EP0665184A1 - Réglage d'entraînement électrique d'engins de levage - Google Patents

Réglage d'entraînement électrique d'engins de levage Download PDF

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Publication number
EP0665184A1
EP0665184A1 EP94120131A EP94120131A EP0665184A1 EP 0665184 A1 EP0665184 A1 EP 0665184A1 EP 94120131 A EP94120131 A EP 94120131A EP 94120131 A EP94120131 A EP 94120131A EP 0665184 A1 EP0665184 A1 EP 0665184A1
Authority
EP
European Patent Office
Prior art keywords
load
speed
actual
pendulum angle
target
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.)
Granted
Application number
EP94120131A
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German (de)
English (en)
Other versions
EP0665184B1 (fr
Inventor
Heinz Dr. Wilharm
Wolfgang Dipl.-Ing. Wichner
Ludwig Dipl.-Ing. Carbon
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.)
Siemens AG
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Siemens AG
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Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Publication of EP0665184A1 publication Critical patent/EP0665184A1/fr
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Publication of EP0665184B1 publication Critical patent/EP0665184B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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 control system for the electric traction drive of hoists with a load hanging from a rope, with a computing device for determining a target profile for the driving speed on the basis of equations and associated input parameters valid for the vibration system formed by the traction drive with the oscillating load the determination of the target profile for the driving speed is determined as a function of a target profile of the drive torque determined from the equations or a variable representative of it, and with a control device which is supplied on the input side with the target profile for the driving speed and its measured actual profile and which controls the travel drive on the output side .
  • control of the travel drive of hoists with a load hanging on a rope are in a computing device from input variables such as the rope or pendulum length and the weight of the load on the basis of for
  • the mechanical vibrations used in the equations are used to calculate the target curves for the vehicle speed and the pendulum angle and to supply a control device for the vehicle drive.
  • the computing device includes several switchover points during starting and braking in the calculation of the setpoint curves and uses these as a measure for specifying the drive torque or drive current, the setpoint curves being determined such that the drive torque initially takes on a maximum value when starting or braking , then drops to almost zero and then has the maximum value again until the end of the starting or braking process. This ensures that the pendulum angle is zero at the end of the starting or braking process.
  • the invention has for its object to optimize the control for the electric drive.
  • the control device consists of a speed controller with a downstream current controller for the traction drive and that the setpoint curve of the drive torque determined by the computing device is connected to the output of the speed controller for pilot control.
  • the traction drive is thus controlled directly by the current controller with the desired course of the drive torque or drive current determined in the computing device, the speed controller only regulating the deviation of the actual behavior of the vibration system from the behavior of the vibration system, which is modeled or simulated in the computing device.
  • the computing device additionally determines from the equations the desired course of the load path, which is fed to a path controller together with an actual value of the load path, and that the output of the path controller via a switching device with a slowly increasing switch-on characteristic with the Speed controller input is connected.
  • the path control is preferably only switched on shortly before the target position of the load is reached in order to achieve precise load positioning, which is particularly advantageous in the case of container cranes.
  • the path controller is switched off when moving the load in order to avoid unrest in the control and thus to achieve a smooth course of travel when moving the load.
  • the switching device with the slowly increasing switch-on characteristic prevents sudden changes in the controlled variables when switching on the position control.
  • Stabilization of the control of the travel drive is advantageously achieved in that the computing device also uses the equations to determine the desired profile of the pendulum angle and the target course of the load speed determines that the target course of the pendulum angle is compared with its actual course and the target course of the load speed with its actual course and that the deviations between the target courses and actual courses of the pendulum angle and the load speed are applied to the input of the speed controller and possibly the output of the travel controller become.
  • the actual curves of the pendulum angle, the load speed and the load path can in principle be measured using suitable means, for example the arrangement described in German patent application P 42 37 096.5 for measuring load oscillations by measurement.
  • suitable means for example the arrangement described in German patent application P 42 37 096.5 for measuring load oscillations by measurement.
  • the measured actual profile of the pendulum angle is advantageously corrected before its comparison with the calculated target profile in such a way that the measured actual curve of the pendulum angle is fed to the observer device and is compared with the actual curve of the pendulum angle calculated by the observer device and that the deviation between the measured and the calculated actual curve of the pendulum angle is subtracted from the calculated actual curve of the pendulum angle as a result of interference.
  • the control system shown in FIG. 1 contains a computing device 1, which has two input parameters via an input, such as the mass of the load, the mass of the trolley to which the load is attached, the current rope length and maximum permissible limit values for the driving speed and the drive torque, to determine target curves for the traveling speed v K * of the trolley, the load speed v L *, the load path or position x L *, the pendulum angle ⁇ L * and the drive torque M K * or corresponding substitute variables such as the drive current i K *.
  • the determination of these target profiles takes place in the computing device 1 by analytical calculation or simulation on the basis of equations valid for the mechanical vibration system formed by the traction drive with the oscillating load, such as those described, for example, in FIG. B. are specified in the aforementioned DE-OS 30 05 461.
  • the target profile of the drive torque M K * or drive current i K * is formed by smoothing a torque or current profile shown here in dashed lines and changing abruptly, which initially assumes a maximum permissible value during the starting process, then drops to approximately zero and then again takes the maximum value.
  • the control path containing the travel drive of the hoist is designated with 3 with associated measuring sensors for measuring the actual courses of the travel path x K , the travel speed v K and the pendulum angle ⁇ L.
  • the travel drive is controlled by a current controller 4, which is acted upon on the input side via a current limiter 5 by the target curve of the drive current i K * or drive torque M K * determined by the computing device 1.
  • the travel drive is thus controlled directly with the predetermined torque curve M K *.
  • Deviations between the vibration behavior calculated or simulated in this way and the actual vibration behavior of the load are corrected by a speed controller 6, on the input side of which the difference between the desired course of the driving speed v K * or v KH * determined by the computing device 1 or specified by hand.
  • a control value sensor 8 is used, which is followed by a soft ramp function sensor 9 and a matching amplifier 10.
  • a switch 11 is used to switch between the vehicle speed setpoint v K * calculated in the computing device 1 and the vehicle speed setpoint v KH * specified by hand.
  • a path controller 12 is additionally provided, on the input side of which the difference between the setpoint value of the load path x L * determined in the computing unit 1 and the measured or at which The embodiment shown here is supplied by an observer device 13 ascertained actual value of the load path x L.
  • the travel controller 12 is connected via a switching device 14 with a slowly increasing switch-on characteristic and a subsequent limiter 15 to a summing node 16, at which the correction value coming from the travel controller 12 is applied to the desired course of the driving speed v K * determined by the computing device 1. Since the path controller 12 can reduce the stability of the entire control system, it is only gently switched on to the control system via the switching device 14, which is controlled, for example, by the computing device 1, when the load is close to the target.
  • the difference between the target curve of the load speed v L * determined by the computing device 1 and its actual value v L and the difference between the target curve of the pendulum angle ⁇ L * determined by the computing device 1 and its actual curve ⁇ L are determined via reinforcing elements 17, 18, 19 and 20 with different amplification factors K17, K18, K19 and K20 at a summing point 21 the setpoint value of the driving speed v K * or v KH * coming from the computing device 1 or the manual actuator 8 and at a summing point 22 the output of the travel controller 12 activated.
  • the amplification factors K ij are varied depending on the measured rope length to which the load depends.
  • the actual values for the load speed v L and the pendulum angle ⁇ LoW freed from interference components are not direct measured, but delivered by the already mentioned observer device 13, which is why the corresponding actual values for differentiating measured actual values are underlined.
  • two amplifiers 23 and 24 with the amplification factors 1 / l and g and two integrators 25 and 26 are connected in series, the amplifier 23 being supplied on the input side with the difference between the measured actual profile of the travel path x K and the output of the integrator 26.
  • the signal at the output of the switching device 27 is also applied to the signals at the output of the amplifier 24 and the integrator 25 via further matching elements 31 and 32 in order to define a defined one Obtain transient dynamics of the observer device 13.
  • the switching device 27 is used to switch off the consideration of the disturbing influences in the calculation of the actual value of the pendulum angle ⁇ L in the observer device 13, the pendulum angle becomes so large that it gets out of the measuring range of the corresponding measuring device for the pendulum angle.
  • circuit blocks of the control shown in FIGS. 1 and 3 can be implemented both as an electrical circuit and in the form of a program sequence in a computer.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
EP94120131A 1994-01-28 1994-12-19 Réglage d'entraínement électrique d'engins de levage Expired - Lifetime EP0665184B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4402563 1994-01-28
DE4402563 1994-01-28

Publications (2)

Publication Number Publication Date
EP0665184A1 true EP0665184A1 (fr) 1995-08-02
EP0665184B1 EP0665184B1 (fr) 1999-03-24

Family

ID=6508921

Family Applications (1)

Application Number Title Priority Date Filing Date
EP94120131A Expired - Lifetime EP0665184B1 (fr) 1994-01-28 1994-12-19 Réglage d'entraínement électrique d'engins de levage

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EP (1) EP0665184B1 (fr)
DE (1) DE59408008D1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6931314B2 (en) 2002-05-31 2005-08-16 Siemens Aktiengesellschaft Method of automating a loading and unloading of container ships in container terminals, and crane automation system
DE19907989B4 (de) * 1998-02-25 2009-03-19 Liebherr-Werk Nenzing Gmbh Verfahren zur Bahnregelung von Kranen und Vorrichtung zum bahngenauen Verfahren einer Last
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
DE102015002864A1 (de) * 2015-03-06 2016-09-08 Sew-Eurodrive Gmbh & Co Kg System mit mittels einem oder mehreren Fahrantrieben verfahrbarem Hubwerk und Verfahren zum Betrieben des Systems
CN114572842A (zh) * 2022-03-24 2022-06-03 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

Citations (3)

* 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
DE3335402A1 (de) * 1983-09-29 1985-04-11 Siemens AG, 1000 Berlin und 8000 München Anordnung zum daempfen von schwingungen einer an einem seil eines krans oder anderen hebezeuges haengenden last
EP0562124A1 (fr) * 1991-10-18 1993-09-29 Kabushiki Kaisha Yaskawa Denki Procede et dispositif destines a empecher la deviation d'un cable de grue

Patent Citations (3)

* 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
DE3335402A1 (de) * 1983-09-29 1985-04-11 Siemens AG, 1000 Berlin und 8000 München Anordnung zum daempfen von schwingungen einer an einem seil eines krans oder anderen hebezeuges haengenden last
EP0562124A1 (fr) * 1991-10-18 1993-09-29 Kabushiki Kaisha Yaskawa Denki Procede et dispositif destines a empecher la deviation d'un cable de grue

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
W.TRAUTNITZ: "Automatically controlled unloaders for seagoing vessels", SIEMENS REVIEW, vol. 42, no. 1, January 1975 (1975-01-01), ERLANGEN, GERMANY, pages 33 - 39 *

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19907989B4 (de) * 1998-02-25 2009-03-19 Liebherr-Werk Nenzing Gmbh Verfahren zur Bahnregelung von Kranen und Vorrichtung zum bahngenauen Verfahren einer Last
US6931314B2 (en) 2002-05-31 2005-08-16 Siemens Aktiengesellschaft Method of automating a loading and unloading of container ships in container terminals, and crane automation system
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
DE102015002864A1 (de) * 2015-03-06 2016-09-08 Sew-Eurodrive Gmbh & Co Kg System mit mittels einem oder mehreren Fahrantrieben verfahrbarem Hubwerk und Verfahren zum Betrieben des Systems
DE102015002864B4 (de) * 2015-03-06 2020-03-19 Sew-Eurodrive Gmbh & Co Kg System mit mittels einem oder mehreren Fahrantrieben verfahrbarem Hubwerk und Verfahren zum Betreiben des Systems
CN114572842A (zh) * 2022-03-24 2022-06-03 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
CN114572842B (zh) * 2022-03-24 2023-02-14 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

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DE59408008D1 (de) 1999-04-29
EP0665184B1 (fr) 1999-03-24

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