EP0841298B1 - Système de commande avec détection du poids de la charge. - Google Patents

Système de commande avec détection du poids de la charge. Download PDF

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Publication number
EP0841298B1
EP0841298B1 EP19970118120 EP97118120A EP0841298B1 EP 0841298 B1 EP0841298 B1 EP 0841298B1 EP 19970118120 EP19970118120 EP 19970118120 EP 97118120 A EP97118120 A EP 97118120A EP 0841298 B1 EP0841298 B1 EP 0841298B1
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EP
European Patent Office
Prior art keywords
ref
variable
load
drive
control system
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
EP19970118120
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German (de)
English (en)
Other versions
EP0841298A2 (fr
EP0841298A3 (fr
Inventor
Falk Thürmer
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.)
R Stahl Foerdertechnik GmbH
Original Assignee
R Stahl Foerdertechnik GmbH
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Filing date
Publication date
Application filed by R Stahl Foerdertechnik GmbH filed Critical R Stahl Foerdertechnik GmbH
Publication of EP0841298A2 publication Critical patent/EP0841298A2/fr
Publication of EP0841298A3 publication Critical patent/EP0841298A3/fr
Application granted granted Critical
Publication of EP0841298B1 publication Critical patent/EP0841298B1/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
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • B66D1/42—Control devices non-automatic
    • B66D1/46—Control devices non-automatic electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/54—Safety gear
    • B66D1/58—Safety gear responsive to excess of load

Definitions

  • the cable force will exceed a second limit, which is approximately 110% of the rated load, and the hoist will be shut down. It can then be set in motion only in the direction of sinks.
  • the known from DE-29 30 439 C2 method for controlling a hoist uses the time derivative of the cable force to determine whether an overload can occur when lifting the load. As soon as the increase in the cable power is too great, it is switched over to the feeder when lifting.
  • a time-derivative system is very sensitive to disturbances, both to perturbations that seem to simulate too fast a rise and perturbations that simulate the opposite direction.
  • the new drive and control system is able to detect very quickly whether the load is raised and what weight it has. This quick response is made possible because the new drive and control system is self-adaptive and automatically adjusts a variable upper limit as the cable force increases. Descending or adjusting the upper variable limit stops automatically when the load hangs freely on the rope, even if longitudinal vibrations in the rope have been induced by the tearing of the load. Thus, the limit is available almost simultaneously with the floating state of the load. It There is no need to use timers that push the load far into the future to make sure that even a long rope has been tightened and the vibrations have subsided.
  • the length of the break would have to be set for the worst case scenario.
  • This most unfavorable case is at maximum length of the rope and the rated load.
  • the swinging or lulling of the load takes the longest time, measured from the initial tightening of the rope to the sufficient decay of the rope vibrations.
  • variable lower limit This is adjusted upwards as long as the variable upper limit is exceeded. Only if no exceeding of the variable upper limit value takes place can the lower value of the lower variable limit value be evaluated in the sense of a reduction of both the lower variable limit value and the upper variable limit value. Thus, with some delay, the upper and lower limits follow the oscillating load signal until the amplitude of the oscillations fall within the band set between the upper and lower variable limits.
  • the system can not know whether, after the last correction of either limit, it is very close to the current magnitude of the load signal. In order to avoid disturbances here, it may be expedient, after the expiry of the specified time, to increase or decrease the variable upper limit value and / or the variable lower limit value by a small incremental value expand, ie slightly increase the distance between the two limits.
  • Fig. 1 shows a schematic perspective view of a cable 1 with a stored in a frame 2 cable drum 3. From the cable drum 3 runs from a rope 4, which leads to a hook block 5 and from there back to an anchoring point 6 in the frame. On the hook block 5 hangs a load. 7
  • an electric motor 8 is flanged to the frame 2, which is preferably a three-phase motor with squirrel-cage rotor.
  • the control of the motor 8 is done via a schematically indicated control arrangement 9, which is housed in a unfolded drawn control box 11.
  • a handset or hanging button 13 is connected via a suspension cable 12, which serves as an input device.
  • the hanging button 13 has two manually operated push buttons 14 and 15, which serve to control the movement of the cable drum 3. For example, by slightly depressing the push button 14 to a pressure point, the cable drum 3 in the sense of raising the load 7 at a slow speed (Feingang) set in motion. If the push button 14 is actuated beyond the pressure point, the lifting of the load 7 takes place at an increased speed (main lifting speed). The same applies mutatis mutandis to the push button 15, which controls the downward movement.
  • the control arrangement 9 is based on a microprocessor 16, ie with the push buttons 14 and 15 are not controlled motor contactors directly, but the coming of these push buttons 14, 15 signals enter the microprocessor 16, which in turn according to switching or Motor contactors of a power supply 17 is driving.
  • the microprocessor 16 takes over the entire function monitoring of the hoist. 1
  • the pendant switch 13 To an input 18 of the microprocessor 16 via the control cable 12, the pendant switch 13 is connected. An output 19 of the microprocessor 16 is connected to a control input 21 of the power supply device 17.
  • the drive motor 8 is a pole-changing three-phase motor with squirrel cage rotor, which has the property of braking electrically when switching from the low number of poles to the high number of poles, ie when switching from the high speed to the low speed.
  • a frequency converter can be used in conjunction with a three-phase asynchronous motor with a fixed number of pole pairs.
  • the same braking effect will occur if the frequency converter is set up accordingly. In this case, either the energy is fed back into the power grid or destroyed in braking resistors.
  • An armature shaft 24 of the drive motor 8 is coupled to a mechanical brake device 25 and drives the cable drum 3 via a housed in the cable drum 3 Planetary gear.
  • To the mechanical braking device 25 includes a rotatably coupled to the armature shaft 24 brake disk 26 and a pair of pliers on this attacking brake shoes 27 which can be applied via a schematically indicated actuator 28 to the brake disc 26 and with the aid of the brake shoes 27 can be released.
  • the brake actuator 28 has a control input 29 which is connected via a line 31 to an output 32 of the microprocessor 16.
  • a cable force sensor 33 is provided which emits an electrical signal proportional to the cable force at its output 34.
  • the rope force sensor 33 can be designed in different forms. It may be a load cell, which is arranged at the fixed anchoring point 6 between the traction cable 4 and the frame 2. However, the cable force sensor 33 can also be arranged in the suspension of the hoist 1 in order to measure or weigh the weight of the hoist 1 together with the load hanging thereon. Finally, it is also conceivable to use as a cable force sensor 33, a force measuring device which measures an axial force on an axis within the reduction gear between the drive motor 8 and the cable drum 3 and makes use of it that with helical gears a dependent on the transmitted torque axial force. In all cases, the rope force sensor 33 provides at its output 34 a signal indicative of the value of the load 7 hanging on the hook 5. Specifically, this value also includes the variable weight of the extended one Rope, which is generally negligible. This electrical load signal passes through a connecting line 35 directly and thus virtually unswept and instantaneously in an input 36 of the microprocessor 16th
  • Fig. 3 illustrates in the form of a flow chart that program part which runs in the microprocessor 16 and serves to determine the hook load or the weight of the lifted load 7, including the weight of the cable 4.
  • the program section shown in Fig. 3 is only passed through the first time a load, but not when the already floating load is stopped and restarted, regardless of whether up or down.
  • the program is reached at 41 from the main program.
  • This reference value Ref 1 is set very low and corresponds to the newly tightened cable 4. It is about 10% of the rated load of the hoist 1. If the program determines that the load signal F is below the limit value Ref 1 , becomes a block instruction 43th branches, in which an upper variable limit value Ref 2 and a lower variable limit value Ref 3 are set to their respective lowest values K1 and K2. Then the program piece according to FIG. 4 at 44 is again left in the direction of the main program until it is jumped back from the main program at 41.
  • the drive motor 8 runs with the speed selected by the user via the pendant button.
  • the instruction block 47 is not executed when the load signal remains smaller than the upper variable limit value Ref 2 .
  • the program then proceeds to a branch point 51, at which it is checked whether the clock, because the instruction blocks 47 and 49 were skipped, meanwhile displays a time value which is greater than t G.
  • This time period t G is slightly greater than the worst case period of oscillation of the load 7 on the cable 4. If this time limit t G is not exceeded, the program returns to the input of the instruction block 45 to resend the checks at the branching points 46 and 48, so that the variable limit values Ref 2 and Ref 3 are corrected as the case may be.
  • the program interprets this as meaning that the cable oscillations have decayed so far that the resulting fluctuations in the load signal F within the band, which is bounded above by the current value of the upper variable upper limit Ref 2 and down by the current value of the lower variable limit Ref 3 .
  • the upper variable Limit value Ref 2 is increased by a fixed small incremental value a.
  • Reference value The upper limit now reached after the instruction block 52 may be referred to as Reference value are used in order to decide on further operation, whether an operating situation has occurred, which makes it advisable to switch to safety for reasons in the low speed.
  • the lower variable limit Ref 3 by a small Increment a be reduced, so that under unfavorable conditions, a sufficient distance to the idle state of the load signal F is achieved.
  • the program section shown shows the parts essential for understanding. Any required holding patterns and the check for exceeding the overload limit have been omitted for the sake of clarity.
  • the control circuit 9 therefore switches the power supply device 17, so that subsequently the motor 8 only works fine with the slow fine lifting speed v.
  • the load signal F will for the first time become greater than the upper variable limit value Ref 2 still sitting at its start value, which is then increased by ⁇ at the instant t 2 as well as the lower variable limit value Ref 3 .
  • This process of exceeding Ref 2 and increasing Ref 2 and Ref 3 will be repeated several times until time t 8 .
  • the program will execute the instruction block 47, but skip the instruction block 49.
  • the clock is always reset to the initial value.
  • the upper variable limit value Ref 2 is adjusted practically simultaneously with the sufficient decay of the cable vibrations after lifting the load 7.
  • the values of the two variable limit values Ref 2 and Ref 3 can now be changed in the sense of increasing the bandwidth.
  • the system does not need to work with a break time that takes into account the worst case load and is decidedly too long for normal operation.
  • the system is able to work very fast again with the full lifting speed, because the steady state is a maximum of one period after the last time one of the limit values Ref 2 , Ref 3 is also exceeded in steady state stability.
  • a hoist is provided with a control system at during the lifting of the load of the pad dynamically retraced an upper limit until the detected by the control system load signal for the first time does not exceed this stepwise increased limit. Subsequently, it is checked whether, as a result of vibrations, a stepwise entrained lower limit value is undershot. If this is not the case, the limit values remain at the current value, otherwise they are gradually reduced and increased again until the load signal remains between the two limits.
  • the system can adjust very quickly to any load and is practically in the steady state with the lifting of the load and the subsequent decay of the rope oscillation, which means that the limits are reliably set and can be trusted.

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

Claims (13)

  1. Système d'entraînement et de commande (9) pour un engin de levage (1) muni d'un moyen de suspension de la charge (4, 5), comportant un moteur d'entraînement (8) pour déplacer le moyen de suspension de la charge (4, 5),
    une installation d'alimentation en courant électrique (17) pour le moteur d'entraînement (8), à laquelle le moteur d'entraînement (8) est connecté et qui présente des entrées de commande (21),
    un système de capteur (33) pour mesurer la force agissant sur le moyen de suspension de la charge (4, 5) et délivrer un signal de charge (F) caractérisant la valeur de la force,
    un dispositif d'entrée (13) pour commander le moteur d'entraînement (8) et
    un circuit de commande (16) relié au dispositif d'entrée (13), auquel le signal de charge (F) du système de capteur (33) est transmis
    caractérisé par le fait que le circuit de commande (16) contient
    un programme de commande,
    dans lequel une valeur seuil supérieure (Ref2) variable pour le signal de charge est chargée,
    qui (i) compare le signal de charge (F) à la valeur seuil supérieure (Ref2) variable,
    qui (ii), lorsque le signal de charge (F) est plus élevé que la valeur seuil supérieure (Ref2) variable, relève ladite valeur seuil supérieure (Ref2), et
    qui répète les étapes (i) et (ii) jusqu'à ce que le signal de charge (F) reste inférieur au seuil supérieure (Ref2) variable pendant un laps de temps (tG) déterminé.
  2. Système d'entraînement et de commande selon la revendication 1, caractérisé par le fait que la valeur seuil supérieure (Ref2) variable est relevée chaque fois d'une valeur constante.
  3. Système d'entraînement et de commande selon la revendication 1, caractérisé par le fait qu'une valeur seuil (Ref1) fixe est chargée dans le programme et que les étapes (i) et (ii) sont lancées seulement lorsqu'à la fin du laps de temps (tG) déterminé le signal de charge (F) est inférieur à la valeur seuil (Ref1) fixe.
  4. Système d'entraînement et de commande selon la revendication 1, caractérisé par le fait qu'une valeur seuil inférieure (Ref3) variable est chargée dans le programme pour le signal de charge (F) et que chaque fois que la valeur seuil supérieure (Ref2) variable est relevée, la valeur seuil inférieure (Ref3) variable est également relevée.
  5. Système d'entraînement et de commande selon la revendication 1, caractérisé par le fait que la valeur seuil inférieure (Ref3) variable est relevée chaque fois d'une valeur fixe (Δ).
  6. Système d'entraînement et de commande selon la revendication 1, caractérisé par le fait que la valeur seuil inférieure (Ref3) variable et la valeur seuil supérieure (Ref2) présentent un écart réciproque fixe.
  7. Système d'entraînement et de commande selon la revendication 1, caractérisé par le fait que l'écart fixe entre la valeur seuil inférieure (Ref3) variable et la valeur seuil supérieure (Ref2) variable est compris entre 2% et 20% de la charge nominale de l'engin de levage (1).
  8. Système d'entraînement et de commande selon la revendication 4, caractérisé par le fait que (iii) le signal de charge (F) est comparé à la valeur seuil inférieure (Ref3) variable, que (iv), lorsque le signal de charge (F) inférieur est inférieur à la valeur seuil inférieure (Ref3) variable, ladite valeur seuil inférieure (Ref3) est abaissée et que les étapes (iii) et (iv) sont répétées jusqu'à ce que le signal de charge (F) reste supérieur à la valeur seuil inférieure (Ref3) variable pendant un laps de temps (tG) déterminé.
  9. Système d'entraînement et de commande selon la revendication 1 ou 8, caractérisé par le fait que le laps de temps (tG) déterminé est comprise entre 0,2 sec et 5 sec.
  10. Système d'entraînement et de commande selon la revendication 1, caractérisé par le fait que lorsque le laps dé temps (tG) déterminé est écoulé, la valeur seuil supérieure (Ref2) variable est relevée d'une valeur prédéterminée et/ou la valeur seuil inférieure (Ref3) variable est abaissée d'une valeur prédéterminée.
  11. Système d'entraînement et de commande selon la revendication 1 ou 8, caractérisé par le fait que le moteur d'entraînement (8) peut fonctionner avec au moins une vitesse de rotation élevée et au moins une vitesse de rotation faible.
  12. Système d'entraînement et de commande selon la revendication 11, caractérisé par le fait que le programme indépendamment de l'entrée effectuée par l'intermédiaire du dispositif d'entrée (13) interdit la vitesse de rotation élevée jusqu'à ce que le laps de temps (tG) déterminé soit écoulé.
  13. Système d'entraînement et de commande selon la revendication 11, caractérisé par le fait que le programme, lorsqu'un déplacement du moyen de suspension de la charge (4,5) est demandé par l'intermédiaire du dispositif d'entrée (13), après le dépassement de la valeur seuil supérieure (Ref2) variable par le signal de charge (F), commute de force le moteur d'entraînement (8) vers une vitesse de rotation plus faible.
EP19970118120 1996-11-07 1997-10-18 Système de commande avec détection du poids de la charge. Expired - Lifetime EP0841298B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE1996145812 DE19645812C1 (de) 1996-11-07 1996-11-07 Steuerungsanordnung mit Erkennung des Gewichts der Last
DE19645812 1996-11-07

Publications (3)

Publication Number Publication Date
EP0841298A2 EP0841298A2 (fr) 1998-05-13
EP0841298A3 EP0841298A3 (fr) 2002-11-27
EP0841298B1 true EP0841298B1 (fr) 2006-01-04

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EP19970118120 Expired - Lifetime EP0841298B1 (fr) 1996-11-07 1997-10-18 Système de commande avec détection du poids de la charge.

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EP (1) EP0841298B1 (fr)
DE (2) DE19645812C1 (fr)

Cited By (1)

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CN106586833A (zh) * 2016-11-04 2017-04-26 合肥市春华起重机械有限公司 一种内置式起重机防摇摆控制系统

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DE19822288C2 (de) * 1998-05-18 2001-05-17 Stahl R Foerdertech Gmbh Störungssichere Steuerungsanordnung für ein Hebezeug
DE19905020A1 (de) * 1999-01-28 2000-08-10 Mannesmann Ag Verfahren zur ständigen Überwachung der ordnungsgemäßen Betriebsfunktion eines Kranes
DE60038013T2 (de) * 1999-05-02 2009-02-05 Varco I/P, Inc., Houston Drehmomentmesssystem für die trommelachse eines hebezeugs
FI20002084A0 (fi) * 2000-09-21 2000-09-21 Kci Kone Cranes Int Oy Menetelmä nosturin jarrun toiminnan valvomiseksi
DE10124899B4 (de) * 2001-05-22 2013-09-05 Crystal Growing Systems Gmbh Kristallziehanlage mit einer Hubeinrichtung
DE102004027106A1 (de) 2004-06-03 2005-12-29 Demag Cranes & Components Gmbh Hebezeug mit Hublastmesseinrichtung
DE102005034677A1 (de) * 2005-07-25 2007-02-01 Liebherr-Werk Nenzing Gmbh, Nenzing Kran
DE102006010346A1 (de) * 2006-03-07 2007-09-13 Pat Gmbh Überlastschutz für Krane
DE102006043492A1 (de) * 2006-09-12 2008-03-27 Stahl Cranesystems Gmbh Hebezeug mit erweitertem Lastbereich
DE102008045330B4 (de) * 2008-08-20 2013-03-21 Physik-Instrumente Dr.Bernd Brosa Gmbh Frühzeitige Überlasterkennung für eine Lasthubvorrichtung
CN101913538B (zh) * 2010-08-18 2013-06-12 尹波 一种葫芦
JP5809788B2 (ja) * 2010-09-22 2015-11-11 株式会社日立産機システム 地切り停止機構付き電動巻上機
DE102012004914A1 (de) * 2012-03-09 2013-09-12 Liebherr-Werk Nenzing Gmbh Kransteuerung mit Seilkraftmodus
DE102012004802A1 (de) 2012-03-09 2013-09-12 Liebherr-Werk Nenzing Gmbh Kransteuerung mit Aufteilung einer kinematisch beschränkten Größe des Hubwerks
DE102012004803A1 (de) 2012-03-09 2013-09-12 Liebherr-Werk Nenzing Gmbh Kransteuerung mit Antriebsbeschränkung
CN102730570B (zh) * 2012-06-27 2015-04-08 抚顺市特种设备监督检验所 起重机综合保护器
JP6309847B2 (ja) * 2014-07-14 2018-04-11 ファナック株式会社 定格ワークパラメータを超えるワークを搬送可能なロボット制御装置
CN104828730B (zh) * 2015-04-15 2017-04-12 杭州航海仪器有限公司 船用电动绞车收放缆阵多重安全保护方法

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DE2058712C3 (de) * 1970-11-28 1975-07-31 Demag Ag, 4100 Duisburg überlastsicherung für ein Hebezeug
HU177529B (en) * 1979-05-29 1981-11-28 Epitoegepgyarto Vallalat Method for preventing over load of lifting machines and arrangement for implementing this
DE2930439A1 (de) * 1979-07-26 1981-02-05 Isetron Ind Sicherheits Elektr Ueberlastsicherung fuer ein hebezeug

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106586833A (zh) * 2016-11-04 2017-04-26 合肥市春华起重机械有限公司 一种内置式起重机防摇摆控制系统

Also Published As

Publication number Publication date
EP0841298A2 (fr) 1998-05-13
DE19645812C1 (de) 1998-02-26
EP0841298A3 (fr) 2002-11-27
DE59712540D1 (de) 2006-03-30

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