EP0841294B1 - Regeleinrichtung zum Halten von hängenden Lasten - Google Patents

Regeleinrichtung zum Halten von hängenden Lasten Download PDF

Info

Publication number
EP0841294B1
EP0841294B1 EP97308303A EP97308303A EP0841294B1 EP 0841294 B1 EP0841294 B1 EP 0841294B1 EP 97308303 A EP97308303 A EP 97308303A EP 97308303 A EP97308303 A EP 97308303A EP 0841294 B1 EP0841294 B1 EP 0841294B1
Authority
EP
European Patent Office
Prior art keywords
trolley
control
speed
optimum
suspended load
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
EP97308303A
Other languages
English (en)
French (fr)
Other versions
EP0841294A2 (de
EP0841294A3 (de
Inventor
Takashi Mitsubishi Heavy Ind. Ltd. Toyohara
Susumu Mitsubishi Heavy Ind. Ltd. Kouno
Hiromitsu Mitsubishi Heavy Ind. Ltd. Hoshina
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.)
Mitsubishi Heavy Industries Ltd
Original Assignee
Mitsubishi Heavy Industries Ltd
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 Mitsubishi Heavy Industries Ltd filed Critical Mitsubishi Heavy Industries Ltd
Publication of EP0841294A2 publication Critical patent/EP0841294A2/de
Publication of EP0841294A3 publication Critical patent/EP0841294A3/de
Application granted granted Critical
Publication of EP0841294B1 publication Critical patent/EP0841294B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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

Definitions

  • This invention relates to a suspended load steadying (i.e., swing stopping) control device for performing control for steadying of a suspended load in a crane.
  • FIG. 5 A conventional suspended load steadying control device will be described by reference to Fig. 5, a view showing an overall structure, Fig. 6, a block diagram of the control device, and Fig. 7 showing control characteristics.
  • a trolley 012 can travel on rails 011 by the driving action of a trolley drive device 015. From the trolley 011, a rope 013 hangs down, and the trolley 011 transports a suspended load 014 by attaching the suspended load 014 to the front end of the rope 013.
  • the trolley 012 is further provided with a trolley displacement detector 021 for detecting a trolley position, x1, a trolley speed detector 022 for detecting a trolley speed, x2, and a swing motion detector 023 for detecting a swing displacement, x3, and a swing speed, x4.
  • a trolley displacement detector 021 for detecting a trolley position, x1
  • a trolley speed detector 022 for detecting a trolley speed, x2
  • a swing motion detector 023 for detecting a swing displacement, x3, and a swing speed, x4.
  • the swing motion detector 023 is a detector of the type which photographs a marker attached to the suspended load 014 by means of a camera mounted on the trolley 012 vertically downwards, and image processes an image taken, thereby detecting the swing displacement x3 and swing speed x4.
  • the trolley position x1, trolley speed x2, swing displacement x3 and swing speed x4 detected are sent to a control device 026.
  • the control device 026 performs a positioning optimum control computation (to be described later on) by means of a built-in optimum control portion 032 (see Fig. 6), and produces a speed command, u. Under this speed command u, the trolley drive device 015 is driven to move the trolley 012.
  • the crane can be modeled as a bogie-pendulum system, and it is known with such a model that the positioning of the suspended load can be realized by driving the trolley according to feedback control by an optimum regulator.
  • a method for optimum control of the crane will be described.
  • This control is performed by an optimum control portion (optimum regulator) 032 of a control device 026 which calculates the amount of operation (speed command, u, for the trolley in this embodiment) in accordance with the following control rule (Numeric Expression (1)):
  • u Kx
  • x represents a state amount vector to be described below, whose respective elements are, in order of arrangement from left to right, a trolley position x1, a trolley speed x2, a swing displacement x3 and a swing speed x4 of the suspended load. That is, the following Numeric Expression (2) holds.
  • x [ x 1 x 2 x 3 x 4] T
  • K [ k 1 k 2 k 3 k 4]
  • the above gain vector K is an optimum gain determined by the following procedure:
  • the optimum gain K is found which rapidly reduces all elements of the state amount to zero with the smallest possible operation amount (speed command) u.
  • the control arithmetic unit 026 determines the amount of optimum operation by the sum of the products of the motion state amounts by the detectors 021, 022, 023 and the optimum gain K.
  • the control arithmetic unit 026 issues this amount of optimum operation as a control command signal (speed command u) for the trolley drive device 015. By driving this device according to the signal, optimum control is performed.
  • position signal input (trolley position x1) on the trolley 012 is given as feedback as a position relative to a trolley target position, pset, whereby the trolley 012 can be positioned at the target position. Simultaneously, the suspended load 014 can be steadied. Thus, the suspended load 014 can be brought to the given target position.
  • the trolley When such control is performed by the optimum regulator, the trolley is moved from a stop state with the target position being changed. On this occasion, at the initial stage of control, the trolley position is far away from the target position. Hence, the relative position x1 of the trolley as a state amount takes a large value compared with other state amounts.
  • the speed command u as the amount of operation also takes a large value immediately after initiation of control.
  • the speed command u immediately after start of control is depicted as a dotted line (from time 0 to T2) in Fig. 7.
  • the trolley in the initial state is at zero speed.
  • the acceleration and speed of the trolley are also restricted. This necessitates acceleration at a maximum acceleration (from time 0 to T1) and movement at maximum speed (from time T1 to T2) at the initial stage of control.
  • the trolley speed x2 in this case is indicated by a solid line in Fig. 7.
  • EP-A-0,668,237 discloses a crane of this general type.
  • a trolley carrying a load is moved accordingly to a pre-determined command.
  • the trolley position during movement of the load is monitored such that, when the load is within a pre-determined distance from a target position, operation of the trolley is switched to a second mode.
  • the position of the load is used in a feedback loop so that the trolley can be moved in a fashion that minimises swinging of the load.
  • That state of the trolley speed is effective for making the trolley reach the target position promptly, but it is a state in which no feedback on the swing state of the suspended load works. As a result, the trolley approaches the target position while retaining swings occurring as the trolley is accelerated.
  • a suspended load steadying control device for a crane with a trolley suspending a load by a rope member comprising:
  • the trolley motion state amount detector may comprise a trolley displacement detector for detecting a trolley position, and a trolley speed detector for detecting a trolley speed.
  • the suspended load motion state amount detector may be a swing motion detector for detecting the swing displacement and swing speed of the suspended load.
  • the run state-wise control selection portion may be constructed as follows: When the relative position of the trolley to the target position is larger than a set value, the run state-wise control selection portion selects the speed following optimum control portion to drive the trolley. When the relative position of the trolley to the target position is smaller than the set value, on the other hand, the run state-wise control selection portion selects the positioning optimum control portion to drive the trolley.
  • control for performing steadying while causing the trolley to follow a set speed is carried out in the former half of control, whereby the swing of the suspended load can be kept small.
  • this control is switched to conventional control for performing the positioning and steadying of the trolley.
  • the swing of the suspended load at switching of control can be reduced, and the time to settlement of swing by the conventional control can be kept short.
  • Fig. 1 is an overall structural view
  • Fig. 2 is a block diagram of a control device
  • Fig. 3 is a flow chart showing a control action
  • Fig. 4 is a control characteristics view.
  • a trolley 12 can travel on rails 11 by the driving action of a trolley drive device 15. From the trolley 11, a rope 13 hangs down, and the trolley 11 transports a suspended load 14 by attaching the suspended load 14 to the front end of the rope 13.
  • the trolley 12 is further provided with a trolley displacement detector 21 for detecting a trolley position, x1, a trolley speed detector 22 for detecting a trolley speed, x2, and a swing motion detector 23 for detecting a swing displacement, x3, and a swing speed, x4.
  • the swing motion detector 23 is a detector of the type which photographs a marker attached to the suspended load 14 by means of a camera mounted on the trolley 12 vertically downwards, and image processes an image taken, thereby detecting the swing displacement x3 and swing speed x4.
  • the trolley position x1, trolley speed x2, swing displacement x3 and swing speed x4 detected are sent to a control device 26.
  • the control device 26 performs, in the first half of control, control for steadying the trolley 12 while causing it to follow a set speed, as will be described later on. This type of control is done by means of built-in optimum control portions 31, 32 (see Fig. 2) . Thereby, the swing of the suspended load 14 is kept small (control added by the present invention).
  • this control is switched to control for positioning and steadying the trolley 12 (conventionally performed control). Under this speed command u, the trolley drive device 15 is driven to move the trolley 012.
  • control device 26 As shown in Fig. 2, there are disposed an acceleration/constant speed optimum control portion 31 for controlling the trolley 12 so as to follow a set speed, vset, and a positioning optimum control portion 32 for performing control aimed at positioning and steadying the trolley.
  • the measured values detected by the detectors 21, 22, 23 are entered into these optimum control portions 31, 32.
  • the relative position of the trolley to a target position, pset is to serve as control input.
  • the trolley speed will be the relative speed of the trolley to the set speed vset.
  • a speed command, u1 output from the acceleration/constant speed optimum control portion 31 is also the relative speed from the set speed.
  • the trolley speed command u1' the output signal, has the set speed vset added as stated above.
  • the positioning optimum control portion 32 does the same computation as a conventional optimum control portion 032 as shown in Fig. 6, thereby to produce a trolley speed command u2 for positioning and steadying the trolley.
  • a run state-wise control selection portion 33 receives inputs of the trolley speed command u1' from the acceleration/constant speed optimum control portion 31, the trolley speed command u2 calculated by the positioning optimum control portion 32, and the relative position x1' to the target position pset for the trolley 12.
  • the run state-wise control selection portion 33 performs switching so as to issue the results of the acceleration/constant speed optimum control portion 31 (trolley speed command) u1' as a speed command, u, if the relative position x1' to the target position pset for the trolley 12 is greater than a certain set value; or to issue the trolley speed command u2, the results of the positioning optimum control portion 32, as a speed command, u, if the relative position x1' is smaller than the certain set value.
  • the speed command u1' or the speed command u2 selected by the run state-wise control selection portion 33 is issued to the trolley drive device 15 to drive the trolley 12.
  • control device 26 The processings in the control device 26 are summarized below. That is, they are described below with reference to a flow chart shown in Fig. 3.
  • the signals x1, x2, x3 and x4 from detectors 21, 22 and 23 are captured.
  • the control device ⁇ has two control gains, one for control taking up a trolley speed and a swing, and one for control taking up a trolley position and a swing, as control amounts. By switching between these two type of parameters, the device ⁇ performs control. Thus, it can constitute a suspended load steadying control device capable of keeping the swing of a suspended load minimal while the trolley is traveling.

Landscapes

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

Claims (2)

  1. Steuerungsvorrichtung zum Stabilisieren einer Hängelast für einen Kran mit einer Laufkatze (12), an der mittels eines Seilelementes (13) eine Last (14) hängt, wobei die Steuerungsvorrichtung zum Stabilisieren einer Hängelast folgendes aufweist:
    einen Detektor (21, 22) für den Bewegungszustandswert der Laufkatze zum Detektieren des Bewegungszustandswertes der Laufkatze (12);
    einen Detektor (23) für den Bewegungszustandswert der Hängelast zum Delektieren des Bewegungszustandswertes der an der Laufkatze (12) aufgehängten Last (14); und
    eine Steuerungsvorrichtung (26) zum Durchführen der Stabilisierungssteuerung der Hängelast auf der Basis von den von den jeweiligen Detektoren eingegebenen Detektiersignalen;
    wobei die Steuerungsvorrichtung folgendes aufweist:
    einen Steuerbereich (32) für die optimale Positionierung zum Antreiben der Laufkatze mit dem optimalen Betriebswert auf der Basis einer optimalen Verstärkung (k), die so eingestellt ist, daß die Laufkatze in einer bestimmten Zielposition (pset) positioniert wird, so daß eine Stabilisierungssteuerung der Last durchgeführt wird;
    dadurch gekennzeichnet, daß die Steuerungsvorrichtung ferner folgendes aufweist:
    einen Steuerbereich (31) für die optimale Geschwindigkeitsverfolgung zum Antreiben der Laufkatze mit dem optimalen Betriebswert auf der Basis einer optimalen Verstärkung (k'), die so eingestellt wird, daß sie einer bestimmten vorgegebenen Geschwindigkeit (vset) folgt, so daß die Stabilisierungssteuerung der Last durchgeführt wird; und
    einen Wählbereich (33) für die laufzustandsmäßige Steuerung zum Wählen des Steuerbereichs für die optimale Geschwindigkeitsverfolgung oder des Steuerbereichs für die optimale Positionierung auf der Basis des Laufzustandswertes der Laufkatze, um die Laufkatze anzutreiben.
  2. Steuerungsvorrichtung zum Stabilisieren einer Hängelast nach Anspruch 1,
    wobei der Detektor für den Bewegungszustandswert der Laufkatze einen Laufkatzenverlagerungsdetektor (21) zum Detektieren einer Laufkatzenposition und einen Laufkatzengeschwindigkeitsdetektor (22) zum Detektieren einer Laufkatzengeschwindigkeit aufweist,
    wobei der Detektor für den Bewegungszustandswert der Hängelast ein Schwingungsbewegungsdetektor (23) zum Detektieren der Schwingungsverlagerung und der Schwingungsgeschwindigkeit der Hängelast ist, und
    wobei dann, wenn die relative Position der Laufkatze zu der Zielposition größer als ein vorgegebener Wert ist, der Wählbereich für die laufzustandsmäßige Steuerung den Steuerbereich für die optimale Geschwindigkeitsverfolgung wählt, um die Laufkatze anzutreiben, und wenn die relative Position der Laufkatze zu der Zielposition kleiner als der vorgegebene Wert ist, der Wählbereich für die laufzustandsmäßige Steuerung den Steuerbereich für die optimale Positionierung wählt, um die Laufkatze anzutreiben.
EP97308303A 1996-11-08 1997-10-20 Regeleinrichtung zum Halten von hängenden Lasten Expired - Lifetime EP0841294B1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP296048/96 1996-11-08
JP8296048A JPH10139369A (ja) 1996-11-08 1996-11-08 吊荷の振れ止め制御装置
JP29604896 1996-11-08

Publications (3)

Publication Number Publication Date
EP0841294A2 EP0841294A2 (de) 1998-05-13
EP0841294A3 EP0841294A3 (de) 2000-01-12
EP0841294B1 true EP0841294B1 (de) 2004-09-22

Family

ID=17828433

Family Applications (1)

Application Number Title Priority Date Filing Date
EP97308303A Expired - Lifetime EP0841294B1 (de) 1996-11-08 1997-10-20 Regeleinrichtung zum Halten von hängenden Lasten

Country Status (8)

Country Link
EP (1) EP0841294B1 (de)
JP (1) JPH10139369A (de)
KR (1) KR100237149B1 (de)
DE (1) DE69730798T2 (de)
HK (1) HK1010533A1 (de)
MY (1) MY125688A (de)
SG (1) SG67435A1 (de)
TW (1) TW380115B (de)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100803737B1 (ko) 2006-09-20 2008-02-15 한국생산기술연구원 크레인 로프 흔들림 진동수 측정장치
FR2923819A1 (fr) * 2007-11-20 2009-05-22 Ledent Machines Equipements Sa Portique pedagogique.
CN105152016B (zh) * 2015-08-25 2017-08-25 山东大学 带有初始输入约束的桥式吊车能量耦合控制器及控制方法
CN105152017B (zh) * 2015-08-25 2017-03-22 山东大学 三维桥式吊车系统增强耦合非线性跟踪控制器及方法
CN105152020B (zh) * 2015-09-30 2017-03-22 山东大学 带有跟踪误差约束的桥式吊车自适应跟踪控制器及方法

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3513007A1 (de) * 1984-04-11 1985-12-19 Hitachi, Ltd., Tokio/Tokyo Verfahren und anordnung zur automatischen steuerung eines krans
FR2701467B1 (fr) * 1993-02-12 1995-05-12 Caillard Système de contrôle de commande de la vitesse de déplacement d'une charge pendulaire et appareil de levage comprenant un tel système.
FR2704847A1 (fr) * 1993-05-05 1994-11-10 Bertin & Cie Procédé et dispositif de limitation du ballant d'une charge suspendue à un support motorisé.
DE4405683A1 (de) * 1994-02-22 1995-08-24 Siemens Ag Verfahren zur Förderung einer Last mittels eines Krans
KR970003508B1 (ko) * 1994-03-25 1997-03-18 한국원자력연구소 크레인의 진동방지를 위한 속도 제어 방법

Also Published As

Publication number Publication date
DE69730798T2 (de) 2005-09-29
JPH10139369A (ja) 1998-05-26
DE69730798D1 (de) 2004-10-28
KR100237149B1 (ko) 2000-03-02
EP0841294A2 (de) 1998-05-13
SG67435A1 (en) 1999-09-21
TW380115B (en) 2000-01-21
KR19980042223A (ko) 1998-08-17
HK1010533A1 (en) 1999-06-25
EP0841294A3 (de) 2000-01-12
MY125688A (en) 2006-08-30

Similar Documents

Publication Publication Date Title
US5170351A (en) Automatic guided vehicle and method for controlling travel thereof
US6135301A (en) Swaying hoisted load-piece damping control apparatus
US5392935A (en) Control system for cable crane
EP0846648B1 (de) Einrichtung für die Kontrolle der Senkung einer Last in einem Kran
US4957408A (en) Device for controlling a fork of a forklift
EP0841294B1 (de) Regeleinrichtung zum Halten von hängenden Lasten
JP2008214009A (ja) 天井クレーンによる搬送方法およびこの搬送方法を利用した天井クレーンシステム
EP0841295B1 (de) Regeleinrichtung zum Halten/zur Positionierung von hängenden Lasten
JP2569446B2 (ja) 吊り荷の振れ止め運転制御方法
JP2971318B2 (ja) 吊荷の振れ止め制御装置
JPH10258987A (ja) 吊り荷の振れ止め装置
JP4183316B2 (ja) 吊荷の振れ止め制御装置
JPH112508A (ja) 吊荷の位置検出装置
JP3192227B2 (ja) 力制御装置
JP2552835B2 (ja) 移動体の位置決め制御方法
JP2832661B2 (ja) 吊り荷の振れ角検出器
JP2979824B2 (ja) クレーンの振れ止め制御装置
JPS5912085A (ja) クレ−ン吊り荷の振れ止め制御方法
JPH09272605A (ja) スタッカクレーンの走行制御装置
JP2508102B2 (ja) ジブクレ−ンの自動運転制御装置
JP2930493B2 (ja) クレーンの振れ止め制御方法
JP2522020B2 (ja) 吊り荷の振れ止め運転制御方法
JP2000313586A (ja) 吊荷の振れ止め制御装置
JPH05796A (ja) クレーンの振れ止め制御方法
JP2799670B2 (ja) 吊り荷運搬用クレーンの振れ止め制御方法及び装置

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 19971027

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): DE FR GB IT NL SE

AX Request for extension of the european patent

Free format text: AL;LT;LV;RO;SI

PUAL Search report despatched

Free format text: ORIGINAL CODE: 0009013

AK Designated contracting states

Kind code of ref document: A3

Designated state(s): AT BE CH DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE

AX Request for extension of the european patent

Free format text: AL;LT;LV;RO;SI

RIC1 Information provided on ipc code assigned before grant

Free format text: 7B 66C 13/06 A, 7B 66C 13/46 B

AKX Designation fees paid

Free format text: DE FR GB IT NL SE

17Q First examination report despatched

Effective date: 20030314

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): DE FR GB IT NL SE

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

REF Corresponds to:

Ref document number: 69730798

Country of ref document: DE

Date of ref document: 20041028

Kind code of ref document: P

REG Reference to a national code

Ref country code: SE

Ref legal event code: TRGR

REG Reference to a national code

Ref country code: HK

Ref legal event code: GR

Ref document number: 1010533

Country of ref document: HK

ET Fr: translation filed
PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20050623

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20091017

Year of fee payment: 13

Ref country code: FR

Payment date: 20091029

Year of fee payment: 13

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20101013

Year of fee payment: 14

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20101020

Year of fee payment: 14

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20101102

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

Effective date: 20110630

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20101020

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: NL

Payment date: 20111020

Year of fee payment: 15

Ref country code: SE

Payment date: 20111011

Year of fee payment: 15

REG Reference to a national code

Ref country code: NL

Ref legal event code: V1

Effective date: 20130501

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20121020

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20130501

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20121020

Ref country code: SE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20121021

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 69730798

Country of ref document: DE

Effective date: 20130501

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20130501