EP0089662A1 - Dispositif pour appareils de levage pour la commande automatique du mouvement du porte charge avec amortissement des oscillations de la charge suspendue - Google Patents

Dispositif pour appareils de levage pour la commande automatique du mouvement du porte charge avec amortissement des oscillations de la charge suspendue Download PDF

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Publication number
EP0089662A1
EP0089662A1 EP83102780A EP83102780A EP0089662A1 EP 0089662 A1 EP0089662 A1 EP 0089662A1 EP 83102780 A EP83102780 A EP 83102780A EP 83102780 A EP83102780 A EP 83102780A EP 0089662 A1 EP0089662 A1 EP 0089662A1
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EP
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Prior art keywords
acceleration
load
load carrier
movement
signal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP83102780A
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German (de)
English (en)
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EP0089662B1 (fr
Inventor
Hans Tax
Herbert Dipl. Ing. Kurz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Vulkan Kocks GmbH
Original Assignee
BETAX GESELLSCHAFT fur BERATUNG und ENTWICKLUNG TECHNISCHER ANLAGEN MBH
BETAX GES fur BERATUNG und ENT
Fried Krupp AG
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Application filed by BETAX GESELLSCHAFT fur BERATUNG und ENTWICKLUNG TECHNISCHER ANLAGEN MBH, BETAX GES fur BERATUNG und ENT, Fried Krupp AG filed Critical BETAX GESELLSCHAFT fur BERATUNG und ENTWICKLUNG TECHNISCHER ANLAGEN MBH
Publication of EP0089662A1 publication Critical patent/EP0089662A1/fr
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    • 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
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical

Definitions

  • the invention relates to a device on hoists for the automatic control of the movement of the load carrier with calming of the oscillation of the load occurring during acceleration or deceleration of the load attached to it during an acceleration or deceleration time interval, comprising a signal transmitter for emitting load carrier movement control signals for movement control of a load carrier traversing motor , in particular by specifying a load carrier acceleration, the signal profile corresponding to a load carrier acceleration profile symmetrical with respect to the center of the interval with maximum acceleration values at the beginning or end of the interval and smaller, possibly disappearing, minimum acceleration values in between.
  • a device of this type is known from DE-AS 11 72 413, in which the control signal specifying the load carrier acceleration is formed from two acceleration stages, namely an initial period at a constant acceleration (acceleration maximum we rt), a terminal period with the same constant acceleration and an intervening intermediate period with zero acceleration.
  • the duration of the intermediate period is just so determined that the pendulum deflection of the load and the amount of the pendulum speed at the beginning and end of the period are the same, but with the opposite sign of the direction of movement. In this way, a movement sequence is obtained which is symmetrical with respect to the oscillation of the load on the load carrier, so that the same state of movement occurs at the end of the interval as at the beginning of the interval.
  • calming the swaying is understood to mean that the swaying that inevitably occurs during the positive or negative acceleration of the load is eliminated at the end of the acceleration or deceleration time interval. With this one-stage acceleration at the beginning and end of the time interval, the acceleration or deceleration time interval is shortened compared to an acceleration that is constant during this interval.
  • the length of the time interval in the limit case can be shortened to half the period of the pendulum formed by the hanging load when the load carrier is not moving, unless that which is to be applied by the traversing motor during the time interval Traction exceeds the traction motor's maximum traction.
  • the object of the invention is to further shorten the acceleration or deceleration time interval for a predetermined maximum traction motor tractive force.
  • the signal curve generated by the signal generator corresponds to an acceleration minimum value which assumes between the maximum acceleration values and the or the opposite sign (s), if appropriate, in each case continuously or at least in two steps monotonically falling or increasing load carrier acceleration.
  • the invention makes use of the knowledge that the portion of the traction force to be applied by the load carrier traversing motor which results from the acceleration of the load rises continuously from zero at the beginning of the interval to a maximum value in the middle of the interval and then decreases symmetrically again. With a constant initial acceleration according to the known solution, the tractive force to be applied therefore rises continuously, only to decrease more or less strongly at the end of the initial period and then to rise again up to the middle of the interval.
  • the time interval can also be shortened further under the limit case specified above (half period).
  • t is the time and T or T 1 to T 6 the acceleration time interval;
  • b K is the load carrier acceleration.
  • the load carrier is referred to as a cat, which explains the index K.
  • other load carriers can also be used, such as a boom.
  • the index L denotes the load hanging on the cat on a rope or the like.
  • the parameter denoted by b L in FIG. 1A is therefore the load acceleration.
  • F ig. 1B shows the speed v K and v L of the cat and the load during the time interval T.
  • FIG. 1C the respective currently traveled horizontal path s K and s L of the cat and the load are indicated.
  • 1D the time course of the traction force P to be used by the L- cat motor to accelerate the cat and load
  • v N is the difference between the speeds after and before the acceleration or deceleration; 1 stands for the pendulum length, g for the acceleration due to gravity and n for an integer with the values 1, 2, 3 ... etc; T is the period (natural oscillation time of the pendulum), for which the following relationship applies:
  • the cat speed can be determined from the expression for the cat acceleration b k by integration as follows:
  • a load 10 can be seen, which hangs on a trolley 14 via a suspension cable 12 of length 1. This can be moved along a horizontal rail 16, wherein it is driven by an electric traction motor 18.
  • the traction motor 18 is driven by a controllable energy supply 20, to which it is connected via lines 22 indicated by dash-dotted lines.
  • the energy supply 20 is controlled by a signal generator 24, to which it is connected via control lines 26.
  • the signal generator 24 specifies the trolley acceleration signal b shown in FIG. 1A, whereupon the energy supply 20 supplies the traction motor 18 with electrical energy such that it accelerates the trolley 14 accordingly.
  • the acceleration curve with the shortest time interval T 1 is denoted by b K1 , the next one with the time interval T 2 by b K2 etc. to b K6 .
  • the load acceleration increases from zero to a maximum value in the middle of the period, which, after multiplication with the load mass m L generally exceeding the cat mass m K , leads to a correspondingly high traction contribution in the middle of the period.
  • the portion of the tensile force originating from the cat is correspondingly reduced by appropriate selection of the cat acceleration b K and, in the example shown, is even reversed.
  • the oscillation period T o is 5.47 sec .; the constant tractive force P 0 is 522 9.81 N. If a traction motor with an optimally adapted maximum tractive force is to be selected for the specified load mass of 1000 kg, this is a traction motor that is designed for a tractive force of 522. 9.81.N plus the force to be overcome to overcome the driving resistance. The traction motor can then drive with essentially the same drive torque over the entire acceleration or deceleration distance.
  • acceleration curve b K could be selected from the associated family of curves which leads to constant tensile force P o , which in turn leads to particularly smooth running of the cat would result.
  • the acceleration curve b K can also be kept unchanged in many cases, which then leads to the tensile force P dropping towards the middle of the period. This is shown in Fig. 1D with a dash-dotted line, in the event that the load mass m K is only about 410 kg.
  • the period T o decreases according to equation B; the amplitude of the cat acceleration b K increases accordingly.
  • it is expedient to accelerate or brake during at least two successive periods, in which case n 2 would have to be used in equations A and B.
  • a step-by-step course of the control of the traction motor 18 can also be taken as a basis, as indicated by curve b K7 in FIG. 2B.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
EP83102780A 1982-03-22 1983-03-21 Dispositif pour appareils de levage pour la commande automatique du mouvement du porte charge avec amortissement des oscillations de la charge suspendue Expired EP0089662B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3210450 1982-03-22
DE19823210450 DE3210450A1 (de) 1982-03-22 1982-03-22 Einrichtung an hebezeugen fuer die selbsttaetige steuerung der bewegung des lasttraegers mit beruhigung des pendelns der an ihm haengenden last

Publications (2)

Publication Number Publication Date
EP0089662A1 true EP0089662A1 (fr) 1983-09-28
EP0089662B1 EP0089662B1 (fr) 1986-12-30

Family

ID=6158945

Family Applications (1)

Application Number Title Priority Date Filing Date
EP83102780A Expired EP0089662B1 (fr) 1982-03-22 1983-03-21 Dispositif pour appareils de levage pour la commande automatique du mouvement du porte charge avec amortissement des oscillations de la charge suspendue

Country Status (3)

Country Link
US (1) US4603783A (fr)
EP (1) EP0089662B1 (fr)
DE (1) DE3210450A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3513007A1 (de) * 1984-04-11 1985-12-19 Hitachi, Ltd., Tokio/Tokyo Verfahren und anordnung zur automatischen steuerung eines krans
FR2571867A1 (fr) * 1984-10-11 1986-04-18 Bertin & Cie Procede et dispositif pour limiter le ballant d'une charge librement suspendue sous un support mobile.
EP0467783A1 (fr) * 1990-07-18 1992-01-22 Caillard Procédé de contrôle de déplacement d'une charge pendulaire et dispositif pour sa mise en oeuvre
EP0733580A2 (fr) * 1995-03-21 1996-09-25 R. Stahl Fördertechnik GmbH Train de roulement avec amortissement des oscillations pendulaires

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59147728A (ja) * 1983-02-15 1984-08-24 Komatsu Ltd オ−トパレタイジング装置
JPS6241189A (ja) * 1985-08-16 1987-02-23 株式会社日立製作所 クレ−ン制御方式
JPS6317793A (ja) * 1986-07-11 1988-01-25 株式会社日立製作所 クレ−ンの制御方式
DE3842918A1 (de) * 1988-12-21 1990-06-28 Asea Brown Boveri Verfahren zur steuerung des bewegungsablaufs einer pendelfaehig gehaltenen last
US4997095A (en) * 1989-04-20 1991-03-05 The United States Of America As Represented By The United States Department Of Energy Methods of and system for swing damping movement of suspended objects
SE502609C2 (sv) * 1990-03-28 1995-11-20 Asea Brown Boveri Förflyttning av gods med containerkranar
FI91058C (fi) * 1991-03-18 1996-01-10 Kci Kone Cranes Int Oy Nosturin ohjausmenetelmä
FI91517C (fi) * 1992-11-17 1994-07-11 Kimmo Hytoenen Menetelmä harmonisesti värähtelevän taakan ohjaamiseksi
US5806696A (en) * 1993-02-01 1998-09-15 Hytonen; Kimmo Method and equipment for controlling the operations of a crane
GB2280045A (en) * 1993-07-15 1995-01-18 Daewoo Engineering Company Anti-swing automatic control systems for unmanned overhead cranes
US5443566A (en) * 1994-05-23 1995-08-22 General Electric Company Electronic antisway control
US5960969A (en) * 1996-01-26 1999-10-05 Habisohn; Chris Xavier Method for damping load oscillations on a crane
US5908122A (en) * 1996-02-29 1999-06-01 Sandia Corporation Sway control method and system for rotary cranes
US5785191A (en) * 1996-05-15 1998-07-28 Sandia Corporation Operator control systems and methods for swing-free gantry-style cranes
US6050429A (en) * 1996-12-16 2000-04-18 Habisohn; Chris X. Method for inching a crane without load swing
DE19907989B4 (de) * 1998-02-25 2009-03-19 Liebherr-Werk Nenzing Gmbh Verfahren zur Bahnregelung von Kranen und Vorrichtung zum bahngenauen Verfahren einer Last
DE10029579B4 (de) * 2000-06-15 2011-03-24 Hofer, Eberhard P., Prof. Dr. Verfahren zur Orientierung der Last in Krananlagen
US7831333B2 (en) 2006-03-14 2010-11-09 Liebherr-Werk Nenzing Gmbh Method for the automatic transfer of a load hanging at a load rope of a crane or excavator with a load oscillation damping and a trajectory planner
ATE455726T1 (de) 2006-03-15 2010-02-15 Liebherr Werk Nenzing Verfahren zum automatischen umschlagen von einer last eines kranes mit lastpendelungsdämpfung und bahnplaner
US20090211998A1 (en) * 2008-02-25 2009-08-27 Gm Global Technology Operations, Inc. Intelligent controlled passive braking of a rail mounted cable supported object
KR101144863B1 (ko) * 2009-06-09 2012-05-14 최기윤 인풋 쉐이핑을 위한 호이스트 길이 측정방법
US9802793B2 (en) * 2013-01-22 2017-10-31 National Taiwan University Fast crane and operation method for same

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1172413B (de) * 1959-10-03 1964-06-18 Demag Ag Einrichtung an Hebezeugen fuer die selbsttaetige elektrische Steuerung der Bewegung des Lasttraegers zur Beruhigung der an ihm haengenden Last
DE1209266B (de) * 1962-06-22 1966-01-20 Bbc Brown Boveri & Cie Steuerungsverfahren zur Herbeifuehrung der Pendelfreiheit der Last bei Fahrantriebenvon Laufkatzen
GB1132967A (en) * 1964-12-08 1968-11-06 Davy And United Instr Ltd Control systems for preventing swinging of suspended loads
FR2108726A5 (fr) * 1970-09-30 1972-05-19 Philips Nv
US3921818A (en) * 1973-04-02 1975-11-25 Tokyo Shibaura Electric Co Crane suspension control apparatus
FR2399378A1 (fr) * 1977-08-05 1979-03-02 Caillard Sa Procede et dispositif de compensation des oscillations de la charge d'un engin de levage a cable
DE3005461A1 (de) * 1980-02-14 1981-09-24 M.A.N. Maschinenfabrik Augsburg-Nürnberg AG, 8500 Nürnberg Regelung des oder der elektrischen fahrmotoren von hebezeugen mit ungefuehrter, an einem seil haengender last

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3517830A (en) * 1967-10-10 1970-06-30 Vilkko Antero Virkkala Cranes
JPS5322250A (en) * 1976-08-13 1978-03-01 Yaskawa Electric Mfg Co Ltd Rope steady rest con trol system for crane
JPS53111957A (en) * 1977-03-10 1978-09-29 Mitsubishi Heavy Ind Ltd Device for preventing luggage from swinging for turning crane

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1172413B (de) * 1959-10-03 1964-06-18 Demag Ag Einrichtung an Hebezeugen fuer die selbsttaetige elektrische Steuerung der Bewegung des Lasttraegers zur Beruhigung der an ihm haengenden Last
DE1209266B (de) * 1962-06-22 1966-01-20 Bbc Brown Boveri & Cie Steuerungsverfahren zur Herbeifuehrung der Pendelfreiheit der Last bei Fahrantriebenvon Laufkatzen
GB1132967A (en) * 1964-12-08 1968-11-06 Davy And United Instr Ltd Control systems for preventing swinging of suspended loads
FR2108726A5 (fr) * 1970-09-30 1972-05-19 Philips Nv
US3921818A (en) * 1973-04-02 1975-11-25 Tokyo Shibaura Electric Co Crane suspension control apparatus
FR2399378A1 (fr) * 1977-08-05 1979-03-02 Caillard Sa Procede et dispositif de compensation des oscillations de la charge d'un engin de levage a cable
DE3005461A1 (de) * 1980-02-14 1981-09-24 M.A.N. Maschinenfabrik Augsburg-Nürnberg AG, 8500 Nürnberg Regelung des oder der elektrischen fahrmotoren von hebezeugen mit ungefuehrter, an einem seil haengender last

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3513007A1 (de) * 1984-04-11 1985-12-19 Hitachi, Ltd., Tokio/Tokyo Verfahren und anordnung zur automatischen steuerung eines krans
FR2571867A1 (fr) * 1984-10-11 1986-04-18 Bertin & Cie Procede et dispositif pour limiter le ballant d'une charge librement suspendue sous un support mobile.
WO1986002341A1 (fr) * 1984-10-11 1986-04-24 Bertin & Cie. Procede et dispositif pour limiter le ballant d'une charge librement suspendue sous un support mobile
EP0467783A1 (fr) * 1990-07-18 1992-01-22 Caillard Procédé de contrôle de déplacement d'une charge pendulaire et dispositif pour sa mise en oeuvre
FR2664885A1 (fr) * 1990-07-18 1992-01-24 Caillard Procede de controle de deplacement d'une charge pendulaire et dispositif pour sa mise en óoeuvre.
EP0578280A2 (fr) * 1990-07-18 1994-01-12 Caillard Procédé de contrôle de déplacement d'une charge pendulaire et dispositif pour sa mise en oeuvre
EP0578280A3 (fr) * 1990-07-18 1994-03-02 Caillard
EP0733580A2 (fr) * 1995-03-21 1996-09-25 R. Stahl Fördertechnik GmbH Train de roulement avec amortissement des oscillations pendulaires
EP0733580A3 (fr) * 1995-03-21 1997-11-26 R. Stahl Fördertechnik GmbH Train de roulement avec amortissement des oscillations pendulaires
US5811945A (en) * 1995-03-21 1998-09-22 R. Stahl Fordertechnik Gmbh Traveling gear with oscillation damping

Also Published As

Publication number Publication date
DE3210450A1 (de) 1983-10-13
US4603783A (en) 1986-08-05
DE3210450C2 (fr) 1992-09-10
EP0089662B1 (fr) 1986-12-30

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