EP0841295A2 - Suspended load steadying/positioning control device - Google Patents
Suspended load steadying/positioning control device Download PDFInfo
- Publication number
- EP0841295A2 EP0841295A2 EP97308305A EP97308305A EP0841295A2 EP 0841295 A2 EP0841295 A2 EP 0841295A2 EP 97308305 A EP97308305 A EP 97308305A EP 97308305 A EP97308305 A EP 97308305A EP 0841295 A2 EP0841295 A2 EP 0841295A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- suspended load
- traveling
- crane
- steadying
- detectors
- 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.)
- Granted
Links
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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
-
- 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
- B66C13/46—Position indicators for suspended loads or for crane elements
Definitions
- This invention relates to a steadying (i.e., swing stopping)/positioning control device for performing the steadying and positioning of a suspended load in a crane.
- FIG. 3 The structure of a conventional crane is shown in Fig. 3.
- a gantry 3 is placed movably across two rails 1 (right and left rails) laid on the ground.
- Independent travel drive devices 11, 14 are provided for moving the gantry 3 on each rail 1.
- the travel drive devices 11, 14 are electrically connected to a control device 21, while the control device 21 produces an operation command for each of the travel drive devices 11, 14.
- a trolley 4 On the gantry 3, a trolley 4 is borne so as to be movable transversely. From the trolley 4, a rope 5 hangs down to suspend a load 6.
- the gantry 3 must be positioned at a given target position, and control for steadying the suspended load 6 must be performed simultaneously.
- a control system for receiving feedback on the traveling position and traveling speed of the gantry 3 as well as the swing state of the suspended load, and determining the amount of operation (such as speed command) of the drive devices for the gantry 3.
- a traveling position detector 12 and a traveling speed detector 13 are provided for detecting the traveling position x1 and traveling speed x2, respectively, of the gantry 3 on the right rail 1 in Fig. 3.
- a swing motion detector 17 is attached to the suspended load 6, for detecting swing states, i.e., a swing displacement x5 of the suspended load and a swing speed x6 of the suspended load.
- the control device 21 receives inputs of the measured values x1, x2, x5 and x6 by the detectors 12, 13 and 17, as shown in Fig. 4. By control computation, the control device 21 determines the amount of operation of the travel drive devices 11, 14, and carries out control.
- control computation to be performed by the control device 21 it is known that a control system for positioning of the gantry and steadying of the suspended load can be realized by building the gantry and the suspended load into a bogie-pendulum system model as shown in Fig. 5, and constructing an optimum regulator based on this model (reference: "Mechanical System Control” Paragraph 6.2, Furuta Katsuhisa et al., Ohm).
- a conventional control system drives the right and left drive systems by the same command, and thus is unable to reduce the misalignment between the right and left traveling positions to zero. As a result, the positioning accuracy for the suspended load 6 lowers, posing the grave problem that at the worst, required positioning accuracy cannot be fulfilled.
- a positioning/steadying control system which comprises traveling position detectors and traveling speed detectors for detecting the right and left traveling positions and traveling speeds, respectively, of a crane traveling on two rails across them, right and left independent drive devices, and an arithmetic means for determining the amounts of operation of the right and left drive devices based on the measured values from the detectors as inputs.
- control system is so constructed as to have traveling position detectors and traveling speed detectors for detecting the right and left traveling positions and traveling speeds, respectively, of a crane traveling on two rails across them, and right and left independent drive devices, and to determine the amounts of operation of the right and left drive devices based on the measured values from the detectors as inputs.
- the control system can simultaneously perform positioning for the right and left traveling positions, and the steadying of the suspended load.
- FIG. 1 is a schematic view showing the overall construction of the crane and control system according to the instant embodiment.
- Fig. 2 is a block diagram of the control device of this embodiment. The same parts as in the aforementioned example are assigned the same numerals and symbols, and explanations for them are omitted.
- the suspended load steadying/positioning control device of the instant embodiment is equipped with a right-hand traveling position detector 12 and a right-hand traveling speed detector 13 for detecting the traveling position xl and traveling speed x2 of a gantry 4 on a right rail 1 in Fig. 1, and is also equipped with a left-hand traveling position detector 15 and a left-hand traveling speed detector 16 for detecting the traveling position x3 and traveling speed x4 of the gantry 4 on a left rail 1 in the drawing.
- a swing motion detector 17 is mounted on the suspended load 6 to detect a swing displacement x5 and swing speed x6 of the suspended load 6 in the traveling direction by use of an accelerometer or the like.
- the control device 21 receives inputs of detection signals x1, x2, x3, x4, x5 and x6 from the detectors 12, 13, i5, 16 and 17, computes the amounts of optimum operation necessary for returning to zero the entered motion state amounts, i.e., the right and left traveling positions and traveling speeds, the swing displacement and swing speed of the suspended load, and issues control command signals to the right and left travel drive devices 11, 14.
- an optimum steadying gain K is separately precalculated and preset in the control device 21.
- the control device 21 has a control arithmetic portion 22 which, based on this optimum gain K, computes the amounts of optimum operation in response to the right and left traveling positions and traveling speeds, the swing displacement and swing speed of the suspended load 6 that have been entered from the detectors 12, 13, 15, 16 and 17, and performs optimum steadying/positioning control by the right and left travel drive devices 11, 14.
- the foregoing suspended load steadying/positioning control device concerned with the instant embodiment performs optimum steadying/positioning control by the following concrete processing steps (1) to (3):
- Such optimum control can eliminate the misalignment between the right and left traveling positions, achieve the steadying of the suspended load, and ensure highly accurate positioning of the suspended load.
- the present invention has traveling position detectors and traveling speed detectors for detecting the right and left traveling positions and traveling speeds, respectively, of a crane traveling on two rails across them, and right and left independent drive systems, and computes the amounts of operation of the drive devices by means of an optimum regulator.
- the invention permits the accurate positioning of a suspended load even in a crane having structural deformation.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
Description
- This invention relates to a steadying (i.e., swing stopping)/positioning control device for performing the steadying and positioning of a suspended load in a crane.
- The structure of a conventional crane is shown in Fig. 3.
- As shown in Fig. 3, a
gantry 3 is placed movably across two rails 1 (right and left rails) laid on the ground. Independenttravel drive devices gantry 3 on eachrail 1. Thetravel drive devices control device 21, while thecontrol device 21 produces an operation command for each of thetravel drive devices - On the
gantry 3, atrolley 4 is borne so as to be movable transversely. From thetrolley 4, arope 5 hangs down to suspend aload 6. - When an automatic run is to be made in such a crane, it is necessary to position the suspended
load 6 accurately with respect to the traveling direction of thegantry 3, and cause the suspendedload 6 to rest at a predetermined position. - For this purpose, the
gantry 3 must be positioned at a given target position, and control for steadying the suspendedload 6 must be performed simultaneously. - Thus, a control system is provided for receiving feedback on the traveling position and traveling speed of the
gantry 3 as well as the swing state of the suspended load, and determining the amount of operation (such as speed command) of the drive devices for thegantry 3. - That is, a
traveling position detector 12 and atraveling speed detector 13 are provided for detecting the traveling position x1 and traveling speed x2, respectively, of thegantry 3 on theright rail 1 in Fig. 3. To the suspendedload 6, aswing motion detector 17 is attached for detecting swing states, i.e., a swing displacement x5 of the suspended load and a swing speed x6 of the suspended load. - The
control device 21 receives inputs of the measured values x1, x2, x5 and x6 by thedetectors control device 21 determines the amount of operation of thetravel drive devices - In regard to control computation to be performed by the
control device 21, it is known that a control system for positioning of the gantry and steadying of the suspended load can be realized by building the gantry and the suspended load into a bogie-pendulum system model as shown in Fig. 5, and constructing an optimum regulator based on this model (reference: "Mechanical System Control" Paragraph 6.2, Furuta Katsuhisa et al., Ohm). - In recent years, cranes have tended to be upsized. Thus, misalignment between the right-hand traveling position and the left-hand traveling position associated with the structural deformation of the
gantry 3 may increase. A demand for positioning accuracy in an automatic run is becoming so harsh that the influence of the misalignment between the right and left traveling positions on positioning accuracy cannot be ignored. - A conventional control system drives the right and left drive systems by the same command, and thus is unable to reduce the misalignment between the right and left traveling positions to zero. As a result, the positioning accuracy for the suspended
load 6 lowers, posing the grave problem that at the worst, required positioning accuracy cannot be fulfilled. - According to a first aspect of the present invention there is provided a positioning/steadying control system which comprises traveling position detectors and traveling speed detectors for detecting the right and left traveling positions and traveling speeds, respectively, of a crane traveling on two rails across them, right and left independent drive devices, and an arithmetic means for determining the amounts of operation of the right and left drive devices based on the measured values from the detectors as inputs.
- In a preferred embodiment the control system is so constructed as to have traveling position detectors and traveling speed detectors for detecting the right and left traveling positions and traveling speeds, respectively, of a crane traveling on two rails across them, and right and left independent drive devices, and to determine the amounts of operation of the right and left drive devices based on the measured values from the detectors as inputs. Thus, the control system can simultaneously perform positioning for the right and left traveling positions, and the steadying of the suspended load.
-
- Fig. 1 is a schematic view showing the overall construction of a steadying control device in accordance with an embodiment of the present invention;
- Fig. 2 is a block diagram of the steadying control device in accordance with an embodiment of the present invention;
- Fig. 3 is a schematic view showing the overall construction of a conventional steadying control device;
- Fig. 4 is a block diagram of the conventional steadying control device; and
- Fig. 5 is an explanatory drawing showing a model with a gantry and a suspended load.
- A suspended load steadying/positioning control device in accordance with an embodiment of the present invention is shown in Figs. 1 and 2. Fig. 1 is a schematic view showing the overall construction of the crane and control system according to the instant embodiment. Fig. 2 is a block diagram of the control device of this embodiment. The same parts as in the aforementioned example are assigned the same numerals and symbols, and explanations for them are omitted.
- As shown in Fig. 1, the suspended load steadying/positioning control device of the instant embodiment is equipped with a right-hand
traveling position detector 12 and a right-handtraveling speed detector 13 for detecting the traveling position xl and traveling speed x2 of agantry 4 on aright rail 1 in Fig. 1, and is also equipped with a left-handtraveling position detector 15 and a left-handtraveling speed detector 16 for detecting the traveling position x3 and traveling speed x4 of thegantry 4 on aleft rail 1 in the drawing. - To detect the swing state of a suspended
load 6, aswing motion detector 17 is mounted on the suspendedload 6 to detect a swing displacement x5 and swing speed x6 of the suspendedload 6 in the traveling direction by use of an accelerometer or the like. - The
control device 21 receives inputs of detection signals x1, x2, x3, x4, x5 and x6 from thedetectors travel drive devices - As shown in Fig. 2, an optimum steadying gain K is separately precalculated and preset in the
control device 21. Thecontrol device 21 has a controlarithmetic portion 22 which, based on this optimum gain K, computes the amounts of optimum operation in response to the right and left traveling positions and traveling speeds, the swing displacement and swing speed of the suspendedload 6 that have been entered from thedetectors travel drive devices - The foregoing suspended load steadying/positioning control device concerned with the instant embodiment performs optimum steadying/positioning control by the following concrete processing steps (1) to (3):
- (1) The
detectors load 6, and issues these data to thecontrol device 21. - (2) Then, based on these motion state amounts, the
optimum control portion 22 calculates speed commands ul, u2 for the right andleft drive devices hand drive device 11, and u2 represents a speed command for the left-hand drive device 14. That is, the following Numeric Expression 2 holds:Numeric Expression 1, x represents a state amount vector to be described below. Its elements are, in order of arrangement from left to right, a right-hand traveling position x1 and a right-hand traveling speed x2, a left-hand traveling position x3 and a left-hand traveling speed x4, a swing displacement x5 and a swing speed x6 of the suspended load. That is, the followingNumeric Expression 3 holds:
Further, K represents a constants matrix with 2 rows and 6 columns shown below.
The above constants matrix K is an optimum gain determined by the following procedure:- (a) From motion equations formulated for the right and left
travel drive devices gantry 3,rope 5 and suspendedload 6, a state equation (Numeric Expression 5) as indicated below, is derived. This state equation is a linear differential equation expressing the vibrations of the suspendedload 6 as a spring-mass system. - (b) For the above state equation (Numeric Expression 5), the optimum gain K of Numeric Expression 7 that minimizes an evaluation function J of
Numeric Expression 6 below is sought.
By so minimizing the evaluation function J, the optimum gain K is found which rapidly reduces all elements of the state amount to zero with the smallest possible operation amount u.
- (a) From motion equations formulated for the right and left
- (3) Based on the optimum gain K obtained by the above-described computation, the
optimum control portion 22 determines optimum operation amounts adapted to the motion state amounts and the run state by thedetectors left drive devices - Such optimum control can eliminate the misalignment between the right and left traveling positions, achieve the steadying of the suspended load, and ensure highly accurate positioning of the suspended load.
- As described based on the embodiment, the present invention has traveling position detectors and traveling speed detectors for detecting the right and left traveling positions and traveling speeds, respectively, of a crane traveling on two rails across them, and right and left independent drive systems, and computes the amounts of operation of the drive devices by means of an optimum regulator. Thus, the invention permits the accurate positioning of a suspended load even in a crane having structural deformation.
Claims (2)
- A suspended load steadying/positioning control device comprising:independent drive devices for moving a crane on two rails, said crane suspending a load by a rope or the like and traveling on the rails across them;position detectors for detecting the traveling position of the crane on each rail;speed detectors for detecting the traveling speed of the crane on each rail;a suspended load swing displacement detector; andarithmetic means for calculating, based on inputs, operation commands for the drive devices at two locations, said inputs being the measured values of the traveling positions at two locations by the position detectors, the measured values of the speeds at two locations by the speed detectors, and the measured value of the displacement of the suspended load by the suspended load swing displacement detector.
- The suspended load steadying/positioning control device of claim 1, wherein based on an optimum steadying gain which has been calculated and set separately, the arithmetic means computes the amount of optimum operation in response to the right and left traveling positions and traveling speeds, the swing displacement and swing speed of the suspended load that have been entered from the detectors, and performs optimum steadying/positioning control by the drive devices.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP29489896 | 1996-11-07 | ||
JP8294898A JPH10139368A (en) | 1996-11-07 | 1996-11-07 | Bracing and positioning control device for hung load |
JP294898/96 | 1996-11-07 |
Publications (3)
Publication Number | Publication Date |
---|---|
EP0841295A2 true EP0841295A2 (en) | 1998-05-13 |
EP0841295A3 EP0841295A3 (en) | 2000-01-12 |
EP0841295B1 EP0841295B1 (en) | 2004-09-22 |
Family
ID=17813685
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP97308305A Expired - Lifetime EP0841295B1 (en) | 1996-11-07 | 1997-10-20 | Suspended load steadying/positioning control device |
Country Status (8)
Country | Link |
---|---|
EP (1) | EP0841295B1 (en) |
JP (1) | JPH10139368A (en) |
KR (1) | KR100237150B1 (en) |
DE (1) | DE69730799T2 (en) |
HK (1) | HK1010530A1 (en) |
MY (1) | MY126395A (en) |
SG (1) | SG67437A1 (en) |
TW (1) | TW379201B (en) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2002095520A1 (en) * | 2001-05-21 | 2002-11-28 | Power Jacks Limited | Control system |
WO2005049285A1 (en) * | 2003-11-14 | 2005-06-02 | Siemens Technology-To-Business Center, Llc | Systems and methods for sway control |
DE19907989B4 (en) * | 1998-02-25 | 2009-03-19 | Liebherr-Werk Nenzing Gmbh | Method for controlling the path of cranes and device for path-accurate method of a load |
CN103253600A (en) * | 2013-04-19 | 2013-08-21 | 杭州凯尔达机器人科技股份有限公司 | Numerical control gantry crane for boom production line |
US10207903B2 (en) * | 2013-10-24 | 2019-02-19 | Torquer Limited | Apparatus and method for controlling the orientation of a suspended load |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100349168B1 (en) * | 1997-11-17 | 2003-02-14 | 주식회사 포스코 | Position servo apparatus for preventing shakes in 3 axes overhead crane |
KR101949953B1 (en) * | 2017-06-29 | 2019-02-21 | (주) 케이티에스코리아 | Control system for anti-snag and sway of crane hook |
TWI675001B (en) * | 2018-11-07 | 2019-10-21 | 中國鋼鐵股份有限公司 | Crane anti-swing and positioning control system and calculation method of acceleration and deceleration curve |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0583816A1 (en) * | 1992-08-04 | 1994-02-23 | FINMECCANICA S.p.A. AZIENDA ANSALDO | A method for determining the inclination angle of a rope, and an anti-swing device for controlling this angle in a lifting apparatus |
WO1995005336A1 (en) * | 1993-08-13 | 1995-02-23 | Caillard | Method for controlling the swinging motion of an oscillating load and device for applying same |
EP0677478A2 (en) * | 1994-03-30 | 1995-10-18 | Samsung Heavy Industries Co., Ltd | Unmanned operating method for a crane and the apparatus thereof |
-
1996
- 1996-11-07 JP JP8294898A patent/JPH10139368A/en not_active Withdrawn
-
1997
- 1997-10-20 DE DE69730799T patent/DE69730799T2/en not_active Expired - Fee Related
- 1997-10-20 EP EP97308305A patent/EP0841295B1/en not_active Expired - Lifetime
- 1997-10-23 TW TW086115682A patent/TW379201B/en not_active IP Right Cessation
- 1997-10-31 SG SG1997003930A patent/SG67437A1/en unknown
- 1997-11-07 MY MYPI97005309A patent/MY126395A/en unknown
- 1997-11-07 KR KR1019970058633A patent/KR100237150B1/en not_active IP Right Cessation
-
1998
- 1998-11-04 HK HK98111728A patent/HK1010530A1/en not_active IP Right Cessation
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0583816A1 (en) * | 1992-08-04 | 1994-02-23 | FINMECCANICA S.p.A. AZIENDA ANSALDO | A method for determining the inclination angle of a rope, and an anti-swing device for controlling this angle in a lifting apparatus |
WO1995005336A1 (en) * | 1993-08-13 | 1995-02-23 | Caillard | Method for controlling the swinging motion of an oscillating load and device for applying same |
EP0677478A2 (en) * | 1994-03-30 | 1995-10-18 | Samsung Heavy Industries Co., Ltd | Unmanned operating method for a crane and the apparatus thereof |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19907989B4 (en) * | 1998-02-25 | 2009-03-19 | Liebherr-Werk Nenzing Gmbh | Method for controlling the path of cranes and device for path-accurate method of a load |
WO2002095520A1 (en) * | 2001-05-21 | 2002-11-28 | Power Jacks Limited | Control system |
WO2005049285A1 (en) * | 2003-11-14 | 2005-06-02 | Siemens Technology-To-Business Center, Llc | Systems and methods for sway control |
US7289875B2 (en) | 2003-11-14 | 2007-10-30 | Siemens Technology-To-Business Center Llc | Systems and methods for sway control |
US7648036B2 (en) | 2003-11-14 | 2010-01-19 | Siemens Aktiengesellschaft | Systems and methods for sway control |
CN103253600A (en) * | 2013-04-19 | 2013-08-21 | 杭州凯尔达机器人科技股份有限公司 | Numerical control gantry crane for boom production line |
CN103253600B (en) * | 2013-04-19 | 2015-05-13 | 杭州凯尔达机器人科技有限公司 | Numerical control gantry crane for boom production line |
US10207903B2 (en) * | 2013-10-24 | 2019-02-19 | Torquer Limited | Apparatus and method for controlling the orientation of a suspended load |
Also Published As
Publication number | Publication date |
---|---|
KR19980042184A (en) | 1998-08-17 |
EP0841295B1 (en) | 2004-09-22 |
DE69730799D1 (en) | 2004-10-28 |
HK1010530A1 (en) | 1999-06-25 |
JPH10139368A (en) | 1998-05-26 |
KR100237150B1 (en) | 2000-03-02 |
SG67437A1 (en) | 1999-09-21 |
MY126395A (en) | 2006-09-29 |
EP0841295A3 (en) | 2000-01-12 |
DE69730799T2 (en) | 2005-09-29 |
TW379201B (en) | 2000-01-11 |
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