EP0841295B1 - Suspended load steadying/positioning control device - Google Patents

Suspended load steadying/positioning control device Download PDF

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Publication number
EP0841295B1
EP0841295B1 EP97308305A EP97308305A EP0841295B1 EP 0841295 B1 EP0841295 B1 EP 0841295B1 EP 97308305 A EP97308305 A EP 97308305A EP 97308305 A EP97308305 A EP 97308305A EP 0841295 B1 EP0841295 B1 EP 0841295B1
Authority
EP
European Patent Office
Prior art keywords
suspended load
traveling
steadying
control device
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.)
Expired - Lifetime
Application number
EP97308305A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0841295A3 (en
EP0841295A2 (en
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 EP0841295A2 publication Critical patent/EP0841295A2/en
Publication of EP0841295A3 publication Critical patent/EP0841295A3/en
Application granted granted Critical
Publication of EP0841295B1 publication Critical patent/EP0841295B1/en
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
    • 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 and steadying control is defined in the independent claim.
  • control device 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 x1 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, 15, 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)
EP97308305A 1996-11-07 1997-10-20 Suspended load steadying/positioning control device Expired - Lifetime EP0841295B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP294898/96 1996-11-07
JP29489896 1996-11-07
JP8294898A JPH10139368A (ja) 1996-11-07 1996-11-07 吊荷の振れ止め及び位置決め制御装置

Publications (3)

Publication Number Publication Date
EP0841295A2 EP0841295A2 (en) 1998-05-13
EP0841295A3 EP0841295A3 (en) 2000-01-12
EP0841295B1 true 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 (ko)
JP (1) JPH10139368A (ko)
KR (1) KR100237150B1 (ko)
DE (1) DE69730799T2 (ko)
HK (1) HK1010530A1 (ko)
MY (1) MY126395A (ko)
SG (1) SG67437A1 (ko)
TW (1) TW379201B (ko)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100349168B1 (ko) * 1997-11-17 2003-02-14 주식회사 포스코 3축천정크레인의비간섭흔들림방지위치서보장치
DE19907989B4 (de) * 1998-02-25 2009-03-19 Liebherr-Werk Nenzing Gmbh Verfahren zur Bahnregelung von Kranen und Vorrichtung zum bahngenauen Verfahren einer Last
GB0112321D0 (en) * 2001-05-21 2001-07-11 Prec Actuation Systems Ltd Control system
US7289875B2 (en) 2003-11-14 2007-10-30 Siemens Technology-To-Business Center Llc Systems and methods for sway control
CN103253600B (zh) * 2013-04-19 2015-05-13 杭州凯尔达机器人科技有限公司 臂架生产线数控龙门吊
GB201318843D0 (en) * 2013-10-24 2013-12-11 Angus Jamieson Consulting Ltd Apparatus and method for controlling the orientation of a suspended load
KR101949953B1 (ko) * 2017-06-29 2019-02-21 (주) 케이티에스코리아 크레인 훅의 ａｎｔｉ-ｓｎａｇ ＆ ｓｗａｙ 제어 시스템
TWI675001B (zh) * 2018-11-07 2019-10-21 中國鋼鐵股份有限公司 天車防擺盪與定位控制系統及其加減速曲線計算方法

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT1255484B (it) * 1992-08-04 1995-11-06 Ansaldo Spa Metodo per la determinazione dell'angolo di inclinazione di una fune,e dispositivo antipendolamento per il controllo di tale angolo in un organo di sollevamento
FR2708920B1 (fr) * 1993-08-13 1995-10-13 Caillard Procédé de contrôle de balancement d'une charge pendulaire et dispositif de mise en Óoeuvre du procédé.
FI111243B (fi) * 1994-03-30 2003-06-30 Samsung Heavy Ind Menetelmä nosturin käyttämiseksi

Also Published As

Publication number Publication date
DE69730799D1 (de) 2004-10-28
HK1010530A1 (en) 1999-06-25
KR19980042184A (ko) 1998-08-17
EP0841295A3 (en) 2000-01-12
KR100237150B1 (ko) 2000-03-02
TW379201B (en) 2000-01-11
EP0841295A2 (en) 1998-05-13
JPH10139368A (ja) 1998-05-26
DE69730799T2 (de) 2005-09-29
MY126395A (en) 2006-09-29
SG67437A1 (en) 1999-09-21

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