EP1628902A1 - Grue ou excavatrice destinee a la manipulation d'une charge suspendue a un cable presentant un systeme de guidage optimise - Google Patents

Grue ou excavatrice destinee a la manipulation d'une charge suspendue a un cable presentant un systeme de guidage optimise

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Publication number
EP1628902A1
EP1628902A1 EP04739403A EP04739403A EP1628902A1 EP 1628902 A1 EP1628902 A1 EP 1628902A1 EP 04739403 A EP04739403 A EP 04739403A EP 04739403 A EP04739403 A EP 04739403A EP 1628902 A1 EP1628902 A1 EP 1628902A1
Authority
EP
European Patent Office
Prior art keywords
crane
load
control
excavator
model
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
Application number
EP04739403A
Other languages
German (de)
English (en)
Other versions
EP1628902B1 (fr
Inventor
Klaus Schneider
Oliver Sawodny
Eckard Arnold
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.)
Liebherr Werk Nenzing GmbH
Original Assignee
Liebherr Werk Nenzing 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 Liebherr Werk Nenzing GmbH filed Critical Liebherr Werk Nenzing GmbH
Publication of EP1628902A1 publication Critical patent/EP1628902A1/fr
Application granted granted Critical
Publication of EP1628902B1 publication Critical patent/EP1628902B1/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
    • 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
    • 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

Definitions

  • the invention relates to a crane or excavator for handling a load suspended from a load rope according to the preamble of claim 1.
  • the invention is concerned with the generation of command variables as control functions in cranes or excavators, which allows the load suspended on a rope to be moved in at least three degrees of freedom.
  • Such cranes or excavators have a slewing gear, which can be mounted on a trolley, which is used to turn the crane or excavator.
  • the crane or excavator comprises a hoist for lifting or lowering the load suspended on the rope.
  • Such cranes or excavators are used in a wide variety of designs. Examples include mobile harbor cranes, ship cranes, offshore cranes, crawler cranes or cable excavators.
  • WO 02/32805 A1 describes a crane or excavator for handling a load hanging on a load rope with a computer-controlled regulation for damping the load oscillation, which has a path planning module, a centripetal force compensation device and at least one axis controller for the slewing gear, one axis controller for the luffing gear and one Has axis controller for the hoist. Only the kinematic limits of the system are taken into account in the path planning module. The dynamic behavior is only taken into account when designing the control.
  • the object of the invention is to further optimize the motion control of the load hanging on the load rope.
  • a generic crane or excavator has a control system in which the reference variables for the control system are generated in such a way that there is an optimized movement with minimized pendulum deflections.
  • the traversed path of the oscillating load can also be forecast and a collision avoidance strategy can be implemented based on this.
  • optimal control trajectories are calculated and updated online in the path control of the present invention.
  • the model-based optimal control trajectories can be created based on a model linearized around reference trajectories.
  • the model-based optimal control trajectories can be based on a non-linear model approach.
  • the model-based optimal control trajectories can be determined with feedback from all state variables.
  • model-based optimal control trajectories can be determined by tracing at least one measured variable and estimating the remaining state variables.
  • model-based optimal control trajectories can be determined by tracing at least one measured variable and tracking the remaining state variables by means of model-based forward control.
  • the path control can advantageously be carried out as fully automatic or else as semi-automatic.
  • the desired functions are now generated in the present invention in such a way that the dynamic behavior of the crane is taken into account even before the control is switched on.
  • the control only has the task of compensating for model deviations and disturbance variables, which results in improved driving behavior.
  • the control can be omitted entirely and the crane can be operated with this optimized control function.
  • the behavior will be somewhat less favorable than when operating with the control, since the model does not agree in all details with the actual circumstances.
  • the process provides two modes of operation.
  • the hand lever operation in which the operator specifies a target speed of the load through the hand lever deflection, and the fully automatic operation, in which the start and destination points are specified.
  • the optimized control function calculation can be operated alone or in connection with a regulation for load oscillation damping.
  • Fig. 1 Basic mechanical structure of a mobile harbor crane
  • Fig. 2 Interaction of hydraulic control and path control with module for optimized movement control as a control function of the crane
  • Fig. 3 Structure of the path control with module for optimized motion control with regulation for load pendulum damping
  • Fig. 4 Structure of the path control with module for optimized motion control as a control function without regulation for load swing damping (if necessary with subordinate position controllers for the drives)
  • Fig. 5 Mechanical structure of the slewing gear and definition of model variables
  • Fig. 6 Mechanical structure of the luffing gear and definition of model variables
  • Fig. 7 Erection kinematics of the luffing gear
  • Fig. 8 Flow chart for the calculation of the optimized control variable in fully automatic operation
  • Fig. 9 Flow chart for the calculation of the optimized control variable in semi-automatic operation
  • Fig. 10 Exemplary generation of reference variables in fully automatic operation
  • Fig. 11 Exemplary time profiles of control variables and control variables in hand lever operation
  • the basic mechanical structure of a mobile harbor crane is shown in FIG.
  • the mobile harbor crane is usually mounted on a chassis 1.
  • the boom 5 can be tilted by the angle ⁇ A with the hydraulic cylinder of the luffing gear 7.
  • the rope length Is can be varied with the hoist.
  • the tower 11 enables the rotation of the boom by the angle ⁇ D about the vertical axis. With the load swivel 9, the load at the target point can be rotated by the angle ⁇ red .
  • Fig. 2 shows the interaction of hydraulic control and path control 31 with a module for optimized movement control.
  • the mobile harbor crane has a hydraulic drive system 21.
  • An internal combustion engine 23 feeds the hydraulic control circuits via a transfer case.
  • the hydraulic control circuits each consist of a variable displacement pump 25, which is controlled via a proportional valve in the pilot control circuit, and a motor 27 or cylinder 29 as the working machine.
  • a flow rate Q F D, QFA, QFL, QFR is set via the proportional valve independently of the load pressure.
  • the proportional valves are controlled via the signals UstD, Us A , UstL, Ust R.
  • the hydraulic control is usually equipped with a subordinate flow control. It is essential that the control voltages usto, UstA, Ust UstR at the proportional valves are converted by the subordinate flow control into flow rates QFD, QFA, QFL, QFR proportional to this in the corresponding hydraulic circuit.
  • FIGS. 3 and 4 show the structure of the path control with the module for optimized motion control with Regulation for load oscillation damping and Figure 4 the path control with the module for optimized motion control without regulation for load oscillation damping.
  • This load sway damping can be designed, for example, according to PCT / EP01 / 12080. Therefore, the content disclosed there is fully incorporated into this document.
  • the input variables of the module 37 are a target point matrix 35 for the position and orientation of the load, which in the simplest case consists of the start and end point.
  • the position is usually described for slewing cranes by polar coordinates ( ⁇ LD , r LA ,) ⁇ Since this does not completely describe the position of the extended body (e.g. a container) in space, another angle size can be added (angle of rotation ⁇ L around the Vertical axis, which is parallel to the rope).
  • the target position variables ⁇ wziei, r aa, kiei, iei are summarized in the vector gziei.
  • the input variables of the module 39 are the current positions of the hand levers 34 for controlling the crane.
  • the deflection of the hand lever corresponds to the desired target speed of the load in the respective direction of movement. Accordingly, the target speeds ⁇ LDTarget Anlagenzzyf] Target speed vector q summarized.
  • the optimal control problem can be solved from this information about the stored model for describing the dynamic behavior and the selected boundary and secondary conditions.
  • the output variables are then the time functions u out> D , u out , A , u 0Ut , ⁇ , u 0Ut ⁇ R , which are at the same time input variables of the subordinate regulation for load oscillation damping 36 or the subordinate regulation for position or speed of the crane 41.
  • the hand lever value can be used to change the secondary condition of the maximum permissible speed in the optimal control problem. This is particularly advantageous in that even in fully automatic operation, the user has the possibility of influencing the speed of the fully automatic process online. The changes made are immediately adopted and taken into account in the next run of the algorithm.
  • Model-based estimation methods 43 such as observer structures, are suitable here.
  • the missing state variables are estimated or tracked from the measured variables of the crane position and the control functions u 0Ut ⁇ D , u 0U t, A, u out , u out , ⁇ in a stored dynamic model (see FIG. 4).
  • the basis for the process of optimized motion control is the process of dynamic optimization.
  • the dynamic behavior of the crane must be mapped in a differential equation model.
  • Either the Lagrangian formalism or the Newton-Euler method can be used to derive the model equations.
  • FIG. 5 shows the model variables, the model variables related to the rotary movement
  • FIG. 6 shows the model variables for the radial movement.
  • Is is the resulting rope length from the boom head to the center of the load.
  • ⁇ is the current righting angle of the luffing gear
  • l A is the length of the boom
  • ⁇ S t is the current rope angle in the tangential direction (since ⁇ st is small, can be approximated).
  • M RD friction torque (2) essentially describes the equation of motion for the crane tower with jib, taking into account the retroactive effect of the load swing.
  • (3) is the equation of motion that describes the load oscillation by the angle ⁇ s t , the excitation of the load oscillation being caused by the rotation of the tower, the angular acceleration of the tower or an external disturbance expressed by the initial conditions for these differential equations.
  • i D is the gear ratio between the engine speed and the rotating speed of the tower
  • V is the absorption volume of the hydraulic motors
  • ⁇ o is the pressure drop across the hydraulic drive motor
  • ß is the oil compressibility
  • QFD is the flow rate in the hydraulic circuit for turning
  • K PD is the proportionality constant, which indicates the relationship between the flow rate and the control voltage of the proportional valve. Dynamic effects of the subordinate flow control are neglected.
  • the transmission behavior of the drive units can be represented by an approximate relationship as a delay element of the 1st or higher order instead of using equation 4.
  • the approximation with a delay element of the 1st order is shown below. Then the transfer function results
  • Equation (2) is not needed.
  • T DAntr is the approximate (time constant determined from measurements to describe the deceleration behavior of the drives.
  • K PDAntr is the resulting amplification between the control voltage and the resulting speed in the stationary case.
  • equations of motion can be set up analogously to equations (2) and (3). 6 gives explanations for the definition of the model variables. What is important here is the relationship shown there between the righting angle position ⁇ A of the boom and the load position in the radial direction ⁇ LA
  • Equation (9) essentially describes the equation of motion of the boom with the driving hydraulic cylinder, whereby the reaction is taken into account by the swaying of the load. This also takes into account the portion affected by the gravity of the boom and the viscous friction in the drive.
  • Equation (10) is the equation of motion that describes the load oscillation ⁇ s r , the excitation of the vibration being caused by the erection or inclination of the boom via the angular acceleration of the boom or an external disturbance, expressed by the initial conditions for these differential equations.
  • the term on the right side of the differential equation describes the influence of the centripetal force on the load when the load rotates with the slewing gear.
  • F Z yi is the force of the hydraulic cylinder on the piston rod
  • pz y ⁇ is the pressure in the cylinder (depending on the direction of movement on the piston or ring side)
  • Az y ⁇ is the cross-sectional area of the cylinder (depending on the direction of movement on the piston or ring side)
  • ß is the oil compressibility
  • V Zy ⁇ is the cylinder volume
  • QFA is the flow rate in the hydraulic circuit for the luffing gear
  • K PA is the proportionality constant, which indicates the relationship between flow rate and control voltage of the proportional valve. Dynamic effects of the subordinate flow control will be; neglected.
  • With oil compression in the cylinder half of the total volume of the hydraulic cylinder is assumed to be the relevant cylinder volume.
  • z Zy ⁇ , z Zy ⁇ smd the position or the speed of the cylinder rod. Like the geometric parameters db and ⁇ p, these are dependent on the righting kinematics.
  • Fig. 7 the erection kinematics of the luffing gear is shown.
  • the hydraulic cylinder is anchored to the crane tower above the pivot point of the boom.
  • the distance d a between this point and the pivot point of the boom can be taken from design data.
  • the piston rod of the hydraulic cylinder is attached to the boom at a distance d b .
  • the correction angle ⁇ o takes into account the deviations of the fastening points from the boom or tower axis and is also known from design data.
  • the following relationship between the righting angle ⁇ A and the hydraulic cylinder position z Zy / can be derived from this.
  • the projection angle ⁇ p must also be calculated.
  • Equation (9) is not required.
  • T ⁇ Antr is the approximate (time constant determined from measurements to describe the deceleration behavior of the drives.
  • K PAAnt r the resulting gain between the control voltage and the resulting speed in the stationary case. With an insignificant time constant with regard to the drive dynamics, a proportionality between the speed and the control voltage of the proportional valve can be assumed directly become.
  • the last direction of movement is the turning of the load on the load hook itself by the load slewing gear.
  • a corresponding description of this regulation results from the German patent application DE 100 29 579 dated June 15, 2000, the content of which is expressly referred to here.
  • the rotation of the load is carried out via the load swiveling mechanism arranged between a bottom block hanging from the rope and a load suspension device. Torsional vibrations are suppressed. In most cases, this means that the load, which is not rotationally symmetrical, can be picked up in an accurate position, moved and offset by a corresponding bottleneck.
  • this direction of movement is also integrated in the module for optimized movement control, as is shown for example on the basis of the overview in FIG. 3.
  • the load can already be moved into the correspondingly desired swiveling position by means of the load swiveling mechanism after being picked up during transport through the air, the individual pumps and motors being controlled synchronously here.
  • a mode for a rotation angle-independent orientation can also be selected. This results in the equation of motion listed below. The variable designation corresponds to DE 100 29 579 from June 15, 2000. No linearization was carried out.
  • the pendulum angle variables ⁇ s t> ⁇ st > ⁇ Sr > ⁇ sr from the control variables U ⁇ D, u StA and the measured variables ⁇ D > ⁇ 'D > ⁇ A > ⁇ A > Pzyl have to be reconstructed as examples become.
  • the nonlinear model is linearized according to equation (20-23) and, for example, a parameter-adaptive state observer (see also FIG. 4 block 43) is designed.
  • the condition of the rope angle values can also be simplified, based on the model equations and the known courses of the input values and the measurable state variables.
  • the target curves for the input signals (control variables) u stD (t), u stA (t) are solved by solving an optimal control problem, i.e. a task of dynamic optimization.
  • an optimal control problem i.e. a task of dynamic optimization.
  • the intended reduction of the load sway is recorded in a target function.
  • Boundary conditions and trajectory restrictions of the optimal control problem result from the railway data, the technical restrictions of the crane system (e.g. limited drive power, as well as restrictions due to dynamic load torque restrictions to prevent the crane from tipping) and expanded requirements for the movement of the load.
  • Such a formulation of the optimal control problem is given in the following by way of example both for the fully automatic operation of the system with a predetermined start and end point of the load path and for hand lever operation.
  • the entire movement from the specified start to the specified destination is considered.
  • the load pendulum angles are evaluated quadratically.
  • the minimization of this target functional therefore provides a movement with reduced load oscillation.
  • An additional evaluation of the load pendulum angle velocities with a time-variant penalty (increasing at the end of the optimization horizon) results in a calming of the load movement at the end of the optimization horizon.
  • a regularization term with a quadratic evaluation of the amplitudes of the control variables can favorably influence the numerical condition of the task.
  • This time horizon is an essential tuning parameter of the method and is limited by the period of oscillation of the load pendulum movement.
  • the boundary conditions must take into account that the movement does not start from a rest position and generally does not end in a rest position.
  • the boundary conditions at the start of the optimization horizon t 0 result from the current system state ⁇ (t ⁇ ), which is measured or, via a model carried, from the control variables u S ⁇ tD , u S! A and the measured variables ⁇ D 'D > $ A > '$ A > PZyl is reconstructed using a parameter-adaptive state observer.
  • the boundary conditions at the end of the optimization horizon t f are free.
  • control variables as functions of time should be constant and have constant first derivatives with respect to time.
  • the erection angle is limited due to the crane construction
  • the claim is not tied to a specific method for numerically calculating the optimal controls.
  • the claim expressly also relates to an approximate solution to the optimal control problems specified above, in which only a solution of sufficient (not maximum) accuracy is determined in view of a reduced computing effort when using online.
  • a number of the hard constraints formulated above can be treated numerically as a soft constraint by evaluating the constraint violation in the target functional.
  • the optimization horizon is discretized.
  • the length of the partial intervals ⁇ , ⁇ + can be adapted to the dynamics of the problem. A larger number of subintervals usually leads to an improvement of the approximation solution, but also to an increased calculation effort.
  • the time profile of the control variables is approximated by an approach function U k with a fixed number of parameters u k (control parameters).
  • the state differential equation of the dynamic model can be numerically integrated and the target function can be evaluated, using the approximated time profiles instead of the control variables.
  • the Boundary conditions and the trajectory restrictions can also be understood as functions of the control parameters.
  • variables Ax, ⁇ u, ⁇ y denote the deviations from the reference curve of the respective variable
  • the optimal control task is thus approximated by a finite-dimensional quadratic optimization problem with linear equation and inequality restrictions, which can be solved numerically using an adapted standard procedure.
  • the numerical effort for this is again significantly less than for the nonlinear optimization problem described above.
  • the linearization approach described is particularly suitable for the approximate solution of the optimal control problems with hand lever operation, because in this case the inaccuracies caused by the linearization have a smaller effect due to the shorter optimization horizon (time window [to.ty]) and the other with the in each case calculated previous time step suitable reference trajectories are available for optimal control and status changes.
  • the optimal time profiles of both the control variables and the state variables of the dynamic model are obtained. When operated with a subordinate control, these are activated as manipulated and reference variables. Since the dynamic behavior of the crane is taken into account in these target functions, the control only has to compensate for disturbance variables and model deviations.
  • control variables In the case of operation without a subordinate control, on the other hand, the optimal courses of the control variables are directly applied as control variables.
  • the solution to the optimal control problem provides a prognosis of the path of the oscillating load, which can be used for extended measures for collision avoidance.
  • the optimal control problem is defined by including the specification of the permissible range and the technical parameters.
  • the numerical solution of the optimal control problem provides optimal time profiles of the control and state variables. In the case of a subordinate regulation for load oscillation damping, these are applied as manipulated and command variables. Alternatively, a realization without subordinate regulation - then with direct connection of the optimal control functions to the hydraulics - can be realized.
  • Fig. 9 shows the interaction of state reconstruction and calculation of the optimal control in the case of hand lever operation.
  • the state of the dynamic crane model is tracked using the available measured variables.
  • time profiles of the control functions are determined which - based on this current state - when the Reduced load swing brings the load speed up to the setpoints specified by the hand lever.
  • control 10 shows exemplary results for optimal time profiles of the control variables in fully automatic operation.
  • a time horizon of 30 s was specified.
  • the control functions are continuous functions of time with continuous 1st derivatives.
  • FIG. 11 shows exemplary time profiles of control variables and control variables in simulated hand lever operation.
  • the setpoints for the load speed (the hand lever specifications) are varied in the form of staggered rectangular pulses.
  • the optimal control is updated with a sampling time of 0.2 s.

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

Abstract

L'invention concerne une grue ou une excavatrice destinée à la manipulation d'une charge (3) suspendue à un câble, comportant un système de rotation destiné à faire tourner la grue ou l'excavatrice, un système de pivotement (7) destiné à redresser ou incliner une flèche (5), et un système de levage destiné à lever ou abaisser la charge (3) suspendue au câble, pourvu d'un système d'entraînement. Selon l'invention, la grue ou l'excavatrice présente un système de commande continue (31) dont les grandeurs de sortie servent directement ou indirectement de grandeurs d'entrée pour la régulation de la position ou de la vitesse de la grue ou de l'excavatrice, les grandeurs de guidage de la commande étant générées de telle manière dans le système de commande continue (31) que le mouvement de la charge présente des oscillations pendulaires minimisées.
EP04739403A 2003-05-30 2004-05-27 Grue ou excavatrice destinee a la manipulation d'une charge suspendue a un cable presentant un systeme de guidage optimise Expired - Lifetime EP1628902B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10324692A DE10324692A1 (de) 2003-05-30 2003-05-30 Kran oder Bagger zum Umschlagen von einer an einem Lastseil hängenden Last mit optimierter Bewegungsführung
PCT/EP2004/005734 WO2004106215A1 (fr) 2003-05-30 2004-05-27 Grue ou excavatrice destinee a la manipulation d'une charge suspendue a un cable presentant un systeme de guidage optimise

Publications (2)

Publication Number Publication Date
EP1628902A1 true EP1628902A1 (fr) 2006-03-01
EP1628902B1 EP1628902B1 (fr) 2007-10-17

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Family Applications (1)

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EP04739403A Expired - Lifetime EP1628902B1 (fr) 2003-05-30 2004-05-27 Grue ou excavatrice destinee a la manipulation d'une charge suspendue a un cable presentant un systeme de guidage optimise

Country Status (7)

Country Link
US (1) US7426423B2 (fr)
EP (1) EP1628902B1 (fr)
JP (1) JP4795228B2 (fr)
KR (1) KR20060021866A (fr)
DE (2) DE10324692A1 (fr)
ES (1) ES2293271T3 (fr)
WO (1) WO2004106215A1 (fr)

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WO2020001991A1 (fr) 2018-06-26 2020-01-02 Liebherr-Components Biberach Gmbh Grue et procédé pour commander une grue de ce type
WO2022114953A1 (fr) 2020-11-24 2022-06-02 Prince Lifting Devices (Pld) B.V. Grue pour la manipulation d'une charge suspendue par câble, procédé de fabrication d'une telle grue et utilisation d'une telle grue
WO2022141458A1 (fr) * 2020-12-31 2022-07-07 中联重科股份有限公司 Procédé et système de commande de levage, et machine technique
US11447372B2 (en) 2017-07-03 2022-09-20 Liebherr-Werk Biberach Gmbh Crane and method for controlling such a crane
US11932517B2 (en) 2019-03-08 2024-03-19 Liebherr-Werk Biberach Gmbh Crane and device for controlling same

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DE10324692A1 (de) 2005-01-05
US7426423B2 (en) 2008-09-16
US20060074517A1 (en) 2006-04-06
JP2006525928A (ja) 2006-11-16
DE502004005274D1 (de) 2007-11-29
ES2293271T3 (es) 2008-03-16
EP1628902B1 (fr) 2007-10-17
WO2004106215A1 (fr) 2004-12-09
KR20060021866A (ko) 2006-03-08

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