EP0734993A2 - Entraînement en rotation pour une grue à flêche pivotante - Google Patents

Entraînement en rotation pour une grue à flêche pivotante Download PDF

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Publication number
EP0734993A2
EP0734993A2 EP96105123A EP96105123A EP0734993A2 EP 0734993 A2 EP0734993 A2 EP 0734993A2 EP 96105123 A EP96105123 A EP 96105123A EP 96105123 A EP96105123 A EP 96105123A EP 0734993 A2 EP0734993 A2 EP 0734993A2
Authority
EP
European Patent Office
Prior art keywords
torque
speed
electric motor
control arrangement
output torque
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Withdrawn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
EP96105123A
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German (de)
English (en)
Other versions
EP0734993A3 (fr
Inventor
Christoph Dipl.-Ing. Fischer (Fh)
Peter Bauer
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.)
MAN WOLFFKRAN GMBH
Original Assignee
MAN GHH Logistics 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 MAN GHH Logistics GmbH filed Critical MAN GHH Logistics GmbH
Publication of EP0734993A2 publication Critical patent/EP0734993A2/fr
Publication of EP0734993A3 publication Critical patent/EP0734993A3/fr
Withdrawn legal-status Critical Current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
    • B66C13/18—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 rotary drive for a boom of a slewing crane, in particular a tower slewing crane.
  • the jib of a slewing crane for example a tower crane, should be rotated by the slewing drive (slewing gear) of the jib at a rotation speed selectable by the crane operator. can.
  • This goal is only incompletely achieved with conventional rotary drives.
  • considerable and strongly fluctuating wind forces can attack the boom, which can be 70 m or more long, which can support or brake the rotary movement of the boom depending on the wind direction.
  • the crane construction is elastic, especially in the case of tower cranes rotating at the top.
  • the tower of the tower crane which is torsionally elastic about its vertical axis, can twist by 10 ° and more.
  • Such a rotary drive is based on the consideration that the tendency to torsional vibrations resulting from the elasticity of the crane construction and in particular the crane tower can be reduced if essentially only an output torque driving in the desired direction of rotation is generated. Since there is essentially no reversal of the output torque, the crane tower which is "stretched" in a torsionally elastic manner by the output torque remains tensioned and is not resiliently twisted in the opposite direction of rotation in order to stimulate torsional vibrations.
  • a target speed variable for the electric motor can be variably specified, that a speed control arrangement is additionally assigned to the electric motor, which tracks an actual speed variable detected by means of a speed sensor of the predetermined target speed variable, that in a range of actual speed variables smaller than the target speed variable set on the setting element, the torque control arrangement determines the output torque of the electric motor to the size of the output torque set on the setting element and that in the case of actual speed variables in the range of the target speed variable, the speed control arrangement determines the output torque.
  • the starting process of the rotary drive is determined by the torque control arrangement. Only when the actual speed variable has sufficiently approximated the predetermined target speed variable does the control of the rotary movement pass from the torque control arrangement to the speed control arrangement. In the torque control arrangement, the speed control is only subordinate to actual speed variables in the range of the target speed variable.
  • the torque control arrangement and / or the speed control arrangement can comprise ramp control means which limit the rate of change of the output torque to a predetermined value or fix it to a predetermined value when the output torque of the electric motor increases or / and decreases.
  • the ramp control means dampens the rotary drive and reduces the risk of the torsional vibrations of the boom.
  • the torque control arrangement can be an open-loop control.
  • a setpoint torque variable for the output torque of the electric motor can be variably predetermined by means of the setting member, and the torque control arrangement is preferably designed as a torque control arrangement which tracks an actual torque variable detected by torque detection means of the predefined setpoint torque variable.
  • the torque control arrangement thus preferably also forms a closed control loop in accordance with the speed control arrangement. Such a control loop ensures a particularly uniform output torque.
  • the torque detection means can be sensors that mechanically measure the output torque; however, the torque detection means can also respond to the current and the current voltage of the electric motor and, depending on this, and possibly also depending on the actual speed variable detected with the aid of the speed sensor, determine a variable representing the actual torque.
  • the speed control arrangement can control the magnitude of the output torque driving in the direction set on the setting element independently of the size of the output torque set on the setting element for the torque setting arrangement when the actual speed variable is tracked. Although a comparatively rapid adjustment of the actual speed variable can be achieved in this way, in individual cases this can lead to pendulum vibrations of the load hanging on the boom.
  • the speed control arrangement limits the size of the output torque when tracking the actual speed variable, and in this way the moment acting on the elastic crane construction, for example the "lifting" crane tower, can be limited. It has proven to be particularly favorable if the size of the output torque is limited to the size of the output torque set on the setting element for the torque control arrangement. After the size of the output torque of the crane construction that can be called up on the setting element, for example the height of the tower or the length of the boom, is usually adapted, an optimization of the speed control can be achieved in this way.
  • a mechanical brake is usually assigned to the electric motor of the rotary drive, which locks the rotary drive when the electric motor is not energized, in order to prevent wind drift at a standstill.
  • the holding brake When the rotary drive is started, the holding brake must be released, which can result in the wind forces moving the boom against the desired direction of rotation if the torque level is selected too low.
  • the speed control arrangement when tracking the actual speed variable, limits the size of the output torque only for actual speed variables greater than a predetermined standstill tolerance limit value, but not for actual speed variables smaller than the standstill tolerance limit.
  • the standstill tolerance limit denotes a speed range of a few percent of the maximum speed.
  • the drive torque is not determined by the setting on the setting element, but only by the speed control arrangement, which ensures that the output torque of the electric motor is already at a value when the holding brake of the rotary drive is opened can increase, which prevents the boom from turning back against the desired direction of rotation.
  • the setting element is assigned storage means which, depending on the setting of the setting element, store values for the output torque, in particular for the target torque variable and / or values for the target speed variable, and that means are provided for selectable correction or / and selection of the stored values are.
  • torque or speed values optimized for the control behavior can be saved and called up depending on the expansion stage of the crane, for example the selected boom length.
  • a single set of such values is sufficient, which is then corrected in accordance with the expansion stage of the crane, or else different sets of such values are stored for different expansion stages.
  • the setting member can be set both in steps and continuously. If the setting element is infinitely adjustable, the values can be stored as function parameters, which allow calculation of the desired torque or speed variable; however, the values can also be specified in the form of a narrowly graduated table or an interpolatable table.
  • the motor which is designed as an electric motor, is connected to a frequency converter which supplies the motor driver currents with a variable frequency, the speed control arrangement determining the frequency of the frequency converter.
  • a frequency converter which supplies the motor driver currents with a variable frequency
  • the speed control arrangement determining the frequency of the frequency converter.
  • Such frequency converter drives allow In a particularly simple way, reliable control down to the field weakening area.
  • An example of such a frequency converter drive is known from DE 40 38 981 A.
  • the electric motor described there is an AC motor.
  • the frequency converter drive can also be used in the same way for direct current motors, for example with pulsed direct current driver currents.
  • the speed control arrangement can be an open or a closed control loop.
  • the rotary drive comprises an electric motor 1, which drives a pinion meshing with a ring gear via a reduction gear, not shown.
  • the electric motor 1 is arranged in an upward rotating tower crane together with the boom at the upper end of the crane tower and can also from one not shown, but usual, controllable holding brake can be locked in the de-energized state.
  • the electric motor 1 is fed by a frequency converter 3, which generates phase-shifted rotating field driver currents of variable frequency. By adjusting the frequency, the rotational speed of the electric motor 1 and thus the rotational speed at which the boom rotates about a vertical axis of rotation can be varied.
  • the electric motor 1 can be a three-phase AC motor, for example an asynchronous motor; but it can also be designed as a DC stepper motor or the like.
  • the frequency converter 3 can in principle be of conventional design, insofar as it not only permits the variation of the speed of the electric motor 1, but also the variation of the output torque generated by the electric motor 1. A suitable frequency converter with associated control circuit is explained, for example, in DE 40 38 981 A.
  • the operation of the rotary drive is controlled by an adjusting element 5 which can be operated manually by the crane operator, for example a master switch or the like.
  • the crane operator can set power stages of the rotary drive on the setting member 5, each of which determines a predetermined output torque of the electric motor 1 and, assigned to the output torque, a predetermined speed of the electric motor 1.
  • a stepless variant can also be used.
  • the setting member 5 controls via a controller 7, which can be part of a general crane controller, a torque controller 9, which compares an actual torque quantity with a target torque quantity supplied by the controller 7 as a function of the setting of the setting member 5, and more closely below
  • the control logic 11 explained sets the frequency converter 3 such that the actual speed variable is equal to the target speed variable, that is to say follows the target speed variable.
  • sensor means indicated at 13 are provided, which detect the actual state of the motor currents and the motor voltage and the torque controller 9, possibly in conjunction with one of a speed sensor 15, for example one with the electric motor 1 Coupled tachometer delivered actual speed size allow to calculate the actual torque size.
  • a torque sensor which mechanically detects the torque can also be provided for determining the actual torque variable.
  • the direction of rotation in which the rotary drive is to drive the boom can be selected on the setting member 5.
  • the torque controller 9 is in itself unable to keep the speed of rotation of the boom at a desired value.
  • the speed of rotation would vary depending on the wind moments that affect the boom.
  • the torque control is subordinate to a speed control which, in the manner explained in greater detail below, takes over the control of the frequency converter 3 with priority to the torque controller 9.
  • the rotary drive comprises a speed controller 17, which compares the actual speed variable supplied by the speed sensor 15 with a target speed variable supplied by the controller 7 depending on the setting of the actuator 5 and controls the actual speed variable to the value of the target speed variable , d. H.
  • the control logic 11 switches the frequency converter 3 from being guided by the torque controller 9 to being guided by the speed controller 17.
  • the speed controller 17 then controls the frequency of the frequency converter 3 in accordance with the target speed variable.
  • the output torque generated by the electric motor 1 can change, for example, reduce it to the steady-state torque required to maintain the rotational speed.
  • FIG. 2 shows the output torque M of the electric motor 1 as a function of the time t;
  • Figure 3 shows the speed n of the electric motor 1 also in Dependence on the time t.
  • the continuous progression of the setpoint torque quantity M s is shown in FIG. 2 for several setting levels S 1 , S 2 to S i of the setting member 5.
  • a dash-dotted line M i indicates the course over time of the resulting actual torque variable.
  • FIG. 3 shows with solid lines for the setting levels S 1 , S 2 and S i the time course of the target speed quantities n s and with a dash-dotted line indicates the resulting time course of the actual speed quantity n i .
  • the mode of operation is to be explained as a representative of the other setting levels using the example of setting level S 1 . It is assumed that the rotary drive is initially at a standstill and, at time t 0, the setting member 5 (FIG. 1) is set to the setting level S 1 . After a predetermined ramp function, which is indicated in FIGS. 2 and 3 at 19 and 21, the controller 7 increases the target torque variable M s and the target speed variable n s to the value assigned to setting stage S 1 . Except for a starting phase of the rotary drive which will be explained in more detail below, the torque controller 9 initially takes over the control of the frequency converter 3 and ensures that the actual torque variable M i is adjusted to the target torque variable M s .
  • the actual speed variable n i of the rotary drive thus accelerated reaches the value of the target speed variable n s , with which the speed controller 17 takes over the control of the frequency converter 3 and the actual speed variable n i , as can be seen in FIG. 3, the target -Reviews speed variable n s .
  • the actual torque variable M i may drop to a steady-state value 23 via a ramp function.
  • the steady-state value 23 is sufficient to move the accelerated boom against friction and wind moment in the desired direction of rotation.
  • the setting member 5 is returned to its rest position.
  • the change in setting causes the controller 7 to reduce both the target torque variable M s and the target speed variable n s according to predetermined ramp functions 25 and 27, until the rotary drive essentially reaches Has come to a standstill and the holding brake is applied if necessary.
  • the torque controller 9 can work in four-quadrant operation, that is to say both driving torques driving in the desired direction of rotation and braking torques, i. H. allows torques acting against the desired direction of rotation
  • the speed controller 17 is designed such that it essentially only allows driving torques in the desired direction of rotation. Insofar as the frequency converter 3 is guided by the speed controller 17, the rotary drive is prevented from causing the crane structure, in particular the crane tower, which is torsionally elastic when the boom is accelerated by the reaction torque, to cause torsional vibrations.
  • FIG. 3 the course of the actual speed variable n i is indicated by a dashed line at 29 in the event of a temporally limited acceleration of the boom by wind forces driving in the desired direction of rotation.
  • Figure 2 shows at 31 also by a dashed line that the speed controller 17 substantially reduces the steady-state torque to zero and at most allows a small braking torque acting counter to the desired direction of rotation.
  • FIG. 3 The situation in the case of a braking wind moment is shown in FIG. 3 with a dotted line 33 for the case of a time-limited braking, ie a reduction in the actual speed variable n i .
  • the speed controller 17 increases the torque independently of the desired torque magnitude M s leading the torque controller 9 in accordance with the curve indicated in FIG. 2 by a dotted line 35.
  • the speed controller the driving drive torque of the electric motor 1, s of the set at the adjusting member 5 for setting stage S 1 target torque size M s limited to the value M upwards. If a different setting level is set, the limit value is limited according to the target torque size of this setting level.
  • the holding brake may lock the boom.
  • the driving drive torque of the electric motor 1 set on the adjusting member 5 is sufficient in any case to keep the boom at least in the standstill position even against wind moments that are reversing, or to accelerate it in the desired direction of rotation and This is true even if the crane operator should have selected an adjustment level which is insufficient to overcome the reversing wind moment on the setting member 5.
  • the output torque of the electric motor 1 is not determined by the desired torque variable leading the torque regulator 9 in the initial phase of the rotary movement M s is determined, but by the speed controller 17.
  • the speed controller 17 has priority over the torque controller 9 and determines the starting torque of the electric motor as long as the actual speed variable was within a standstill tolerance limit indicated at 37 in FIG gt.
  • the standstill tolerance limit 37 is close to the zero point of the speed variable, for example a few percent of the maximum speed, such as. B. 5%.
  • the upper limit of the permissible torque in the initial phase is not limited, or is at least limited to a value that can compensate for the maximum permissible, reversing wind torque. If the holding brake is released when the rotary drive is at a standstill, the speed control 17 ensures a return torque that also holds the boom securely against wind forces, regardless of the desired torque size set on the setting element 5.
  • the crane operator can increase the setting level of the setting element 5 if this moment is not also sufficient to accelerate the boom.
  • the control of the frequency converter 3 passes from the speed controller 17 to the torque controller 9 and the boom is accelerated to the target speed, as explained above .
  • the target values for the individual setting levels of the setting element 5 are stored in a data memory 39 of the control 7 and can be called up or varied according to the expansion level of the crane. This can be done, for example, by varying the stored values in accordance with a predetermined algorithm or by storing suitable data records for each individual possible expansion stage in the memory 39.
  • Rotary drives for slewing cranes are usually designed in such a way that their electric motor can safely brake the boom even under the most unfavorable operating conditions, for example at maximum rotational speed and maximum driving wind moment. In individual cases, this can lead to comparatively large rotary actuators.
  • the frequency converter 3 and the electric motor 1 of the rotary drive according to FIG. 1 are designed only for approximately 2/3 of the maximum desired rotational speed and thus the power of the rotary drive.
  • FIG. 4 shows the output torque M of the electric motor 1 based on the nominal output torque M N as a function of the speed n related to the nominal speed n N of the electric motor.
  • the electric motor 1 reaches the nominal torque M N at a nominal speed n N , which is approximately 2/3 of the maximum operating speed.
  • the efficiency of the rotary drive is assumed to be 85%, then squaring the efficiency for reverse operation by pushing wind moments results in a torque requirement of approximately 72%, based on the drive in the desired direction of rotation.
  • the maximum permissible limit for the use of the field weakening range is approximately 1.5 times the nominal speed. It goes without saying that deviations from these limit values are permissible with differing degrees of efficiency. It also goes without saying that the idea of using the field weakening area in a rotary drive for the jib of a slewing crane can also be used in other rotary drive designs, provided that the electric motor can only be operated in the field weakening area.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)
EP96105123A 1995-03-31 1996-03-29 Entraínement en rotation pour une grue à flêche pivotante Withdrawn EP0734993A3 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19512253 1995-03-31
DE1995112253 DE19512253B4 (de) 1995-03-31 1995-03-31 Drehantrieb für einen Drehkran-Ausleger

Publications (2)

Publication Number Publication Date
EP0734993A2 true EP0734993A2 (fr) 1996-10-02
EP0734993A3 EP0734993A3 (fr) 1999-04-14

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Family Applications (1)

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EP96105123A Withdrawn EP0734993A3 (fr) 1995-03-31 1996-03-29 Entraínement en rotation pour une grue à flêche pivotante

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EP (1) EP0734993A3 (fr)
DE (1) DE19512253B4 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT409693B (de) * 2001-03-05 2002-10-25 Manfred Dipl Ing Dr Schroedl Elektrischer antrieb
EP1464611A3 (fr) * 2003-03-31 2004-12-08 Demag Cranes & Components GmbH Procédé de tranquillisation de la marche d'une chaíne à maillons d'un palan à chaíne, particulièrement pour éviter l'apparition d'une vibration de résonnance de la chaíne à maillons, et palan à chaíne associé
US20130116897A1 (en) * 2010-07-13 2013-05-09 Volvo Construction Equipment Ab Swing control apparatus and method of construction machinery
EP2653619A1 (fr) * 2010-12-15 2013-10-23 Volvo Construction Equipment AB Système de commande de pivotement destiné à un engin de construction hybride
WO2013178399A1 (fr) * 2012-05-31 2013-12-05 Wolffkran Holding Ag Dispositif électrohydraulique comprenant un moteur asynchrone triphasé pour la commande d'une flèche
EP2692683A1 (fr) * 2012-07-31 2014-02-05 Control Techniques Ltd Procédé de commande du système de rotation d'une grue rotative

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0003577A1 (fr) * 1978-02-15 1979-08-22 Siemens Aktiengesellschaft Régulation de la vitesse pour le mécanisme d'orientation et/ou de levage d'une grue
DE3031407A1 (de) * 1979-10-19 1981-04-30 Alfa S.p.A. Costruzioni Metalmeccaniche, Novafeltria, Pesaro e Urbino Vorrichtung zur steuerung des drehantriebes und der drehgeschwindigkeit eines bewegbaren organs, insbesondere des auslegerarmes eines turmkrans
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
DE4038981A1 (de) * 1990-12-06 1992-06-11 Man Ghh Logistics Hubwerksantrieb, insbesondere fuer einen turmkran

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT395273B (de) * 1988-06-13 1992-11-10 Voith Werke Antrieb fuer hubwerke od.dgl.

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0003577A1 (fr) * 1978-02-15 1979-08-22 Siemens Aktiengesellschaft Régulation de la vitesse pour le mécanisme d'orientation et/ou de levage d'une grue
DE3031407A1 (de) * 1979-10-19 1981-04-30 Alfa S.p.A. Costruzioni Metalmeccaniche, Novafeltria, Pesaro e Urbino Vorrichtung zur steuerung des drehantriebes und der drehgeschwindigkeit eines bewegbaren organs, insbesondere des auslegerarmes eines turmkrans
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
DE4038981A1 (de) * 1990-12-06 1992-06-11 Man Ghh Logistics Hubwerksantrieb, insbesondere fuer einen turmkran

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT409693B (de) * 2001-03-05 2002-10-25 Manfred Dipl Ing Dr Schroedl Elektrischer antrieb
EP1464611A3 (fr) * 2003-03-31 2004-12-08 Demag Cranes & Components GmbH Procédé de tranquillisation de la marche d'une chaíne à maillons d'un palan à chaíne, particulièrement pour éviter l'apparition d'une vibration de résonnance de la chaíne à maillons, et palan à chaíne associé
US7026780B2 (en) 2003-03-31 2006-04-11 Demag Cranes & Components Gmbh Method for stabilizing the movement of an articulated chain of a chain block, especially to prevent the formation of a resonance oscillation of the chain, and a chain block apparatus
US20130116897A1 (en) * 2010-07-13 2013-05-09 Volvo Construction Equipment Ab Swing control apparatus and method of construction machinery
US9008919B2 (en) * 2010-07-13 2015-04-14 Volvo Construction Equipment Ab Swing control apparatus and method of construction machinery
EP2653619A1 (fr) * 2010-12-15 2013-10-23 Volvo Construction Equipment AB Système de commande de pivotement destiné à un engin de construction hybride
EP2653619A4 (fr) * 2010-12-15 2014-12-10 Volvo Constr Equip Ab Système de commande de pivotement destiné à un engin de construction hybride
WO2013178399A1 (fr) * 2012-05-31 2013-12-05 Wolffkran Holding Ag Dispositif électrohydraulique comprenant un moteur asynchrone triphasé pour la commande d'une flèche
EP2855334B1 (fr) 2012-05-31 2019-08-21 Wolffkran Holding AG Grue à tour à flèche relevable comprenant un dispositif électrohydraulique avec un moteur asynchrone triphasé pour la commande d'une flèche
EP2692683A1 (fr) * 2012-07-31 2014-02-05 Control Techniques Ltd Procédé de commande du système de rotation d'une grue rotative

Also Published As

Publication number Publication date
DE19512253B4 (de) 2006-05-11
DE19512253A1 (de) 1996-10-02
EP0734993A3 (fr) 1999-04-14

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