EP0578280A2 - Verfahren zum Steuern der Ortsveränderung einer pendelartigen Last und Vorrichtung um dieses in Angriff zu nehmen - Google Patents

Verfahren zum Steuern der Ortsveränderung einer pendelartigen Last und Vorrichtung um dieses in Angriff zu nehmen Download PDF

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Publication number
EP0578280A2
EP0578280A2 EP93113406A EP93113406A EP0578280A2 EP 0578280 A2 EP0578280 A2 EP 0578280A2 EP 93113406 A EP93113406 A EP 93113406A EP 93113406 A EP93113406 A EP 93113406A EP 0578280 A2 EP0578280 A2 EP 0578280A2
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EP
European Patent Office
Prior art keywords
displacement
load
pendulum
theoretical
mobile support
Prior art date
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Granted
Application number
EP93113406A
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English (en)
French (fr)
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EP0578280B1 (de
EP0578280A3 (de
Inventor
Patrice Genet
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.)
Konecranes France SA
Original Assignee
Caillard SA
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Application filed by Caillard SA filed Critical Caillard SA
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Publication of EP0578280A3 publication Critical patent/EP0578280A3/xx
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Publication of EP0578280B1 publication Critical patent/EP0578280B1/de
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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
    • 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 a method for controlling the movements of a pendulum load suspended from a horizontally movable support.
  • the invention also relates to devices for its implementation.
  • the invention is particularly applicable to port lifting devices such as cranes, gantry cranes or containers.
  • a primary objective is to precisely move from one point to another a load suspended by cables to a mobile support, such as a motorized trolley, and in particular to obtain a zero swing of the load at the end of the journey.
  • the accuracy of the movement depends essentially on the control and the damping of the load's oscillations during the movement.
  • the object of the present invention is to remedy these drawbacks by proposing a method for controlling the movements of a pendulum load suspended from a horizontally movable support, and moved from a starting point to an ending point during a travel from predetermined duration, which allows for the taking into account of disturbances and pendulum length variations and which uses the power of the lifting device to the maximum in order to reduce travel times.
  • the device for controlling the movement of a pendulum load suspended from a horizontally movable support implementing the method according to the invention, associated with a lifting machine comprising lifting means and steering means, is characterized in that it comprises control and processing means receiving, on the one hand, information representative of the length of the associated pendulum, the swing angle and the displacement of the mobile support respectively length acquisition means, angle acquisition means and displacement acquisition means, and issuing in return lifting orders and direction orders respectively intended for lifting means and direction means , said direction orders being calculated so as to satisfy the displacement law X (t) according to the method as defined above.
  • the device for controlling the movement of a pendular load 20 suspended from a mobile support of a lifting machine 1 comprises a computer 4 receiving on the one hand, at input CL, information on the length of the pendulum from a position encoder 7, at input B, sway information from a camera 18, or any other optical analysis device, and at the CD input, information on the displacement of the mobile support or direction information, and delivering in return, at output SL, lifting orders transmitted to lifting means 6, 5, 8 of the lifting machine 1, and at output SD, direction orders transmitted to lifting means 1 direction 14, 15, 16.
  • the lifting means comprise a lifting drum 8 around which a suspension cable 21 connected to the load 20 is wound, for example, a container, a reduction gear 5 and an electric motor 6, arranged according to well known techniques.
  • the lifting motor 6, with which the lifting encoder 7 is associated, is controlled, via a control line 9 and an amplifier 10, either from a lifting control lever 2 or by the computer 4, through the SL output above.
  • the steering means comprise a steering roller 16 rolling on a horizontal steering rail 17 linked to the lifting machine, a reduction gear 15 and an electric motor 14 to which a direction encoder 13 is fixed.
  • This steering motor 14 is controlled via a steering power line 12 and a power amplifier 11, either from a steering control lever 3, or by the computer 4, through the aforementioned SD output.
  • the swing angle is measured by a camera 18 secured to the movable support and the objective of which is directed vertically downwards, the pendulum load 20 being equipped with an optical beacon 19 emitting a beam directed upwards.
  • FIG. 2 The general diagram of a container handling and lifting machine 30 that can be fitted with a movement control device according to the invention is given in FIG. 2.
  • the port lifting device 30 comprises, according to known techniques, a gantry 35 to which a horizontal boom structure 33 is connected.
  • a mobile carriage 34 can be moved horizontally in a direction X along the arrow 33.
  • a container 31 is suspended from the movable carriage 34 by cables 32 whose variation in length allows the container 31 to move in a vertical direction Z.
  • FIG. 4 illustrates the main geometric variables taken into account in the implementation of the method according to the invention.
  • the variable x represents the horizontal displacement of the carriage or mobile support 40.
  • a perpendicular load 41 is suspended from the mobile carriage 40 by a cable of length l .
  • the cable is inclined at an angle ⁇ with respect to the vertical, the pendulum load 41 having a deviation y from said vertical.
  • the instantaneous displacement of the pendulum load 41 is represented by a variable X equal to the sum x + y.
  • the displacement of the suspension point of the load 41, and therefore the displacement of the mobile support 40 is determined by expressing the dynamic balance of the pendulum load: g being the acceleration of gravity.
  • Equation (1) makes it possible to calculate the displacement X (t) as a function of the maximum acceleration ⁇ and the duration of the journey T, while equation (2) makes it possible to calculate the difference y as a function of the derivative second l 'of the instantaneous length of the pendulum associated with the load and the acceleration X''(t).
  • the position x of the carriage 40 is determined, with reference to FIG. 1, using the encoder 13, for example an incremental encoder, mounted on the shaft of the steering motor 14.
  • variable l is determined by the encoder 7 mounted on the shaft of the lifting motor 6 while the variable y is calculated from the angle ⁇ and the length l via the optical system constituted by the camera 18 and tag 19.
  • This beacon 19 constitutes a light source which creates a light spot on the sensitive element of the camera 18 which in return delivers a signal proportional to the angle ⁇ .
  • the computer 4 can then determine the theoretical value of the difference y and the actual instantaneous position X of the pendulum load 41.
  • a first block 61 illustrates the calculation of the theoretical displacement X (t) according to the invention.
  • This theoretical displacement X (t) is compared to the actual displacement X equal to the sum of the displacement x of the carriage 40 ( Figure 4) and of the product l.sin ⁇ of the instantaneous length l of the pendulum and the sine of the swing angle ⁇ , this sum being represented by block 67.
  • the difference ⁇ 1 between the theoretical displacement X (t) and the actual displacement X is derived at 62.
  • the speed is then regulated (block 65) at the level of the steering motor 14 (FIG. 1).
  • the effective displacement x of the carriage causes a swing of angle ⁇ (block 66).
  • Such control ensured a substantially zero swing at the end of the pendulum load path.
  • the method according to the invention moreover allows a relative optimization of the duration T of the path of the pendulum load. For a given distance D to be covered, it is possible to vary the period T of the maximum acceleration continuously.
  • VMAX the journey time T and the maximum acceleration ⁇ can then be determined. On the other hand, if this limitation is reached, a phase at VMAX speed is undertaken. A maximum acceleration and a distance traveled at VMAX speed are also determined.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)
  • Control Of Position Or Direction (AREA)
EP93113406A 1990-07-18 1991-07-17 Verfahren zum Steuern der Ortsveränderung einer pendelartigen Last und Vorrichtung um dieses in Angriff zu nehmen Expired - Lifetime EP0578280B1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR9009145A FR2664885B1 (fr) 1990-07-18 1990-07-18 Procede de controle de deplacement d'une charge pendulaire et dispositif pour sa mise en óoeuvre.
FR9009145 1990-07-18
EP91401997A EP0467783A1 (de) 1990-07-18 1991-07-17 Verfahren zum Steuern der Ortsveränderung einer pendelartigen Last und Vorrichtung um dieses in Angriff zu nehmen

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
EP91401997.1 Division 1991-07-17

Publications (3)

Publication Number Publication Date
EP0578280A2 true EP0578280A2 (de) 1994-01-12
EP0578280A3 EP0578280A3 (de) 1994-03-02
EP0578280B1 EP0578280B1 (de) 1996-05-29

Family

ID=9398842

Family Applications (2)

Application Number Title Priority Date Filing Date
EP93113406A Expired - Lifetime EP0578280B1 (de) 1990-07-18 1991-07-17 Verfahren zum Steuern der Ortsveränderung einer pendelartigen Last und Vorrichtung um dieses in Angriff zu nehmen
EP91401997A Withdrawn EP0467783A1 (de) 1990-07-18 1991-07-17 Verfahren zum Steuern der Ortsveränderung einer pendelartigen Last und Vorrichtung um dieses in Angriff zu nehmen

Family Applications After (1)

Application Number Title Priority Date Filing Date
EP91401997A Withdrawn EP0467783A1 (de) 1990-07-18 1991-07-17 Verfahren zum Steuern der Ortsveränderung einer pendelartigen Last und Vorrichtung um dieses in Angriff zu nehmen

Country Status (5)

Country Link
EP (2) EP0578280B1 (de)
DE (3) DE467783T1 (de)
ES (2) ES2029975T1 (de)
FR (1) FR2664885B1 (de)
GR (1) GR920300044T1 (de)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0869096A2 (de) * 1996-11-07 1998-10-07 Mitsubishi Heavy Industries, Ltd. Messeinrichtung für Lastschwingungen
WO2009156573A1 (en) * 2008-06-23 2009-12-30 Konecranes Oyj Method of controlling rotation speed of motor of speed-controllable hoist drive, and hoist drive
US11334027B2 (en) 2018-11-19 2022-05-17 B&R Industrial Automation GmbH Method and oscillation controller for compensating for oscillations of an oscillatable technical system

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SG134959A1 (en) * 1992-11-03 2007-09-28 Siemens Ag Apparatus for acquiring pendulum oscillations of crane loads using measurement techniques
FR2698344B1 (fr) * 1992-11-23 1994-12-30 Telemecanique Dispositif de régulation du transfert d'une charge suspendue.
FI91239C (fi) * 1993-02-01 1998-07-20 Kimmo Hytoenen Menetelmä ja laitteisto nosturin toiminnan ohjaamiseksi
US5819962A (en) * 1993-03-05 1998-10-13 Mitsubishi Jukogyo Kabushiki Kaisha Apparatus for stopping the oscillation of hoisted cargo
FR2703347B1 (fr) * 1993-04-02 1995-05-05 Telemecanique Dispositif de transfert d'une charge suspendue.
GB2280045A (en) * 1993-07-15 1995-01-18 Daewoo Engineering Company Anti-swing automatic control systems for unmanned overhead cranes
JP2971318B2 (ja) * 1994-03-28 1999-11-02 三菱重工業株式会社 吊荷の振れ止め制御装置
EP0788455B1 (de) * 1994-10-26 2000-04-12 Siemens Aktiengesellschaft Anordnung zum messtechnischen erfassen von lastpendelungen bei kranen
US5817770A (en) 1997-03-21 1998-10-06 Drug Abuse Sciences, Inc. Cocaethylene immunogens and antibodies
DE10029579B4 (de) * 2000-06-15 2011-03-24 Hofer, Eberhard P., Prof. Dr. Verfahren zur Orientierung der Last in Krananlagen
DE102005005358A1 (de) * 2005-02-02 2006-08-10 Siemens Ag Bediengerät für ein Regallager, insbesondere ein Regalbediengerät für ein Hochregallager, sowie ein Verfahren zur Steuerung des Bediengerätes
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
DE102015008506A1 (de) 2015-07-03 2017-01-05 Gebhardt Fördertechnik GmbH Maschinenvorrichtung, die aus einer impulsförmigen Antriebsbelastung zu Schwingungen neigt, insbesondere Regalbediengerät, Fertigungsmaschine, Roboter, Kran oder dergleichen, und Verfahren zum Betreiben einer derartigen Vorrichtung
CN108238550A (zh) * 2018-02-02 2018-07-03 北京市政建设集团有限责任公司 一种起重吊装作业时支撑体系失稳的应急控制方法
CN110963409B (zh) * 2019-11-29 2021-02-09 北京航天自动控制研究所 一种轮胎吊机器视觉自动纠偏偏差测量方法

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2088462A1 (de) * 1970-05-09 1972-01-07 Siemens Ag
DE2316810A1 (de) * 1972-04-14 1973-10-18 Asea Ab Anordnung bei kraenen zur bestimmung der abweichung des lastbefestigungsorgans von einer definierten lotrechten linie
DE2751823A1 (de) * 1976-11-29 1978-06-01 Asea Ab Anordnung zur lastschwingungshemmenden steuerung von kranen
EP0089662A1 (de) * 1982-03-22 1983-09-28 Fried. Krupp Gesellschaft mit beschränkter Haftung Einrichtung an Hebezeugen für die selbsttätige Steuerung der Bewegung des Lastträgers mit Beruhigung des Pendels der an ihm hängenden Last
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
DE3627580A1 (de) * 1985-08-16 1987-03-05 Hitachi Ltd Verfahren zum steuern eines krans

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2088462A1 (de) * 1970-05-09 1972-01-07 Siemens Ag
DE2316810A1 (de) * 1972-04-14 1973-10-18 Asea Ab Anordnung bei kraenen zur bestimmung der abweichung des lastbefestigungsorgans von einer definierten lotrechten linie
DE2751823A1 (de) * 1976-11-29 1978-06-01 Asea Ab Anordnung zur lastschwingungshemmenden steuerung von kranen
EP0089662A1 (de) * 1982-03-22 1983-09-28 Fried. Krupp Gesellschaft mit beschränkter Haftung Einrichtung an Hebezeugen für die selbsttätige Steuerung der Bewegung des Lastträgers mit Beruhigung des Pendels der an ihm hängenden Last
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
DE3627580A1 (de) * 1985-08-16 1987-03-05 Hitachi Ltd Verfahren zum steuern eines krans

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
IEEE INTERNATIONAL CONFERENCE ON CONTROL AND APPLICATIONS PROCEEDINGS. no. WA35 , 3 Avril 1989 , NEW YORK (US) pages 1 - 5 XP90590 P. V[H[ ET AL. 'Conventional and optimal control in swing-free transfer of suspended load.' *

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0869096A2 (de) * 1996-11-07 1998-10-07 Mitsubishi Heavy Industries, Ltd. Messeinrichtung für Lastschwingungen
EP0869096A3 (de) * 1996-11-07 2000-01-19 Mitsubishi Heavy Industries, Ltd. Messeinrichtung für Lastschwingungen
WO2009156573A1 (en) * 2008-06-23 2009-12-30 Konecranes Oyj Method of controlling rotation speed of motor of speed-controllable hoist drive, and hoist drive
CN102066231A (zh) * 2008-06-23 2011-05-18 科恩起重机有限公司 用于控制速度可控的起重机驱动装置的马达的转速的方法和起重机驱动装置
CN102066231B (zh) * 2008-06-23 2013-05-15 科恩起重机有限公司 用于控制速度可控的起重机驱动装置的马达的转速的方法和起重机驱动装置
US8651301B2 (en) 2008-06-23 2014-02-18 Konecranes Plc Method of controlling rotation speed of motor of speed-controllable hoist drive, and hoist drive
US11334027B2 (en) 2018-11-19 2022-05-17 B&R Industrial Automation GmbH Method and oscillation controller for compensating for oscillations of an oscillatable technical system

Also Published As

Publication number Publication date
GR920300044T1 (en) 1992-08-26
FR2664885B1 (fr) 1995-08-04
ES2090795T3 (es) 1996-10-16
DE69119913T2 (de) 1996-12-19
EP0578280B1 (de) 1996-05-29
DE69119913D1 (de) 1996-07-04
ES2029975T1 (es) 1992-10-16
DE578280T1 (de) 1994-10-06
EP0578280A3 (de) 1994-03-02
DE467783T1 (de) 1992-07-23
FR2664885A1 (fr) 1992-01-24
EP0467783A1 (de) 1992-01-22

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