EP0089662B1 - Einrichtung an Hebezeugen für die selbsttätige Steuerung der Bewegung des Lastträgers mit Beruhigung des Pendels der an ihm hängenden Last - Google Patents

Einrichtung an Hebezeugen für die selbsttätige Steuerung der Bewegung des Lastträgers mit Beruhigung des Pendels der an ihm hängenden Last Download PDF

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Publication number
EP0089662B1
EP0089662B1 EP83102780A EP83102780A EP0089662B1 EP 0089662 B1 EP0089662 B1 EP 0089662B1 EP 83102780 A EP83102780 A EP 83102780A EP 83102780 A EP83102780 A EP 83102780A EP 0089662 B1 EP0089662 B1 EP 0089662B1
Authority
EP
European Patent Office
Prior art keywords
load
acceleration
load carrier
movement
period
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.)
Expired
Application number
EP83102780A
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German (de)
English (en)
French (fr)
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EP0089662A1 (de
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 GESELLSCHAFT MIT BESCHRAENKTER HAFTUN
Original Assignee
Fried Krupp AG
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Publication date
Application filed by Fried Krupp AG filed Critical Fried Krupp AG
Publication of EP0089662A1 publication Critical patent/EP0089662A1/de
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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 method for automatically controlling the movement of the load carrier of a hoist with calming of the oscillation of the load occurring during acceleration or deceleration of the load hanging on the load carrier during an acceleration or deceleration time interval, using a signal transmitter for emitting load carrier movement control signals for movement control of a load carrier traversing motor, the signal profile corresponding to a cosine-shaped load carrier acceleration profile symmetrical with the center of the interval with constant basic acceleration.
  • a method of this type known from FR-A-2 399 378 is concerned with the special case of pendulum calming with constant tensile force. From the cited document it can be seen that the pendulum period and thus also the load carrier acceleration is dependent on the mass ratio. When the load mass changes, a new pendulum period and thus a new load carrier acceleration curve must be determined.
  • DE-B-1 2 09 266 is concerned with how a load that has already started to oscillate can be braked and calmed down. This is achieved by waiting for the moment of maximum pendulum deflection and then carrying out a cosine-shaped load carrier acceleration or deceleration. This document does not provide any information on how to prevent the load from swinging when accelerating or braking.
  • the invention is based on the object of specifying a formula for the load carrier acceleration and for the pendulum period which is independent of the mass ratio for a method of the type mentioned at the outset.
  • the period can therefore be chosen to be larger or smaller than the period in the previously known special case; in the case of shorter acceleration times, there is a correspondingly increased maximum value of the tensile force, namely in the middle of the period; the trolley motor must therefore be designed stronger.
  • the signal curve generated by the signal transmitter is the same in each case. This measure considerably simplifies the method, since a single acceleration curve with a single period is now used for braking or accelerating practically any load mass.
  • the load carrier is referred to as a cat, which explains the index K.
  • other load carriers are also possible, such as. B. Outrigger.
  • 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.
  • FIG. 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, respectively specified.
  • Fig. 1 D one can see the time course of the traction force P to be used by the trolley motor to accelerate the cat and load
  • V N is the difference between the speeds after and before acceleration or deceleration
  • L 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 o 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 L. 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 K 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. Since such a traction motor control system often uses an actual position value (e.g.
  • the motion control of the trolley can also be based on the speed profile v K according to FIG. 1 B or the travel path s K according to FIG. 1C. Since the pendulum movement is, to a first approximation, independent of the load mass m, the same desired movement curve (b K or v K or SK ) can generally be specified for the different load masses that occur. If the load mass is known, there is also the possibility of controlling the tractive force P (ie total force minus the forces to be overcome to overcome the driving resistances) of the traction motor 18 according to the assigned curve (FIG. 1D).
  • P total force minus the forces to be overcome to overcome the driving resistances
  • 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 .
  • a special case is the curve b K4 with a horizontal course, which results when
  • 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.
  • acceleration curve b K could be selected from the assigned family of curves which leads to constant traction P 0 , 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 this. that the tensile force P drops 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 0 also decreases according to equation B: the amplitude of the cat acceleration b K increases accordingly.
  • a step-by-step course of the control of the drive motor 18 can also be used as is indicated by the 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 Einrichtung an Hebezeugen für die selbsttätige Steuerung der Bewegung des Lastträgers mit Beruhigung des Pendels der an ihm hängenden Last Expired EP0089662B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
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
DE3210450 1982-03-22

Publications (2)

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

Family

ID=6158945

Family Applications (1)

Application Number Title Priority Date Filing Date
EP83102780A Expired EP0089662B1 (de) 1982-03-22 1983-03-21 Einrichtung an Hebezeugen für die selbsttätige Steuerung der Bewegung des Lastträgers mit Beruhigung des Pendels der an ihm hängenden Last

Country Status (3)

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

Families Citing this family (26)

* 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
DE3513007A1 (de) * 1984-04-11 1985-12-19 Hitachi, Ltd., Tokio/Tokyo Verfahren und anordnung zur automatischen steuerung eines krans
FR2571867B1 (fr) * 1984-10-11 1987-01-09 Bertin & Cie Procede et dispositif pour limiter le ballant d'une charge librement suspendue sous un support mobile.
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
FR2664885B1 (fr) * 1990-07-18 1995-08-04 Caillard Procede de controle de deplacement d'une charge pendulaire et dispositif pour sa mise en óoeuvre.
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
DE19510167C2 (de) * 1995-03-21 1997-04-10 Stahl R Foerdertech Gmbh Fahrwerk mit Pendeldämpfung
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
DE502006005975D1 (de) 2006-03-15 2010-03-11 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

Family Cites Families (10)

* 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
US3517830A (en) * 1967-10-10 1970-06-30 Vilkko Antero Virkkala Cranes
NL7014339A (enrdf_load_stackoverflow) * 1970-09-30 1972-04-05
JPS5414389B2 (enrdf_load_stackoverflow) * 1973-04-02 1979-06-06
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
LU77931A1 (fr) * 1977-08-05 1979-05-23 J Casteran 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

Also Published As

Publication number Publication date
DE3210450A1 (de) 1983-10-13
EP0089662A1 (de) 1983-09-28
DE3210450C2 (enrdf_load_stackoverflow) 1992-09-10
US4603783A (en) 1986-08-05

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