EP0665184B1 - Réglage d'entraínement électrique d'engins de levage - Google Patents

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

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Publication number
EP0665184B1
EP0665184B1 EP94120131A EP94120131A EP0665184B1 EP 0665184 B1 EP0665184 B1 EP 0665184B1 EP 94120131 A EP94120131 A EP 94120131A EP 94120131 A EP94120131 A EP 94120131A EP 0665184 B1 EP0665184 B1 EP 0665184B1
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EP
European Patent Office
Prior art keywords
course
load
speed
actual
path
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
EP94120131A
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German (de)
English (en)
Other versions
EP0665184A1 (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
Original Assignee
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
Application granted granted Critical
Publication of EP0665184B1 publication Critical patent/EP0665184B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime 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 regulation for the electrical Travel drive for hoists with a load hanging on a rope, with a computing device for determining a target course for driving speed based on for that formed by the traction drive with the oscillating load Vibration system valid equations and associated input parameters, the determination of the target course for the driving speed depending on one of the Equations determined target course of the drive torque or a representative size is determined, and with a control device, the input side of the target course for the driving speed and its measured actual course is supplied and the output side of the travel drive controls.
  • the invention has for its object the regulation for optimize the electric drive.
  • the object is achieved in that the method of the type specified above, the control device from a speed controller with a downstream one Current controller for the travel drive exists and that of the computing device determines the desired course of the drive torque to pre-control the speed controller output is activated.
  • the travel drive is therefore over the Current regulator directly with that determined in the computing device Controlled course of the drive torque or drive current, with the speed controller only the deviation the actual behavior of the vibration system from the model or calculated in the computing device regulates the simulated behavior of the vibration system.
  • Regulation is provided that the computing device from the equations the target course of the Load path determined together with an actual value of the load path a path controller is supplied, and that the output of the path controller via a switching device with slowly increasing Switch-on characteristic with the input of the speed controller communicates.
  • the Position control preferably only shortly before reaching the target position the load turned on for accurate load positioning to achieve what particularly with container cranes is an advantage. Otherwise, the path controller is in the process the load is switched off to avoid unrest in the regulation and so a smooth course of travel when moving the load to reach.
  • the switching device with the slowly rising Switch-on characteristic prevents when switching on the path control, sudden changes in the controlled variables.
  • a stabilization of the control of the drive system is in advantageously achieved in that the computing device from the equations, the desired course of the pendulum angle and determines the target course of the load speed, that the target course of the pendulum angle with its Actual course and the target course of the load speed with their actual course are compared and that the deviations between the target courses and actual courses of the pendulum angle and the load speed at the input of the speed controller and, if necessary, the exit of the travel controller be activated.
  • the measured value is advantageously corrected Actual course of the pendulum angle before its comparison with the calculated target course in such a way that in addition the measured actual course of the pendulum angle of the observer device is supplied and with the observer calculated actual course of the pendulum angle compared and that the difference between the measured and the calculated actual course of the pendulum angle as of interferences originating pendulum share from the calculated Actual course of the pendulum angle is subtracted.
  • 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 driving 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 courses 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, as z. 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 load of the trolley lags behind with increasing pendulum angle ⁇ L * during the first half of the starting process, while in the second half of the starting process the load catches up to the end of the starting process the pendulum angle ⁇ L * is zero.
  • the cat and the load are moved at the same speed v K * and v L * towards the target for the load.
  • the braking process is initiated, which proceeds in the same way as the starting process.
  • smoothing can also take place in the form of a ramp function. The smoothing prevents shocks in the torque curve.
  • the control path containing the travel drive of the hoist is designated by 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 by a current limiter 5 with the set course 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 displacement 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 controlled, for example, by the computing device 1, when the load is close to the target.
  • 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 interfering components are not measured directly, but rather are supplied by the aforementioned observation 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 obtain a defined transient response 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 moves out of the measuring range of the corresponding measuring device for the pendulum angle.
  • control circuit blocks shown in FIGS. 1 and 3 can be used both as an electrical circuit and in Form of a program sequence can be realized in a computer.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)

Claims (5)

  1. Réglage de l'entraínement électrique d'engins de levage ayant une charge suspendue à un câble, comprenant une unité de calcul (1) pour déterminer une courbe de consigne (vK*) de la vitesse sur la base d'équations valables pour le système oscillant formé par l'entraínement et la charge oscillante et sur la base de paramètres d'entrée associés, la détermination de la courbe de consigne (vK*) de la vitesse étant obtenue en fonction d'une courbe de consigne , déterminée à partir des équations, du couple d'entraínement (MK*) ou d'une grandeur (iK*) représentative de celui-ci, et une unité de réglage qui reçoit en entrée la courbe de consigne (vK*) de la vitesse et qui commande en sortie l'entraínement,
       caractérisé en ce que l'unité de réglage est constituée d'un régulateur de vitesse (6) avec un régulateur de courant (4) branché en aval pour l'entraínement et en ce que la courbe de consigne, déterminée par l'unité de calcul (1), du couple d'entraínement (MK*) est appliquée pour la commande pilote à la sortie du régulateur de vitesse (6).
  2. Réglage selon la revendication 1,
       caractérisé en ce que l'unité de calcul (1) détermine en plus à partir des équations la courbe de consigne (xL*) de la trajectoire de la charge qui est envoyée conjointement à une valeur réelle (xL) de la trajectoire de la charge à un régulateur de trajectoire (12) et en ce que la sortie du régulateur de trajectoire (12) est en liaison avec l'entrée du régulateur de vitesse (6) par l'intermédiaire d'un dispositif de commutation (14) dont la caractéristique de mise en circuit est lentement croissante.
  3. Réglage selon la revendication 1 ou 2,
       caractérisé en ce que l'unité de calcul (1) détermine en plus à partir des équations la courbe de consigne (ϕL*) de l'angle d'oscillation et la courbe de consigne (vK*) de la vitesse de la charge, en ce que la courbe de consigne (ϕL*) de l'angle d'oscillation est comparée à sa courbe réelle (ϕL) et la courbe de consigne (vL*) de la vitesse de la charge à sa courbe réelle (vL) et en ce que les écarts entre les courbes de consigne et les courbes réelles de l'angle d'oscillation et de la vitesse de la charge sont appliqués à l'entrée du régulateur de vitesse (6) et éventuellement à la sortie du régulateur de trajectoire (12).
  4. Réglage selon la revendication 3,
       caractérisé en ce que la courbe réelle mesurée (xK) de la trajectoire est envoyée à un dispositif observateur qui calcule sur la base de l'équation d'oscillation (équation de Lagrange) la courbe réelle (ϕ L) de l'angle d'oscillation, la courbe réelle (v L) de la vitesse de la charge et/ou la courbe réelle (x L) de la trajectoire de la charge.
  5. Réglage selon la revendication 4,
       caractérisé en ce que, en plus, la courbe réelle mesurée (ϕL) de l'angle d'oscillation est envoyée au dispositif observateur (13) et est comparée à la courbe réelle (ϕ L), calculée par le dispositif observateur (13), de l'angle d'oscillation et en ce que l'écart entre la courbe réelle mesurée et la courbe réelle calculée de l'angle d'oscillation est soustrait, en tant que composante d'oscillation (ϕ W) due à des influences parasites, de la courbe réelle calculée (ϕ L) de l'angle d'oscillation.
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 EP0665184A1 (fr) 1995-08-02
EP0665184B1 true 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)

Families Citing this family (5)

* 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
DE10224312A1 (de) 2002-05-31 2004-12-02 Siemens Ag Verfahren zur Automatisierung des Be- und Entladens von Containerschiffen in Containerterminals und entsprechende Kranautomatisierungsanlage
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
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
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

Family Cites Families (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
EP0562124B1 (fr) * 1991-10-18 1997-02-05 Kabushiki Kaisha Yaskawa Denki Procede et dispositif destines a empecher la deviation d'un cable de grue

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EP0665184A1 (fr) 1995-08-02
DE59408008D1 (de) 1999-04-29

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