EP0691301B1 - Drehwerk für einen Kran - Google Patents
Drehwerk für einen Kran Download PDFInfo
- Publication number
- EP0691301B1 EP0691301B1 EP95107992A EP95107992A EP0691301B1 EP 0691301 B1 EP0691301 B1 EP 0691301B1 EP 95107992 A EP95107992 A EP 95107992A EP 95107992 A EP95107992 A EP 95107992A EP 0691301 B1 EP0691301 B1 EP 0691301B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- motor
- torque
- slewing
- crane
- control
- 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
Links
Images
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
-
- 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
- B66C13/22—Control systems or devices for electric drives
- B66C13/30—Circuits for braking, traversing, or slewing motors
Definitions
- the invention relates to a method for controlling the drive of a slewing gear for a crane, preferably a tower crane rotating below or above.
- Known rotating mechanisms have a between the electric motor and the gear Fluid coupling, one holding and braking the drive pinion
- the brake is only opened when the motor has such a fluid coupling has built up great torque, for example, on the crane boom acting wind loads prevents the boom from turning back.
- This Known slewing gear is basically started with a high Torque, which is a relative according to the resulting acceleration stimulates wide swinging of the load.
- the control takes place in the known slewing gear of the motor drive via the motor torque, so that the motor has a braking counter torque generated when the load swings to the boom exerts a pulling moment.
- Such a motor control can but the unwanted swaying of the load cannot be suppressed, so that a sensitive control of the rotational speed during the turning operation and Deceleration phase is not possible.
- FR 25 20 133 is a drive control for a horizontal movement mechanism known in the case of elastic disturbances during the drive occur.
- a control loop with four feedback couplings is provided, namely a loop for regulating the drive torque, a loop for regulating the absolute speed of the moving part, a loop for the differential speed between the speed of the moving part and the Speed of the drive and a loop for the speed of the drive.
- the four loops in their interaction enable a bumpless and vibration-free drive.
- the directional shift is a special area of application of the boom of an overhead rotating tower crane.
- the object of the invention is a method for controlling the drive of a slewing gear of the type specified at the beginning to create a sensitive and precise Control of the rotation of the boom allows.
- this object is achieved by a method for regulating the drive of the slewing gear solved according to claims 1 and 2.
- the drive motor is directly without the gear driving the pinion Interposition of a fluid coupling connected so that the drive pinion by appropriate control of the drive motor in the sensitive Controls way that the desired drive characteristic is achieved.
- the slewing gear is provided with such a drive control that the unavoidable commuting the load is dampened. This is during start-up and turning operation achieves that with a swinging, ie pulling load by lowering the engine torque consciously accepting an increasing engine speed that by appropriate Tracking the suspension point of the rope on the boom oscillating movement dampens. When the load swings back then increases the motor torque to maintain the set speed gently from below again, so that the target speed essentially is maintained without the pendulum the movement is strengthened again. In the inventive So the slewing gear is maintained while maintaining the target speed the engine torque regulated so that this in the sense of damping the pendulum movement works.
- the engine torque is again in the sense a damping and suppression of the pendulum movement regulated. This is done in that especially during the braking phase occurring pre-oscillation of the load the specified speed drop is maintained so that the engine torque is braking works.
- the engine torque so lowered that the braking moment of the backward swinging Load is exploited.
- the engine torque both during the start-up and braking phase as well as during turning operation in an optimal way from the swinging load to the Boom transmitted power is adjusted, can be optimal Achieve damping of the pendulum movement.
- the invention can also be defined in such a way that a rotational speed the target value is that the current Rotational speed is determined that when the Setpoint with a constant or increasing setpoint over time and / or if the value falls below the target value if the time falls Setpoint the engine torque is reduced to zero and that otherwise the current speed of rotation is regulated to the setpoint becomes.
- the electric motor on the slewing gear is slip-free coupled with the rotational movement of the boom, with a detector provided to determine the speed of rotation of the boom and the control unit for controlling according to the above specified method is formed.
- a detector provided to determine the speed of rotation of the boom and the control unit for controlling according to the above specified method is formed.
- an acting torque of the rotary drive taken away.
- This is a control loop for regulation the speed of rotation of the boom or the acting torque opened on the boom. This ensures that the energy of the swinging load to the positive or negative Boom acceleration used and thereby reduced becomes. As a result, a pendulum movement of the load is damped becomes.
- the crane operator drives the crane with pinpoint accuracy, especially when wind loads occur. This is achieved through a slip-free coupling of the rotary motor supported on the rotating movement of the boom.
- the acting Torque only if the current speed of rotation deviates from the target value, the amounts of which are less than a maximum value are reduced to zero and otherwise counteract the deviations. This ensures that the current Speed of rotation from a predetermined setpoint or certain setpoint curve does not deviate too much.
- a further preferred embodiment is characterized by this that the acting torque is only changed continuously. This can be achieved, for example, by using an electric motor an asynchronous motor in connection with a phase control is used. By just changing the Torque ensures that a smooth movement is reached and the loads on the crane are kept low. Alternatively, an asynchronous motor with an electrical one Frequency control can be provided.
- a harmonic Rotary movement of the boom is achieved in that inconsistent setpoint targets, a constant setpoint curve is determined. This means that when a new setpoint is entered this is compared with the previous setpoint and Adjustment is run through an adjusted setpoint curve.
- the determined setpoint curve i.e. the setpoint curve, represents a continuously differentiable function.
- the acting torque when falling below the setpoint by the current speed of rotation with a falling setpoint curve is only reduced to zero if the current speed of rotation is greater than the target value target.
- the slewing gear according to the invention enables rapid braking thus also a normal counter attack, whereby a counter electronic control is provided.
- the motor can be a conventional slip ring asynchronous motor act with the desired Switch on the motor characteristics at different resistance levels or an asynchronous motor with a special rotor.
- the regulation of the speed and the engine torque can be done in the usual way Way through a phase control based on the set Voltage time area if an asynchronous motor is used as the drive motor is selected, or by a conventional frequency control respectively.
- the drive starts speed-controlled, while braking is torque-controlled by reversing the rotating field (so-called "counter”) is made.
- the crane operator can counteract torque-controlled countermeasures Increase torque by opposing a setpoint the current direction of rotation.
- the crane operator remains in this counter position finds a torque-controlled after the braking process Reversal of the direction of rotation instead.
- the acting torque is continuously adjustable from zero to maximum using the control lever, so that it is possible to swing the boom in the wind To keep "floating", which is a particularly sensitive positioning enables.
- the acting torque is both regulated in the speed Operation as well as in torque-controlled operation to a maximum Limited amount.
- the efficiency reversal between driving and braking considered that the maximum permissible, acting on the crane construction Torque is not exceeded.
- the maximum torque can vary depending on the length of the boom, which can vary depending on the crane type become. Another option to switch to a maximum The amount of torque applied is for different boom positions intended.
- a special procedure is used for speed-controlled starting for the fact that the one that occurs particularly with slewing cranes Whip effect due to jerking of the boom when Acceleration of the boom does not occur. If by the load and / or the wind conditions do not change the rotational speed can follow the constant course of the setpoint because of the torque limitation a maximum acceleration torque is not can be exceeded is provided at a maximum Deviation between setpoint and current speed of rotation the steady increase in the setpoint stopped until the Deviation is again within the intended limit.
- the acting torque when rushing the boom (whip effect) is reduced and therefore no further acceleration energy in the construction is initiated.
- the brake controller is activated. If the setpoint direction was changed, d. that is, a setpoint was set against the current direction of rotation given in order to achieve a faster braking, so in addition, the torque controller is activated and the speed controller deactivated.
- the system checks whether whether the setpoint since the last change in the direction of rotation was zero. If not, for example what the Torque-controlled reversal of direction after rapid braking by countering and maintaining the counter creation, the torque controller is activated and the speed controller is deactivated.
- the slewing gear according to the invention is in the start-up and Rotary operation and the speed controller is activated accordingly and the torque controller is deactivated.
- the flow chart shown in FIG. 2 shows the further processing of the set rotational speed setpoint.
- the setpoint is compared with the actual value and a constant setpoint curve to the setpoint target is created.
- the prepared setpoint is measured together with the measured Speed value processed in the speed controller if this is active.
- the setpoint is reduced depending on the speed.
- the reduced setpoint or the setpoint is set with the torque characteristic processed further.
- FIG. 3 shows the flow diagram for the brake control system. As long as the brake controller is inactive, the current speed saved as brake controller setpoint. As soon as the brake controller becomes active, a setpoint curve is in the form a ramp from the last stored speed value to 0 is generated. This setpoint course is with the measured speed processed in the brake controller.
- Fig. 4 shows a flow chart for the processing of the controller signals to control the engine.
- the totalizer checks the activity the controller and determines the with the measured speed Current limitation. Boom position, current limitation and the measured Current are processed in the current controller so that the power section ensures the operation of the engine according to the invention, which provides the torque required to turn the crane.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Jib Cranes (AREA)
- Control And Safety Of Cranes (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
Description
- Fig. 1
- ein die Aktivierung der verschiedenen Regler betreffendes Flußdiagramm,
- Fig. 2
- ein die Drehzahl- und Momentenregler betreffendes Flußdiagramm,
- Fig. 3
- ein den Bremsregler betreffendes Flußdiagramm und
- Fig. 4
- ein Flußdiagramm für die Verarbeitung der Reglersignale zur Steuerung des Motors.
Claims (7)
- Verfahren zur Regelung des Antriebs eines Drehwerkes für einen Kran, vorzugsweise einen unten oder oben drehenden Turmdrehkran, mit:einem über ein Getriebe das mit einem Drehkranz der zu drehenden Kranmassen kämmende Ritzel antreibenden Elektromotor,einer dem Motor entsprechend den auf eine Betätigungseinrichtung aufgebrachten Steuerbewegungen steuernden Einheit, undEinrichtungen zur Messung der Motordrehzahl und des Motordrehmoments,daß während des Anfahr- und Drehbetriebes bei einer sich aufgrund der vorpendelnden Last erhöhten Motordrehzahl das Antriebsmoment gegen Null abgesenkt wird unddaß beim Rückpendeln der Last das Antriebsmoment im wesentlichen beibehalten wird.
- Verfahren zur Regelung des Antriebs eines Drehwerkes für einen Kran, vorzugsweise einen unten oder oben drehenden Turmdrehkran, mit:einem über ein Getriebe das mit einem Drehkranz der zu drehenden Kranmassen kämmende Ritzel antreibenden Elektromotor,einer dem Motor entsprechend den auf eine Betätigungseinrichtung aufgebrachten Steuerbewegungen steuernden Einheit, undEinrichtungen zur Messung der Motordrehzahl und des Motordrehmoments,daß während der Abbremsphase der vorgegebene Drehzahl-Abfall beim Vorpendeln der Last durch ein auf den Motor aufgebrachtes Bremsmoment im wesentlichen gehalten wird unddaß beim Rückpendeln der Last das Motormoment derart abgesenkt wird, daß das bremsende Moment der rückpendelnden Last ausgenutzt wird.
- Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß bei Betätigung der die Drehbewegung einleitenden Betätigungseinrichtung das Motormoment nach einer der eingestellten Soll-Drehzahl entsprechenden, vorgegebenen Zeitfunktion ansteigt.
- Verfahren nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, daß das größte Antriebsmoment des Motors begrenzt ist.
- Verfahren nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, daß ein schnelles Abbremsen der Drehung durch ein besonderes Programm erfolgt, nach dem die pendelnd voreilende Last ständig durch ein Gegenmoment abgebremst wird.
- Verfahren nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, daß als Motor ein durch Phasenanschnittsteuerung gesteuerter Schleifring-Asynchronmotor verwendet wird.
- Verfahren nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, daß der Motor ein durch Frequenzregelung gesteuerter Motor ist.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE4419791 | 1994-06-06 | ||
DE4419791 | 1994-06-06 |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0691301A1 EP0691301A1 (de) | 1996-01-10 |
EP0691301B1 true EP0691301B1 (de) | 2001-02-28 |
Family
ID=6519939
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP95107992A Expired - Lifetime EP0691301B1 (de) | 1994-06-06 | 1995-05-24 | Drehwerk für einen Kran |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP0691301B1 (de) |
AT (1) | ATE199364T1 (de) |
DE (1) | DE59509048D1 (de) |
DK (1) | DK0691301T3 (de) |
ES (1) | ES2154695T3 (de) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19510167C2 (de) * | 1995-03-21 | 1997-04-10 | Stahl R Foerdertech Gmbh | Fahrwerk mit Pendeldämpfung |
FR2931466B1 (fr) * | 2008-05-22 | 2011-01-07 | Manitowoc Crane Group France | Procede de commande du mouvement d'orientation de la partie tournante d'une grue a tour |
DE102012015306A1 (de) | 2012-07-31 | 2014-02-06 | Control Techniques Ltd. | Verfahren zum Steuern des Drehwerks eines Drehkrans |
DE102018200573A1 (de) | 2018-01-15 | 2019-07-18 | Zf Friedrichshafen Ag | Schwenkantrieb mit Zustandsüberwachung |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0003025B1 (de) * | 1977-12-08 | 1984-04-18 | Siemens Aktiengesellschaft | Regelung für Drehwerks- oder Hubwerksantriebe eines Krans |
EP0003577B1 (de) * | 1978-02-15 | 1982-02-03 | Siemens Aktiengesellschaft | Geschwindigkeitsregelung für Drehwerks- und/oder Hubwerksantriebe eines Krans |
IT7969042A0 (it) * | 1979-10-19 | 1979-10-19 | Alfa Costr Metal Spa | Dispositivo per il comando in rotazione ed il controllo della velocita di un organo mobile particolarmente del braccio girevole di una gru a torre |
FR2520133A1 (fr) * | 1982-01-19 | 1983-07-22 | Potain Sa | Equipement pour la reduction des effets dynamiques dans la commande en rotation d'un element horizontal de grande inertie |
DE4025749A1 (de) * | 1990-08-14 | 1992-02-20 | Siemens Ag | Verfahren zum automatischen betreiben eines drehkrans |
DE4221915A1 (de) * | 1992-07-03 | 1994-01-05 | Arcomet N V | Untendrehender Turmdrehkran |
-
1995
- 1995-05-24 EP EP95107992A patent/EP0691301B1/de not_active Expired - Lifetime
- 1995-05-24 DE DE59509048T patent/DE59509048D1/de not_active Expired - Lifetime
- 1995-05-24 DK DK95107992T patent/DK0691301T3/da active
- 1995-05-24 AT AT95107992T patent/ATE199364T1/de active
- 1995-05-24 ES ES95107992T patent/ES2154695T3/es not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
ES2154695T3 (es) | 2001-04-16 |
DE59509048D1 (de) | 2001-04-05 |
EP0691301A1 (de) | 1996-01-10 |
DK0691301T3 (da) | 2001-03-26 |
ATE199364T1 (de) | 2001-03-15 |
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