EP0691301B1 - Mécanisme de rotation pour une grue - Google Patents

Mécanisme de rotation pour une grue Download PDF

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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
Application number
EP95107992A
Other languages
German (de)
English (en)
Other versions
EP0691301A1 (fr
Inventor
Hartmut Dipl.-Ing. Ketteler
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.)
Liebherr Werk Biberach GmbH
Original Assignee
Liebherr Werk Biberach GmbH
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 Liebherr Werk Biberach GmbH filed Critical Liebherr Werk Biberach GmbH
Publication of EP0691301A1 publication Critical patent/EP0691301A1/fr
Application granted granted Critical
Publication of EP0691301B1 publication Critical patent/EP0691301B1/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
    • 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)

Claims (7)

  1. Procédé de réglage de l'entraínement d'un mécanisme de rotation pour une grue, de préférence une grue-tour tournant en bas ou en haut, avec :
    un moteur électrique entraínant par un engrenage le pignon engrenant avec une couronne d'orientation des masses de grue à tourner,
    une unité commandant, conformément au moteur, des mouvements de commande appliqués à une installation d'actionnement et
    des installations pour la mesure de la vitesse de rotation du moteur et du couple de rotation du moteur,
       caractérisé en ce
       que pendant le fonctionnement de démarrage et de rotation, dans le cas d'une vitesse de rotation du moteur augmentée en raison de la charge effectuant un mouvement pendulaire vers l'avant, le couple d'entraínement est abaissé vers zéro et en ce que lors du mouvement pendulaire de retour de la charge, le couple d'entraínement est sensiblement maintenu.
  2. Procédé de réglage de l'entraínement d'un mécanisme de rotation pour une grue, de préférence une grue-tour tournant en bas ou en haut, avec :
    un moteur électrique entraínant par un engrenage le pignon engrenant avec une couronne d'orientation des masses de grue à tourner,
    une unité commandant, conformément au moteur, les mouvements de commande appliqués à une installation d'actionnement et
    des installations pour la mesure de la vitesse de rotation du moteur et du couple de rotation du moteur,
       caractérisé en ce que pendant la phase de freinage, la chute prédéterminée de la vitesse de rotation lors d'une mouvement pendulaire vers l'avant de la charge est sensiblement maintenue par un couple de freinage appliqué au moteur et
    que lors du mouvement pendulaire de retour de la charge, le couple du moteur est abaissé de façon à tirer profit du couple freinant de la charge effectuant un mouvement pendulaire de retour.
  3. Procédé selon la revendication 1 ou 2, caractérisé en ce que lors de l'actionnement de l'installation d'actionnement déclenchant le mouvement de rotation, le couple du moteur augmente selon une fonction de temps prédéterminée, correspondant à la vitesse de rotation de consigné réglée.
  4. Procédé selon l'une des revendications 1 à 3, caractérisé en ce que le couple d'entraínement le plus grand du moteur est limité.
  5. Procédé selon l'une des revendications 1 à 4, caractérisé en ce qu'un freinage rapide de la rotation a lieu conformément à un programme particulier selon lequel la charge avançant d'une manière pendulaire est freinée continuellement par un contre-couple.
  6. Procédé selon l'une des revendications 1 à 5, caractérisé en ce qu'on utilisé comme moteur un moteur asynchrone à bagues commandé par une commande par coupe.
  7. Procédé selon l'une des revendications 1 à 5, caractérisé en ce que le moteur est un moteur commandé par réglage des fréquences.
EP95107992A 1994-06-06 1995-05-24 Mécanisme de rotation pour une grue Expired - Lifetime EP0691301B1 (fr)

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 (fr) 1996-01-10
EP0691301B1 true EP0691301B1 (fr) 2001-02-28

Family

ID=6519939

Family Applications (1)

Application Number Title Priority Date Filing Date
EP95107992A Expired - Lifetime EP0691301B1 (fr) 1994-06-06 1995-05-24 Mécanisme de rotation pour une grue

Country Status (5)

Country Link
EP (1) EP0691301B1 (fr)
AT (1) ATE199364T1 (fr)
DE (1) DE59509048D1 (fr)
DK (1) DK0691301T3 (fr)
ES (1) ES2154695T3 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0003025B1 (fr) * 1977-12-08 1984-04-18 Siemens Aktiengesellschaft Système de commande pour le mécanisme d'orientation d'une grue
EP0003577B1 (fr) * 1978-02-15 1982-02-03 Siemens Aktiengesellschaft Régulation de la vitesse pour le mécanisme d'orientation et/ou de levage d'une grue
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

Also Published As

Publication number Publication date
ATE199364T1 (de) 2001-03-15
DE59509048D1 (de) 2001-04-05
EP0691301A1 (fr) 1996-01-10
ES2154695T3 (es) 2001-04-16
DK0691301T3 (da) 2001-03-26

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