EP0394147A1 - Einrichtung zur automatischen Überwachung der Lage und der Schwingungen einer hängenden Last während ihres Transports durch eine Hubvorrichtung - Google Patents

Einrichtung zur automatischen Überwachung der Lage und der Schwingungen einer hängenden Last während ihres Transports durch eine Hubvorrichtung Download PDF

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Publication number
EP0394147A1
EP0394147A1 EP90420187A EP90420187A EP0394147A1 EP 0394147 A1 EP0394147 A1 EP 0394147A1 EP 90420187 A EP90420187 A EP 90420187A EP 90420187 A EP90420187 A EP 90420187A EP 0394147 A1 EP0394147 A1 EP 0394147A1
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EP
European Patent Office
Prior art keywords
carriage
load
angular
reference model
speed
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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
EP90420187A
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English (en)
French (fr)
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EP0394147B1 (de
Inventor
Jean Lucien Rozinoer
Jacques Rapin
Patrick Perrard
Bernard Caron
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Reel SAS
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Reel SAS
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Priority to AT90420187T priority Critical patent/ATE94850T1/de
Publication of EP0394147A1 publication Critical patent/EP0394147A1/de
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Publication of EP0394147B1 publication Critical patent/EP0394147B1/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
    • B66C13/18—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
    • 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 present invention relates to an automatic device for controlling the position and oscillations of a suspended load during its transfer, in particular by means of a lifting device.
  • the invention can be adapted to lifting devices of various types, such as for example gantries, overhead cranes or cranes.
  • the handling of a load by a lifting device causes the load to swing, which it is desirable to absorb as completely as possible so that the load can be deposited in a specific location without difficulty.
  • British patent GB-A-2,030,727 describes a system of the type in question, in which one is concerned only with the absence of residual oscillations at the place of final transfer of the pendulum load. To do this, he suggests adding an analog simulator to the installation, designed to calculate repeatedly tive the speed to be imposed on the transfer member, and this as a function of the data entered initially, namely the coordinates of the initial and final positions of the load to be transferred. As in the previous cases, there is no control on the position and on the oscillation of the load, so that we find the same drawbacks.
  • the present invention aims to overcome these drawbacks. It offers a servo device for quickly transferring a suspended load with small oscillations, comprising: - At least one guide means on which moves a mobile carriage in translation actuated by a motor, to which is hung a cable (or a rod) at the other end of which (from which) is suspended said load to be transferred; - At least one position sensor intended to permanently locate the position of the carriage relative to a determined point, and to provide a so-called position signal corresponding to this location; - An angular sensor arranged on the carriage, intended to measure the value of the angle formed by the cable or the rod relative to the vertical, and to supply a so-called angular signal corresponding to this measurement.
  • the present invention is characterized in that said device comprises: - a first control loop comprising: . a first comparator intended to provide the angular difference between the angular signal thus determined and a predetermined reference angular value, by means of a reference model, as a function of the destination of the load and of the desired translation speed; . a proportional corrector intended to multiply the difference thus determined by a constant fixed in advance; - a second so-called position control loop, comprising: . a second comparator intended to provide the difference between the position signal and a theoretical reference position predetermined by the same reference model, according to the same data; .
  • a proportional and integral corrector intended on the one hand, to multiply the said deviation by a predetermined constant and on the other hand, to integrate the said deviation with respect to time over an equally predetermined interval; an adder, connected respectively to the output of the proportional corrector, of the proportional and integral corrector and of an amplifier intended to amplify the value of the reference speed, also determined by means of said reference model, as a function of the same data, the said adder being intended to add the values from these outputs to deliver a signal capable of actuating the carriage control motor.
  • the present invention is characterized in that the load transfer device is provided with two control loops connected on the one hand to sensors measuring respectively the angle formed by the cable or the rod relative to the vertical and the position of the carriage, and on the other hand to the motor control member actuating the carriage, the control being carried out as a function of the values determined by a reference model taking account of the desired speed and from the load transfer point.
  • - The carriage is movable in direction on a first rectilinear guide means, itself movable in translation on a second rectilinear guide means, coplanar but in a direction perpendicular to that of said first guide means, said second guide means being actuated by means of a motor also controlled by means of two control loops (in position and in angle) of the same kind as those previously described for the directional movement, the control being dependent on a reference model which is specific to said engine;
  • - the carriage is mobile on an overhead crane;
  • the carriage is movable in a radial movement on a first guide means, itself movable in rotation by means of a rotation member, actuated by means of a motor also controlled by a loop of enslavement according to a reference model which is also specific to it;
  • the carriage is movable along the horizontal boom of a crane; - the servo calculations are carried out approximately twenty times per second by means of a digital calculation unit.
  • the device according to the invention will first of all be described in the case of a rectilinear unidirectional movement of a load (5) (see FIG. 1), suspended by means of a cable (4) from a carriage ( 1).
  • the carriage (1) moves on non-deformable rails (2), by means of a motor, not shown.
  • the carriage (1) further comprises a winding cylinder (3) capable of varying the height of the load (5).
  • the motor causing the carriage (1) to move is a variable speed motor, the speed of which is controlled by a device commonly known as an "electronic speed variator", to which a speed setpoint is applied defined by a voltage applied between two points , said voltage being proportional to this speed.
  • the carriage (1) has an angular sensor, not shown, located in the vertical plane defined by the movement, and intended to measure the angle ⁇ .
  • This potentiometer type angular sensor is well known for this application.
  • the device according to the invention also has a sensor for the actual position of the carriage on the rails (2) relative to a predetermined original position.
  • This sensor may be constituted by a rack fixed to the rails (2), on which a digital encoder meshes fixed to the carriage (1). In this way, the actual position of the carriage is precisely defined and instantly known.
  • the motor for actuating the carriage (1) is doubly controlled.
  • the actual position measured as previously described is compared with a reference position determined by means of a reference model which will be described later.
  • the difference obtained at the level of a comparator (20) is then subjected to a processing at the level of a proportional and integral corrector (21).
  • This processing consists, in a known manner, on the one hand of multiplying the difference thus obtained by a predetermined constant as a function of the characteristics of the system, and on the other hand, of adding to this value the integral with respect to time of said difference of position, the output signal of said corrector (21) being of the form: K1 (pos.ref-pos.eal) + K2 ⁇ t o (ref pos. - actual pos.) dt where K1 and K2 denote the said predetermined constants.
  • the actual measured value of the angle ⁇ formed by the suspended load with the vertical is also compared by means of a comparator (22) with a reference angle also determined by means of the reference model.
  • the angular difference thus determined undergoes processing in a proportional corrector (23).
  • the processing followed in the proportional corrector consists of a simple multiplication by a predetermined constant also a function of the characteristics of the system of the value of said difference.
  • the signal from the adder (24) is then transformed into an analog signal by means of a digital analog converter not shown, then transferred to the actuation motor of the carriage (1).
  • the two control loops are thus completely described.
  • the comparators (20,22) as well as the two correctors (21,23) and the amplifier (25), as well as the summator (24) and the digital to analog converter, are concentrated in one and the same card.
  • electronic processing. Said card is managed by means of a microprocessor entering the angle and actual position measurements as well as the servo commands some twenty times per second. In this way, the possible oscillations of the load are rigorously controlled and immediately compensated for by said control loops.
  • the device according to the invention involves a displacement of the load in a vertical plane, in particular shown in FIG. 3.
  • the movement of the load results from the component of two movements in translation on the one hand, in the direction on the other hand.
  • the operator himself defines the level speeds for each of the movements V X and V Y.
  • the respective times P X / V X and P X / V Y are not necessarily equal.
  • the slowest movement imposes its law on the resulting movement and in fact, the speed of the second is adjusted to achieve the movement at the same time and thus have a synchronization of the two movements which results in a movement located in a vertical plane passing through the starting and ending points of the charge.
  • the two movements according to (X) and (Y) are independent and virtually decoupled, in particular for the control, apart from the fact that the speeds are calculated beforehand in order to obtain a displacement according to a fixed vertical plane containing the two starting points. and destination of the load.
  • the angular sensors are located in two perpendicular planes, namely one defined by the vertical plane of translation, and the other by the vertical plane of direction.
  • the device is suitable for transferring a load suspended from a crane (see FIG. 4).
  • the movements of a crane are respectively radial along the carrying beam (10) and circular around its pivot axis (11).
  • the displacement of the load is carried out along a vertical plane, from the position P1 located at the distance R1 from the pivot axis, and forming an angle ⁇ 1 with respect to the reference axis OX, at a position P2, distant from the pivot axis (11) by a distance R2, forming with the reference axis OX an angle ⁇ 2.
  • this displacement in a straight line requires beforehand to calculate in the Cartesian space OX-OY the equation of the said straight line, to determine in projection on the axes OX-OY the laws of motion with the reference models and enslavements as before, and then to transform the Cartesian equations into polar equations corresponding respectively to the circular movement and to the radial movement.
  • the microprocessor therefore simply performs an additional step of transforming Cartesian coordinates into polar coordinates, and this by means of an appropriate converter.
  • the curve I represents the constant acceleration ⁇
  • the curve II represents the variation of the speed
  • the curve III represents the variation of the angle
  • the curve IV that of the position and this, for different phases, respectively phase A of speed increase, phase B which corresponds to a plateau corresponding to the maximum speed, and phase C corresponding to the descent in speed.
  • the acceleration ⁇ is constant for a time T equal to the period of the pendulum and the deceleration of the same value for the same duration.
  • the other three curves II, III and IV are deduced therefrom.
  • the increase in speed is linear.
  • the acceleration stops a speed step is obtained.
  • the deceleration being constant, there is a symmetrical speed descent with respect to the ascent.
  • the position curve is obtained by simple integration of that of speed with respect to time.
  • the value of the angle is a sinusoidal function of time, which is canceled during the stop and becomes symmetrical during the deceleration compared to its value during the acceleration phase.
  • the operator fixes the system data which are: - the predetermined value of the level speed of the carriage; - the length of the pendulum; - the coordinates of the point of arrival.
  • the servo-control applied to the motor makes it possible to follow as closely as possible the values defined by the reference model to arrive at a zero angular deviation at the point of arrival of the load by correcting the differences between theory and reality.
  • the effects of possible disturbances are also attenuated, for example the oscillations of the start when the load is taken and the unexpected shocks during transfer.
  • the microprocessor performs the various calculations approximately 20 times per second in order to readjust each time the speed reference value of the carriage.
  • the servo-control at the end of movement is maintained until the position is reached with the required tolerance and the oscillation is damped to reach a maximum value within the required tolerance.
  • the principle of the command is to generate an acceleration law ⁇ such that the behavior of the pendulum constituted by the load is that of the pendulum of constant length l0. It then becomes possible to use the device described in the case of controlling a pendulum of constant length.
  • the compensation terms are taken from the reference model already used in the case of the pendulum of constant length, this model thus giving ⁇ ′ ref , ⁇ ⁇ ref by deriving ⁇ ref .
  • the rise of the load begins at the same time as the movement of the carriage, but the fact that this rise can end either during the rise in speed of the carriage, or during the leveling, or even during deceleration, five different cases can present themselves for which the previous equation is written differently.
  • the reference model corresponds to that shown in Figure 7, which summarizes the five cases listed above, and for which the functions f and h depend on the situation considered as shown in the table below, in which v denotes the speed of rise of the pendulum, that is to say the speed of decrease of the length of the pendulum, and v ′ its speed of descent.
  • the functions f and h are respectively homogeneous at a length and at a speed, which multiplied respectively by an angular acceleration ⁇ ⁇ and an angular speed ⁇ ′, then become homogeneous at an acceleration.
  • the reference model for a linear pendulum of length l0 (30) determines the values ⁇ ref , ⁇ ′ ref and ⁇ ⁇ ref .
  • the modules (31) and (32) respectively determine the values of the functions h and f, according to the different phases of the load transfer.
  • the functions f and h thus determined are then multiplied respectively at ⁇ ⁇ ref and ⁇ ′ ref , the expressions thus obtained are then summed and added to the value of ⁇ P by means of a summator (33), the said value of ⁇ P being calculated beforehand as a function of the load destination position.
  • the output signal from the adder (33) corresponds to the value of ⁇ , that is to say to the acceleration signal communicated to the load, by the intermediary diary of the lifting device.
  • the value of ⁇ is corrected on average 20 times per second, in order to take into account on the one hand any disturbances likely to occur during the transfer, and on the other hand, according to the different transfer phases.
  • the signal ⁇ is integrated successively twice, by means of the integrators (34) and (35), in order to give the values of v ref and of the reference position.
  • FIG. 8 shows an example of the consequence of the servo-control on the angular oscillations as a function of time in the form of a curve.
  • the curve representing the position of the load during its transfer as a function of time has also been shown opposite this curve.
  • the corresponding signals are generally symmetrical, the phase at constant speed of course generating a zero signal.
  • the device according to the invention makes it possible to obtain systematic and rapid stabilization of the oscillations and other disturbances liable to cause oscillations during the transfer of a suspended load.
  • the double servo-control both in angular deviation and in position is therefore particularly suitable for any transfer of suspended load, in particular in the context of activities requiring special precautions, such as for example the nuclear industry, etc.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)
  • Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
  • Control Of Position Or Direction (AREA)
EP90420187A 1989-04-14 1990-04-12 Einrichtung zur automatischen Überwachung der Lage und der Schwingungen einer hängenden Last während ihres Transports durch eine Hubvorrichtung Expired - Lifetime EP0394147B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT90420187T ATE94850T1 (de) 1989-04-14 1990-04-12 Einrichtung zur automatischen ueberwachung der lage und der schwingungen einer haengenden last waehrend ihres transports durch eine hubvorrichtung.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8905238A FR2645846B1 (fr) 1989-04-14 1989-04-14 Dispositif de controle de la position et des oscillations d'une charge suspendue durant son transfert au moyen d'un appareil de levage
FR8905238 1989-04-14

Publications (2)

Publication Number Publication Date
EP0394147A1 true EP0394147A1 (de) 1990-10-24
EP0394147B1 EP0394147B1 (de) 1993-09-22

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EP90420187A Expired - Lifetime EP0394147B1 (de) 1989-04-14 1990-04-12 Einrichtung zur automatischen Überwachung der Lage und der Schwingungen einer hängenden Last während ihres Transports durch eine Hubvorrichtung

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EP (1) EP0394147B1 (de)
AT (1) ATE94850T1 (de)
DE (1) DE69003432D1 (de)
FR (1) FR2645846B1 (de)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2698344A1 (fr) * 1992-11-23 1994-05-27 Telemecanique Dispositif de régulation du transfert d'une charge suspendue.
EP0611211A1 (de) * 1993-02-12 1994-08-17 Caillard Kontroll- und Steuersystem für die Geschwindigkeit einer bewegten, pendelnden Ladung und Hebevorrichtung mit einem solchen System
FR2703347A1 (fr) * 1993-04-02 1994-10-07 Telemecanique Dispositif de transfert d'une charge suspendue.
FR2704847A1 (fr) * 1993-05-05 1994-11-10 Bertin & Cie Procédé et dispositif de limitation du ballant d'une charge suspendue à un support motorisé.
GB2280045A (en) * 1993-07-15 1995-01-18 Daewoo Engineering Company Anti-swing automatic control systems for unmanned overhead cranes
FR2708920A1 (fr) * 1993-08-13 1995-02-17 Caillard Procédé de contrôle de balancement d'une charge pendulaire et dispositif de mise en Óoeuvre du procédé.
WO1997045357A1 (de) * 1996-05-24 1997-12-04 Siemens Aktiengesellschaft Verfahren und anordnung zur vermeidung vom lastschwingungen bei einem drehbewegungen ausführenden hängelastbewegungsgerät
FR2775678A1 (fr) * 1998-03-04 1999-09-10 Schneider Electric Sa Procede de regulation de deplacement d'une charge suspendue
EP1334945A2 (de) * 2002-02-08 2003-08-13 Mitsubishi Heavy Industries, Ltd. Vorrichtung und Verfahren zur Steuerung der Drehbewegung eines Containers

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002241079A (ja) * 2001-02-13 2002-08-28 Mitsubishi Heavy Ind Ltd クレーンの積み付け制御方法および積み付け制御装置
CN111302222B (zh) * 2020-02-27 2021-03-16 武汉理工大学 一种可实现随机位置停车的桥式起重机定位防摇控制方法

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2005323A1 (de) * 1969-02-24 1970-09-03 General Electric Company, Schenectady, N.Y. (V.St.A.) Motorsteuerungssystem für hängend beförderte Lasten
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
GB2030727A (en) * 1978-09-25 1980-04-10 Heemaf Nv Bridge crane control
DE3513007A1 (de) * 1984-04-11 1985-12-19 Hitachi, Ltd., Tokio/Tokyo Verfahren und anordnung zur automatischen steuerung eines krans
DE3627580A1 (de) * 1985-08-16 1987-03-05 Hitachi Ltd Verfahren zum steuern eines krans
FR2598141A1 (fr) * 1986-05-02 1987-11-06 Mitsubishi Electric Corp Dispositif de commande de suppression des oscillations dans une grue du type a suspension.

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2005323A1 (de) * 1969-02-24 1970-09-03 General Electric Company, Schenectady, N.Y. (V.St.A.) Motorsteuerungssystem für hängend beförderte Lasten
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
GB2030727A (en) * 1978-09-25 1980-04-10 Heemaf Nv Bridge crane control
DE3513007A1 (de) * 1984-04-11 1985-12-19 Hitachi, Ltd., Tokio/Tokyo Verfahren und anordnung zur automatischen steuerung eines krans
DE3627580A1 (de) * 1985-08-16 1987-03-05 Hitachi Ltd Verfahren zum steuern eines krans
FR2598141A1 (fr) * 1986-05-02 1987-11-06 Mitsubishi Electric Corp Dispositif de commande de suppression des oscillations dans une grue du type a suspension.

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
FOERDEN UND HEBEN *
PATENT ABSTRACTS OF JAPAN *

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5490601A (en) * 1992-11-23 1996-02-13 Telemecanique Device for controlling the transfer of a load suspended by cables from a carriage movable in translation in a lifting machine
FR2698344A1 (fr) * 1992-11-23 1994-05-27 Telemecanique Dispositif de régulation du transfert d'une charge suspendue.
EP0611211A1 (de) * 1993-02-12 1994-08-17 Caillard Kontroll- und Steuersystem für die Geschwindigkeit einer bewegten, pendelnden Ladung und Hebevorrichtung mit einem solchen System
FR2701467A1 (fr) * 1993-02-12 1994-08-19 Caillard Système de contrôle de commande de la vitesse de déplacement d'une charge pendulaire et appareil de levage comprenant un tel système.
FR2703347A1 (fr) * 1993-04-02 1994-10-07 Telemecanique Dispositif de transfert d'une charge suspendue.
FR2704847A1 (fr) * 1993-05-05 1994-11-10 Bertin & Cie Procédé et dispositif de limitation du ballant d'une charge suspendue à un support motorisé.
GB2280045A (en) * 1993-07-15 1995-01-18 Daewoo Engineering Company Anti-swing automatic control systems for unmanned overhead cranes
FR2708920A1 (fr) * 1993-08-13 1995-02-17 Caillard Procédé de contrôle de balancement d'une charge pendulaire et dispositif de mise en Óoeuvre du procédé.
WO1995005336A1 (fr) * 1993-08-13 1995-02-23 Caillard Procede de controle de balancement d'une charge pendulaire et dispositif de mise en ×uvre du procede_____________________________
US5878896A (en) * 1993-08-13 1999-03-09 Caillard Method for controlling the swinging of a hanging load and device for the implementation of the method
WO1997045357A1 (de) * 1996-05-24 1997-12-04 Siemens Aktiengesellschaft Verfahren und anordnung zur vermeidung vom lastschwingungen bei einem drehbewegungen ausführenden hängelastbewegungsgerät
FR2775678A1 (fr) * 1998-03-04 1999-09-10 Schneider Electric Sa Procede de regulation de deplacement d'une charge suspendue
EP1334945A2 (de) * 2002-02-08 2003-08-13 Mitsubishi Heavy Industries, Ltd. Vorrichtung und Verfahren zur Steuerung der Drehbewegung eines Containers
EP1334945A3 (de) * 2002-02-08 2004-01-02 Mitsubishi Heavy Industries, Ltd. Vorrichtung und Verfahren zur Steuerung der Drehbewegung eines Containers

Also Published As

Publication number Publication date
FR2645846B1 (fr) 1991-10-04
DE69003432D1 (de) 1993-10-28
ATE94850T1 (de) 1993-10-15
EP0394147B1 (de) 1993-09-22
FR2645846A1 (fr) 1990-10-19

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