EP0583268B1 - A crane control method - Google Patents

A crane control method Download PDF

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Publication number
EP0583268B1
EP0583268B1 EP92908714A EP92908714A EP0583268B1 EP 0583268 B1 EP0583268 B1 EP 0583268B1 EP 92908714 A EP92908714 A EP 92908714A EP 92908714 A EP92908714 A EP 92908714A EP 0583268 B1 EP0583268 B1 EP 0583268B1
Authority
EP
European Patent Office
Prior art keywords
velocity
crane
request
accelerating
vref
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 - Lifetime
Application number
EP92908714A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0583268A1 (en
Inventor
Kimmo Hytonen
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.)
Materials Handling International SA
Original Assignee
HYTONEN Kimmo
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by HYTONEN Kimmo filed Critical HYTONEN Kimmo
Publication of EP0583268A1 publication Critical patent/EP0583268A1/en
Application granted granted Critical
Publication of EP0583268B1 publication Critical patent/EP0583268B1/en
Anticipated expiration legal-status Critical
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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
    • B66C13/04—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 object of the invention is a method of controlling a crane or a similar apparatus, utilized e.g. in controlling an overhead crane, wherein the attendant of the crane applies velocity requests from the control system of the crane to the operating means of the crane as control sequences, and the velocity requests applied by the attendant are read into the control system.
  • a crane is a generally used apparatus for handling parcelled goods under such conditions where the parcel to be handled cannot be transferred along the floor or ground. Cranes are used, for example, in ports and stores as well as in industry for moving parcels.
  • the principle underlying both the structure of the cranes based on open-loop control, i.e. cranes without feedback, and the methods of controlling them is that a time of oscillation of the mathematical pendulum is calculated on the basis of the known centre of gravity and suspension height of the load suspended from the crane. Control methods based on the mathematical pendulum are relatively simple and useful in practical solutions.
  • the problem with the known solutions is that in them similar fragments of a control sequence added to one another at a certain moment are executed consecutively; and on the other hand, the known solutions require that the previous control sequence should be completed before beginning another control sequence. In the most general control movements of the crane, the execution of the control sequence takes about 4 to 10 seconds, wherefore the known solutions are not very useful in assisting the crane-man.
  • the object of the invention is to provide a control method that eliminates the disadvantages inherent in the prior art and the known solutions.
  • the method of the invention which is characterized in that the velocity request is compared to the previous velocity request; if the velocity request has changed, an accelerating sequence for the corresponding change in velocity is provided, subsequently storing the resultant accelerating sequence, whereafter, or if the velocity request remains unchanged, the changes in velocity determined by the stored accelerating sequences at a given time are added up and this sum is added to the previous velocity request, the resultant sum providing a new velocity request, which is set as a new control command and velocity request for the operating means of the crane.
  • the method of the invention is based on the idea that the features of the control system of the crane are improved by adding up, in a defined manner, different control sequences eliminating the oscillation of the load after acceleration.
  • the method according to the invention for controlling the crane is an improvement in the features of the control system assisting the crane-man.
  • the desired final velocity aimed at by acceleration can be randomly modified at any moment, also during the actual accelerating and decelerating sequences. Thereby a new desired final velocity is achieved without undesired after-oscillation of the load.
  • the control system for one reason or another, sends a false control command, whereby the crane is accelerated toward a new final velocity. Owing to the method of the invention the effect of such false commands on the use of the crane and the oscillation of the load can be effectively eliminated.
  • a trolley 1 of a crane is arranged to be movable along a bridge beam 3 of an overhead crane 2.
  • the bridge beam 3 is further arranged to be movable in relation to end beams 4 and 5 at the ends of the bridge beam 3.
  • From the trolley 1 of the overhead crane 2 is suspended a cable, rope or other suitable suspension means 6 having a hook 7 or other corresponding means at the end thereof.
  • a load 8 is placed in the hook 7 by means of elevating belts 7a.
  • An elevation height 1 i of the load is regarded as being calculated from the location of the hook 7.
  • the crane 2 is controlled by a control system 13 of the crane by means of different control sequences 10, one of the sequences being shown in Figure 2.
  • the control sequence 10 illustrated in Figure 2 is a velocity sequence v(t) presented as a function of time t.
  • the control sequence 10 is directed to control operating means 11 of the trolley 1 and operating means 12 of the bridge beam 3 carrying the trolley 1.
  • electromotors can function as the operating means 11 and 12.
  • FIG. 3 shows a flow chart describing a method of the invention for controlling the crane 2 or a similar apparatus, utilized e.g. in controlling different cranes, such as an overhead crane 2, a multi-function crane or a swinging crane, wherein the attendant of the crane 2 transferring the load 8 applies velocity requests Vref from a control system 13 of the crane to the operating means 11 and 12 of the crane as control sequences 10.
  • the velocity requests Vref applied by the attendant to the operating means via the control system 13 are read into the control system 13, subsequently comparing the latest velocity request Vref to the previous velocity request; if the velocity request has changed, an accelerating sequence for the corresponding change in velocity is provided, whereafter the resultant accelerating sequence is stored e.g.
  • Figure 4 illustrates storage of the accelerating sequences a(t) 5-7 and the sum ⁇ a(t) of the accelerating sequences added up.
  • the time T of oscillation of the load is 9 seconds long.
  • the sum ⁇ a(t) of the accelerating sequences determines the magnitude of a velocity request Vref2 directed to the operating means 11, 12 of the crane 2.
  • the changes in velocity determined by the stored accelerating sequences a(t) at a given time are added up and this sum dV is added to the previous velocity request Vref, the resultant sum providing a new velocity request Vref2, which is set as a new control command and velocity request Vref2 for the motors or corresponding means functioning as the operating means 11, 12 of the crane.
  • the velocity request Vref2 is set as a control command either for the operating means 11 arranged to move the trolley 1 or for the operating means 12 arranged to move the bridge beam 3 carrying the trolley 1 or for both said operating means depending on what kind of control command the attendant of the crane 2 applies to the control system 13.
  • the accelerating sequences a(t) are stored in a special executable table 14 or the like as illustrated in Figure 4.
  • the accelerating sequences a(t) 5-7 corresponding to the detected changes in velocity are stored in the executable table 14.
  • Several accelerating sequences are stored in the executable table 14.
  • the executable table 14 is gone through and the changes in velocity determined by the stored accelerating sequences a(t) at a given time are added up therefrom, whereby the sum of the changes in velocity at a given time t is dV.
  • a new velocity request Vref2 is set as a new velocity instruction for the operating means 11, 12 of the crane practically immediately after providing the new velocity request Vref2, the control system 13 applying a new velocity request Vref2 to the crane 2 before completing the control sequence according to the previous velocity request Vref.
  • Figure 5 illustrates addition of two accelerating sequences a(t) 1 and a(t) 2 , the sum being ⁇ a(t).
  • Figure 5 also shows a velocity sequence v(t) determined by the accelerating sequences.
  • Figure 5 also illustrates providing of the velocity request Vref2 from the original velocity request Vref and the sum dV of the changes in velocity. The acceleration results in the target velocity Vref2 without oscillation of the load and without any necessity of first completing the previous control sequence.
  • Figure 6 illustrates addition of two divergent accelerating sequences a(t) 3 and a(t) 4 , the sum being ⁇ a(t).
  • the acceleration results in the target velocity 0 without oscillation of the load and without any necessity of first completing the previous control sequence.
  • acceleration should be understood as both positive and negative acceleration, i.e. both as conventional acceleration and as deceleration with the opposite effect.
  • control unit 13 should comprise a means for applying a control command, a means for reading the control command, a means for comparing the new control command with the previous control command, a means for providing an accelerating sequence, a means, such as an executable table, for storing accelerating sequences, a means for adding up the accelerating sequences and a means for providing a new control command and for applying the control command to the crane.
  • a flow chart of a practical apparatus solution would correspond, in outline, to the structure of the flow chart of Figure 3.
  • the solutions in question can be carried out e.g. by programmable logic.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Jib Cranes (AREA)
  • Transition And Organic Metals Composition Catalysts For Addition Polymerization (AREA)
  • Dental Preparations (AREA)
EP92908714A 1991-04-11 1992-04-10 A crane control method Expired - Lifetime EP0583268B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FI911757A FI89155C (fi) 1991-04-11 1991-04-11 Styrfoerfarande foer kran
FI911757 1991-04-11
PCT/FI1992/000111 WO1992018416A1 (en) 1991-04-11 1992-04-10 A crane control method

Publications (2)

Publication Number Publication Date
EP0583268A1 EP0583268A1 (en) 1994-02-23
EP0583268B1 true EP0583268B1 (en) 1996-07-10

Family

ID=8532299

Family Applications (1)

Application Number Title Priority Date Filing Date
EP92908714A Expired - Lifetime EP0583268B1 (en) 1991-04-11 1992-04-10 A crane control method

Country Status (15)

Country Link
EP (1) EP0583268B1 (ru)
JP (1) JP3132757B2 (ru)
KR (1) KR100193025B1 (ru)
AT (1) ATE140206T1 (ru)
AU (1) AU655981B2 (ru)
BR (1) BR9205874A (ru)
CA (1) CA2107997C (ru)
DE (1) DE69212152T2 (ru)
DK (1) DK0583268T3 (ru)
ES (1) ES2091462T3 (ru)
FI (1) FI89155C (ru)
GR (1) GR3021272T3 (ru)
NO (1) NO307777B1 (ru)
RU (1) RU2093451C1 (ru)
WO (1) WO1992018416A1 (ru)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FI91517C (fi) * 1992-11-17 1994-07-11 Kimmo Hytoenen Menetelmä harmonisesti värähtelevän taakan ohjaamiseksi
FI101215B (fi) * 1994-12-13 1998-05-15 Abb Industry Oy Menetelmä nosturin taakan heilahtelun vaimentamiseksi
DE19510167C2 (de) * 1995-03-21 1997-04-10 Stahl R Foerdertech Gmbh Fahrwerk mit Pendeldämpfung
DE19510785C2 (de) * 1995-03-24 1997-04-10 Stahl R Foerdertech Gmbh Stufenlos einstellbarer Fahrantrieb für Hebezeuge
FI114980B (fi) * 2003-07-17 2005-02-15 Kci Konecranes Oyj Menetelmä nosturin ohjaamiseksi
FI114979B (fi) * 2003-07-17 2005-02-15 Kci Konecranes Oyj Menetelmä nosturin ohjaamiseksi

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1132967A (en) * 1964-12-08 1968-11-06 Davy And United Instr Ltd Control systems for preventing swinging of suspended loads
DE2231997C3 (de) * 1972-06-29 1980-12-18 Siemens Ag, 1000 Berlin Und 8000 Muenchen Einrichtung zur Aufrechterhaltung eines zwischen zwei miteinander verknüpften Kranbewegungen bestehenden Verhältnisses
DE3513007A1 (de) * 1984-04-11 1985-12-19 Hitachi, Ltd., Tokio/Tokyo Verfahren und anordnung zur automatischen steuerung eines krans

Also Published As

Publication number Publication date
DE69212152D1 (de) 1996-08-14
DE69212152T2 (de) 1997-02-13
NO307777B1 (no) 2000-05-29
BR9205874A (pt) 1994-07-05
FI911757A (fi) 1992-10-12
CA2107997C (en) 1995-10-17
AU1571792A (en) 1992-11-17
EP0583268A1 (en) 1994-02-23
ATE140206T1 (de) 1996-07-15
FI89155B (fi) 1993-05-14
FI911757A0 (fi) 1991-04-11
DK0583268T3 (da) 1996-10-28
NO933631D0 (no) 1993-10-08
CA2107997A1 (en) 1992-10-12
KR100193025B1 (ko) 1999-06-15
GR3021272T3 (en) 1997-01-31
NO933631L (no) 1993-12-10
WO1992018416A1 (en) 1992-10-29
JP3132757B2 (ja) 2001-02-05
FI89155C (fi) 1993-08-25
RU2093451C1 (ru) 1997-10-20
AU655981B2 (en) 1995-01-19
JPH06506655A (ja) 1994-07-28
ES2091462T3 (es) 1996-11-01

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