EP0626337A1 - Procedure for controlling a crane - Google Patents

Procedure for controlling a crane Download PDF

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Publication number
EP0626337A1
EP0626337A1 EP94108141A EP94108141A EP0626337A1 EP 0626337 A1 EP0626337 A1 EP 0626337A1 EP 94108141 A EP94108141 A EP 94108141A EP 94108141 A EP94108141 A EP 94108141A EP 0626337 A1 EP0626337 A1 EP 0626337A1
Authority
EP
European Patent Office
Prior art keywords
oscillation
hoisting
procedure
load
length
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.)
Withdrawn
Application number
EP94108141A
Other languages
German (de)
English (en)
French (fr)
Inventor
Tapani Kiiski
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 PLC
Original Assignee
KCI Konecranes International Oy
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 KCI Konecranes International Oy filed Critical KCI Konecranes International Oy
Publication of EP0626337A1 publication Critical patent/EP0626337A1/en
Withdrawn legal-status Critical Current

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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 invention relates to a procedure according to the preamble of claim 1 for controlling the traversing motion of a crane.
  • traversing motion means both the traversing motion of the trolley and the motion of a carriage supporting the trolley or other essentially horizontal motion used to move an element which has a suspension point for a hoisting cable or on which a hoisting drum or equivalent for winding up the hoisting cable is installed.
  • patent application FI 920751 presents a procedure in which the control commands for the travesing motor of the crane are so modified that, when the commands are being issued, acceleration periods are formed which both implement the control commands and compensate the oscillation of the load at the end of the traversing motion.
  • the object of the present invention is to achieve a procedure for controlling a crane whereby the oscillation of the load can be compensated even when the oscillation length of the hoisting cable changes during traversal. This is implemented via the actions defined in the characterization part of claim 1.
  • the changes in the hoisting cable length, which has an effect on the oscillation are taken into account in the control procedure. Therefore, the control substantially follows the actual oscillation of the load and changes the motor acceleration periods accordingly. Even in the case of high hoisting speeds, the oscillations can be compensated.
  • the load can be moved without oscillation when the hoisting height changes even without speed feedback by using acceleration periods determined in the control procedure. Deceleration periods are to be understood as corresponding to acceleration periods, only the direction of the change of velocity is reversed.
  • the trolley 1 of the crane is moved by its traversing motor along the supporting rails 2 in direction x at a speed v determined by the control.
  • a hanging load 4 is supported by a hoisting cable 3 fixed to the trolley 1.
  • oscillations of the hoisting cable and the load supported by it are generated as a result of control actions, these oscillations being determined by the oscillation equation of the system.
  • the length of the hoisting cable is calculated here as the distance between the cable suspension point in the trolley 1 to the centre of gravity of the load 4.
  • the hoisting cable 3 forms an angle ⁇ with respect to the vertical direction y.
  • the solution of equation (3) is a periodic function whose cycle duration, i.e. the oscillation cycle, is T.
  • deceleration periods 23 and 24 are started at instants t4 and t6 and ended at instants t5 and t7, respectively.
  • the broken line represents the variation of velocity v during the traversal.
  • Fig. 2b illustrates the variation of the oscillation angle ⁇ with respect to time resulting from the acceleration periods in Fig. 2a).
  • the broken lines represent the oscillations caused by individual changes in acceleration while the solid lines represent the oscillation angle of the total load oscillation.
  • the motor acceleration period is modified by including in it a correction term which takes the effect of the hoisting speed into account.
  • a correction term which takes the effect of the hoisting speed into account.
  • the change in the length of the hoisting cable as well as the hoisting speed of the load are determined.
  • equation (1) will be reduced to the form of equation (3), where u has the value of u1. Since the correction term u k is a function of time depending on the time derivative of the oscillation angle and the hoisting cable length, the value of u k changes as a function of time.
  • FIG. 3 illustrates the generation of the control period according to the invention.
  • Fig. 3a shows an additional control period 31 according to the correction term at the beginning of the traversal and a corresponding additional control period 31' at the end of it.
  • the hoisting speed is assumed to be constant during the control period.
  • the corrections made in connection with acceleration and deceleration are depicted as having equal magnitudes and beginning at an instant when the oscillation angle and the oscillation velocity are zero.
  • Fig. 3c depicts the total control periods 34 and 35 in solid lines and the acceleration periods 21-24 generated on the basis of the control in broken lines.
  • Fig. 4 presents a diagram of the control principle for implementing the procedure of the invention.
  • the control periods are generated in unit 41, whose output is taken into a correction unit 42, where the control is modified by a correction term u k .
  • the input quantities of unit 41 are the cable length L, the oscillation angle ⁇ .
  • the input quantities of unit 42 are, in addition to the correction term u k , the output quantity u1 of unit 41 and the duration T of the oscillation cycle.
  • the correction term u k is generated by unit 43, whose input quantities are the angular velocity ⁇ ' of the oscillation and the rate of change L' of the cable length.
  • the output quantity obtained from unit 42 is the motor control period U as a function of time.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
EP94108141A 1993-05-26 1994-05-26 Procedure for controlling a crane Withdrawn EP0626337A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FI932416A FI93201C (fi) 1993-05-26 1993-05-26 Menetelmä nosturin ohjaamiseksi
FI932416 1993-05-26

Publications (1)

Publication Number Publication Date
EP0626337A1 true EP0626337A1 (en) 1994-11-30

Family

ID=8538015

Family Applications (1)

Application Number Title Priority Date Filing Date
EP94108141A Withdrawn EP0626337A1 (en) 1993-05-26 1994-05-26 Procedure for controlling a crane

Country Status (3)

Country Link
EP (1) EP0626337A1 (fi)
JP (1) JPH0769581A (fi)
FI (1) FI93201C (fi)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023179583A1 (zh) * 2022-03-24 2023-09-28 江苏苏港智能装备产业创新中心有限公司 一种抑制抓斗摇摆的控制方法、装置、设备及存储介质

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6588610B2 (en) * 2001-03-05 2003-07-08 National University Of Singapore Anti-sway control of a crane under operator's command
JP5293977B2 (ja) * 2011-03-17 2013-09-18 富士電機株式会社 クレーンの振れ止め制御方法及び振れ止め制御装置
CN112919324B (zh) * 2021-01-15 2023-07-25 深圳海星港口发展有限公司 起重机运送货物的堆放方法、装置、介质及电子设备

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1923887A1 (de) * 1968-05-10 1969-11-20 English Electric Co Ltd Elektromotor-Steuersystem fuer Krane
DE3627580A1 (de) * 1985-08-16 1987-03-05 Hitachi Ltd Verfahren zum steuern eines krans
EP0402790A2 (en) * 1989-06-12 1990-12-19 KCI Konecranes International Corporation Procedure for damping the sway of the load of a crane
DE4208717A1 (de) * 1991-03-18 1992-10-22 Kone Oy Steuerungsverfahren fuer einen kran

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1923887A1 (de) * 1968-05-10 1969-11-20 English Electric Co Ltd Elektromotor-Steuersystem fuer Krane
DE3627580A1 (de) * 1985-08-16 1987-03-05 Hitachi Ltd Verfahren zum steuern eines krans
EP0402790A2 (en) * 1989-06-12 1990-12-19 KCI Konecranes International Corporation Procedure for damping the sway of the load of a crane
DE4208717A1 (de) * 1991-03-18 1992-10-22 Kone Oy Steuerungsverfahren fuer einen kran

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023179583A1 (zh) * 2022-03-24 2023-09-28 江苏苏港智能装备产业创新中心有限公司 一种抑制抓斗摇摆的控制方法、装置、设备及存储介质

Also Published As

Publication number Publication date
JPH0769581A (ja) 1995-03-14
FI93201B (fi) 1994-11-30
FI93201C (fi) 1995-03-10
FI932416A0 (fi) 1993-05-26

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PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

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