si, Sz, S3 Segment X Sensor signal (sensor output)

Claims (13)

DK 180746 B1 1 PatentkravDK 180746 B1 1 Patentkrav 1. Fremgangsmade til styring af en kran (2), der omfatter en udligger (4) med en kranspids (16) og et hejseværk (6), og der omfatter en lastforbindelsesstruktur (28), hvor kranen (2) er konfigureret til at bære en last (14), der er fastgjort til lastforbindelsesstrukturen (28), og omfatter: - én eller flere udliggeraktuatorer (8, 8’, 8”), der er indrettet til at aktivere udliggeren (4); - én eller flere hejseværksaktuatorer (10), der er indrettet til at aktivere hejseværket (6); - en styreenhed (12), der er konfigureret til at styre den ene eller flere > udliggeraktuatorer (8) og den ene eller flere hejseværksaktuatorer (10), der er konfigureret til at ændre afstanden (D) mellem lastforbindelsesstrukturen (28) og kranspidsen (16), hvor fremgangsmåden omfatter trinnet med tilvejebringelse af en kommando (Ca, Cg) til styreenheden (12) om at aktivere den ene eller flere udliggeraktuatorer (8, 8’, 8”), kendetegnet ved, at fremgangsmåden omfatter følgende trin: - bestemmelse af den forventede ændring (ADj») af afstanden (D) mellem lastforbindelsesstrukturen (28) og kranspidsen (16) forårsaget af bevægelse af udliggeren (4) ved udførelse af kommandoen (Ca, Cs); - bestemmelse af et korrigeringssignal (Cs), der er egnet til mindst delvist at modvirke ændringen (AD;») af afstanden (D) mellem lastforbindelsesstrukturen (28) og kranspidsen (16); - aktivering af den ene eller flere hejseværksaktuatorer (10) ved hjælp af det bestemte korrigeringssignal (Cs).A method of controlling a crane (2), comprising a cantilever (4) with a crane tip (16) and a hoist (6), and comprising a load connecting structure (28), the crane (2) being configured to carrying a load (14) attached to the load connection structure (28) and comprising: - one or more cantilever actuators (8, 8 ', 8 ") adapted to activate the cantilever (4); one or more hoist actuators (10) adapted to activate the hoist (6); - a control unit (12) configured to control the one or more> cantilever actuators (8) and the one or more hoisting actuators (10) configured to change the distance (D) between the load connection structure (28) and the crane tip ( 16), wherein the method comprises the step of providing a command (Ca, Cg) to the control unit (12) to activate the one or more cantilever actuators (8, 8 ', 8 "), characterized in that the method comprises the following steps: - determining the expected change (ADj ») of the distance (D) between the load connection structure (28) and the crane tip (16) caused by movement of the cantilever (4) when executing the command (Ca, Cs); determining a correction signal (Cs) suitable for at least partially counteracting the change (AD; ») of the distance (D) between the load connection structure (28) and the crane tip (16); actuation of the one or more hoist actuators (10) by means of the specified correction signal (Cs). 2. Fremgangsmåde ifølge krav 1, kendetegnet ved, atMethod according to claim 1, characterized in that DK 180746 B1 2 korrigeringssignalet (Cs) vælges således, at aktivering af den ene eller flere hejseværksaktuatorer (10) ved hjælp af det bestemte korrigeringssignal (Cs), når der ikke tages højde indvirkning af udliggeren (4), vil bevirke en hejseværksinduceret ændring (ADnoist) af afstanden (D) mellem lastforbindelsesstrukturen (28) og kranspidsen (16), der er mindre end den udliggerinducerede ændring (ADjp) af afstanden (D) mellem lastforbindelsesstrukturen (28).The correction signal (Cs) is selected so that activation of the one or more hoist actuators (10) by means of the specific correction signal (Cs), when the impact of the cantilever (4) is not taken into account, will cause a hoist-induced change ( ADnoist) of the distance (D) between the load connection structure (28) and the crown tip (16) that is less than the cantilever-induced change (ADjp) of the distance (D) between the load connection structure (28). 3. Fremgangsmåde ifølge krav 1 eller 2, kendetegnet ved, at fremgangsmåden er konfigureret til at blive anvendt til at styre en kran (2), der omfatter én eller flere sensorer (18), og hvor en sensorudlæsning (X) tilvejebringes fra én eller flere af sensorerne (18), hvor sensorudlæsningen (X) anvendes af styreenheden (12) til at bestemme ændringen (ADjib) af — afstanden (D) mellem —lastforbindelsesstrukturen (28) og kranspidsen (16) forårsaget af bevægelse af udliggeren (4) ved udførelse af kommandoen (Ca, CB).Method according to claim 1 or 2, characterized in that the method is configured to be used to control a crane (2), comprising one or more sensors (18), and wherein a sensor readout (X) is provided from one or more several of the sensors (18), where the sensor readout (X) is used by the control unit (12) to determine the change (ADjib) of - the distance (D) between the - load connection structure (28) and the ring tip (16) caused by movement of the cantilever (4) when executing the command (Ca, CB). 4, Fremgangsmåde ifølge krav 3, kendetegnet ved, at den ene eller flere sensorer (18) er konfigureret og indrettet til at måle én eller flere af fglgende: - en strukturposition (y) i forhold til et foruddefineret koordinatsystem; - en strukturhastighed (v) i forhold til et foruddefineret koordinatsystem; - en strukturacceleration (a) i forhold til et foruddefineret koordinatsystem; - en strukturvinkelposition (0) i forhold til et foruddefineret koordinatsystem; - en strukturvinkelhastighed (wo) i forhold til et foruddefineret koordinatsystem eller - en strukturvinkelacceleration (a) i forhold til et foruddefineret koordinatsystem.Method according to claim 3, characterized in that the one or more sensors (18) are configured and arranged to measure one or more of the following: - a structural position (y) relative to a predefined coordinate system; a structure velocity (v) relative to a predefined coordinate system; a structural acceleration (a) relative to a predefined coordinate system; a structure angle position (0) relative to a predefined coordinate system; a structure angular velocity (wo) relative to a predefined coordinate system or - a structural angle acceleration (a) relative to a predefined coordinate system. DK 180746 B1 3DK 180746 B1 3 5. Fremgangsmåde ifølge et hvilket som helst af de foregående krav, kendetegnet ved, at trinnet med at: - bestemme den forventede ændring (ADjib) af afstanden (D) mellem lastforbindelsesstrukturen (28) og kranspidsen (16) forårsaget af bevægelse af udliggeren (4) ved udførelse af kommandoen (Ca, Cs); - bestemme et korrigeringssignal (Cs), der er egnet til mindst delvist at modvirke ændringen (ADjip) af afstanden (D) mellem lastforbindelsesstrukturen (28) og kranspidsen (16); - aktivere af den ene eller flere hejseværksaktuatorer (10) ved hjælp af det bestemte korrigeringssignal (Cs), udføres kontinuerligt, hvor samplingfrekvensen (f) fra bestemmelsen af ændringen (ADjip) af afstanden (D) mellem lastforbindelsesstrukturen (28) og kranspidsen (16) forårsaget af bevægelse af udliggeren (4) ved — udførelse af kommandoen (Ca, Cs) er mindst 5 Hz.Method according to any one of the preceding claims, characterized in that the step of: - determining the expected change (ADjib) of the distance (D) between the load connection structure (28) and the crane tip (16) caused by movement of the cantilever ( 4) when executing the command (Ca, Cs); determining a correction signal (Cs) suitable for at least partially counteracting the change (ADjip) of the distance (D) between the load connection structure (28) and the crane tip (16); - activation of the one or more hoisting actuators (10) by means of the determined correction signal (Cs), is performed continuously, where the sampling frequency (f) from the determination of the change (ADjip) of the distance (D) between the load connection structure (28) and the crane tip (16 ) caused by movement of the cantilever (4) by - executing the command (Ca, Cs) is at least 5 Hz. 6. Fremgangsmåde ifølge et hvilket som helst af de foregående krav, kendetegnet ved, at kranen (2) omfatter et manuelt hejseværksstyreelement, hvor fremgangsmåden omfatter trinnet med anvendelse af kranen (2) som defineret i krav 1, når det manuelle hejseværksstyreelement ikke er aktiveret, hvor intet automatisk korrigeringssignal udføres af hejseværksaktuatoren (10), når det manuelle hejseværksstyreelement er aktiveret.A method according to any one of the preceding claims, characterized in that the crane (2) comprises a manual hoist control element, the method comprising the step of using the crane (2) as defined in claim 1, when the manual hoist control element is not activated , where no automatic correction signal is output from the hoist actuator (10) when the manual hoist control element is activated. 7. Styresystem (20) til en kran (2), der omfatter en udligger (4), som har en kranspids (16) og er forsynet med et hejseværk (6), der omfatter en lastforbindelsesstruktur (28), hvor kranen (2) er konfigureret til at bære en last (14), der er fastgjort til lastforbindelsesstrukturen (28), og omfatter: - én eller flere udliggeraktuatorer (8, 8’, 8”), der er indrettet til at aktivere udliggeren (4); - én eller flere hejseværksaktuatorer (10), der er indrettet til at aktivereA control system (20) for a crane (2), comprising a cantilever (4), which has a crane tip (16) and is provided with a hoist (6) comprising a load connection structure (28), the crane (2) ) is configured to carry a load (14) attached to the load connection structure (28) and comprises: - one or more cantilever actuators (8, 8 ', 8 ") adapted to activate the cantilever (4); one or more hoist actuators (10) adapted to actuate DK 180746 B1 4 hejseværket (6); - en styreenhed (12), der er konfigureret til at styre den ene eller flere udliggeraktuatorer (8) og den ene eller flere hejseværksaktuatorer (10), der er konfigureret til at ændre afstanden (D) mellem — lastforbindelsesstrukturen (28) og kranspidsen (16), hvor styresystemet (20) omfatter en styreenhed (12), der er konfigureret til at aktivere den ene eller flere udliggeraktuatorer (8, 8”, 8”), kendetegnet ved, at styresystemet (20) er konfigureret til at: - bestemme den forventede ændring (ADjib) af afstanden (D) mellem lastforbindelsesstrukturen (28) og kranspidsen (16) forårsaget af bevægelse af udliggeren (4) ved udførelse af kommandoen (Ca, Cs); - bestemme det korrigeringssignal (Cs), der er egnet til mindst delvist at modvirke ændringen (AD;») af afstanden (D) mellem lastforbindelsesstrukturen (28) og kranspidsen (16); - aktivere den ene eller flere hejseværksaktuatorer (10) ved hjælp af det bestemte korrigeringssignal (S).DK 180746 B1 4 hoist (6); a control unit (12) configured to control the one or more boom actuators (8) and the one or more hoist actuators (10) configured to change the distance (D) between the load connection structure (28) and the crane tip ( 16), wherein the control system (20) comprises a control unit (12) configured to activate the one or more cantilever actuators (8, 8 ", 8"), characterized in that the control system (20) is configured to: - determining the expected change (ADjib) of the distance (D) between the load connection structure (28) and the crane tip (16) caused by movement of the cantilever (4) when executing the command (Ca, Cs); determining the correction signal (Cs) suitable for at least partially counteracting the change (AD; ») of the distance (D) between the load connection structure (28) and the crane tip (16); activate the one or more hoist actuators (10) by means of the specified correction signal (S). 8. Styresystem (20) ifølge krav 7, kendetegnet ved, at styresystemet (20) er konfigureret til at vælge korrigeringssignalet (Cs) således, at aktivering af den ene eller flere hejseværksaktuatorer (10) ved hjælp af det bestemte korrigeringssignal (Cs), når der ikke tages højde indvirkning af udliggeren (4), vil bevirke en hejseværksinduceret ændring (ADnoist) af afstanden (D) mellem lastforbindelsesstrukturen (28) og kranspidsen (16), der er mindre end den udliggerinducerede ændring (AD;») af afstanden (D) mellem lastforbindelsesstrukturen (28) og kranspidsen (16).Control system (20) according to claim 7, characterized in that the control system (20) is configured to select the correction signal (Cs) such that activation of the one or more hoist actuators (10) by means of the determined correction signal (Cs), when the impact of the cantilever (4) is not taken into account, will cause a hoist-induced change (ADnoist) of the distance (D) between the load connection structure (28) and the crown tip (16) which is less than the cantilever-induced change (AD; ») of the distance (D) between the load connection structure (28) and the crane tip (16). 9. Styresystem (20) ifølge krav 7 eller 8, kendetegnet ved, at styresystemet (20) er konfigureret til at blive anvendt til at styre en kran (2), der omfatter én eller flere sensorer (18), der er konfigureretControl system (20) according to claim 7 or 8, characterized in that the control system (20) is configured to be used to control a crane (2) comprising one or more sensors (18) configured DK 180746 B1 til at tilvejebringe en sensorudlæsning (6, ®, ao, y, v, a), hvor styreenheden (12) er konfigureret til at anvende sensorudlæsningen (a, 0, Yy, Vv) til at bestemme ændringen (AD;») af afstanden (D) mellem lastforbindelsesstrukturen (28) og kranspidsen (16) forårsaget af 5 bevægelse af udliggeren (4) ved udførelse af kommandoen (Ca, Cs).180746 B1 to provide a sensor readout (6, ®, ao, y, v, a), wherein the controller (12) is configured to use the sensor readout (a, 0, Yy, Vv) to determine the change (AD; » ) of the distance (D) between the load connection structure (28) and the crown tip (16) caused by movement of the cantilever (4) when executing the command (Ca, Cs). 10. Styresystem (20) ifølge krav 9, kendetegnet ved, at den ene eller flere sensorer (18) er konfigureret og indrettet til at måle én eller flere af følgende: -en strukturposition (y) i forhold til et foruddefineret koordinatsystem; - en strukturhastighed (v) i forhold til et foruddefineret koordinatsystem; - en strukturacceleration (a) i forhold til et foruddefineret koordinatsystem; - en strukturvinkelposition (0) i forhold til et foruddefineret koordinatsystem; - en strukturvinkelhastighed (wo) i forhold til et foruddefineret koordinatsystem eller - en strukturvinkelacceleration (a) i forhold til et foruddefineret koordinatsystem.Control system (20) according to claim 9, characterized in that the one or more sensors (18) are configured and arranged to measure one or more of the following: - a structural position (y) relative to a predefined coordinate system; a structure velocity (v) relative to a predefined coordinate system; a structural acceleration (a) relative to a predefined coordinate system; a structure angle position (0) relative to a predefined coordinate system; a structure angular velocity (wo) relative to a predefined coordinate system or - a structural angle acceleration (a) relative to a predefined coordinate system. 11. Styresystem (20) ifølge et hvilket som helst af de foregående krav 7-10, kendetegnet ved, at styresystemet (20) er konfigureret til at: - bestemme den forventede ændring (ADjib) af afstanden (D) mellem lastforbindelsesstrukturen (28) og kranspidsen (16) forårsaget af bevægelse af udliggeren (4) ved udførelse af kommandoen (Ca, Cs); - bestemme et korrigeringssignal (Cs), der er egnet til mindst delvist at modvirke ændringen (ADjip) af afstanden (D) mellem lastforbindelsesstrukturen (28) og kranspidsen (16); - aktivere den ene eller flere hejseværksaktuatorer (10) ved hjælp af det bestemte korrigeringssignal (Cs),Control system (20) according to any one of the preceding claims 7-10, characterized in that the control system (20) is configured to: - determine the expected change (ADjib) of the distance (D) between the load connection structure (28) and the crown tip (16) caused by movement of the cantilever (4) in executing the command (Ca, Cs); determining a correction signal (Cs) suitable for at least partially counteracting the change (ADjip) of the distance (D) between the load connection structure (28) and the crane tip (16); activating the one or more hoist actuators (10) by means of the specified correction signal (Cs), DK 180746 B1 6 kontinuerligt, hvor samplingfrekvensen (f) fra bestemmelsen af ændringen (ADjip) af afstanden (D) mellem lastforbindelsesstrukturen (28) og kranspidsen (16) forårsaget af bevægelse af udliggeren (4) ved udførelse af kommandoen (Ca, Ce) er mindst 5 Hz.180746 B1 6 continuously, where the sampling frequency (f) from the determination of the change (ADjip) of the distance (D) between the load connection structure (28) and the crane tip (16) caused by movement of the cantilever (4) when executing the command (Ca, Ce) is at least 5 Hz. 12. Styresystem (20) ifølge et hvilket som helst af de foregående krav 7-11, kendetegnet ved, at kranen (2) omfatter et manuelt hejseværksstyreelement, hvor styresystemet (20) er konfigureret til at anvende kranen (2) som defineret i krav 7, når det manuelle hejseværksaktuatorstyreelement ikke er aktiveret, hvor styresystemet (20) er konfigureret til at anvende kranen (2) på en måde, hvor intet automatisk korrigeringssignal udføres af hejseværksaktuatoren (10), når det manuelle hejseværksstyreelement er aktiveret (af brugeren).Control system (20) according to any one of the preceding claims 7-11, characterized in that the crane (2) comprises a manual hoist control element, wherein the control system (20) is configured to use the crane (2) as defined in claim 7, when the manual hoist actuator control element is not activated, the control system (20) being configured to use the crane (2) in a manner where no automatic correction signal is output from the hoist actuator (10) when the manual hoist control element is activated (by the user). 13. Kran (2), der omfatter et styresystem (20) ifølge et hvilket som helst af kravene 7-12.A crane (2) comprising a control system (20) according to any one of claims 7-12.
DKPA202000935A 2020-08-18 2020-08-18 Control system for cantilever crane and method for controlling a cantilever crane DK180746B1 (en)

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EP21191589.7A EP3957594A1 (en) 2020-08-18 2021-08-17 Jib crane control system and method for controlling a jib crane

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