EP1834920B1 - Verfahren zum automatischen Umschlagen von einer Last eines Kranes mit Lastpendelungsdämpfung und Bahnplaner - Google Patents

Verfahren zum automatischen Umschlagen von einer Last eines Kranes mit Lastpendelungsdämpfung und Bahnplaner Download PDF

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Publication number
EP1834920B1
EP1834920B1 EP06005296A EP06005296A EP1834920B1 EP 1834920 B1 EP1834920 B1 EP 1834920B1 EP 06005296 A EP06005296 A EP 06005296A EP 06005296 A EP06005296 A EP 06005296A EP 1834920 B1 EP1834920 B1 EP 1834920B1
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EP
European Patent Office
Prior art keywords
load
hand lever
crane
luffing mechanism
points
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.)
Active
Application number
EP06005296A
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German (de)
English (en)
French (fr)
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EP1834920A1 (de
Inventor
Oliver Sawodny
Alexander Hildebrandt
Jörg Neupert
Klaus Schneider
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
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Liebherr Werk Nenzing GmbH
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Publication date
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Priority to ES06005296T priority Critical patent/ES2338685T3/es
Priority to EP06005296A priority patent/EP1834920B1/de
Priority to DE502006005975T priority patent/DE502006005975D1/de
Priority to AT06005296T priority patent/ATE455726T1/de
Publication of EP1834920A1 publication Critical patent/EP1834920A1/de
Application granted granted Critical
Publication of EP1834920B1 publication Critical patent/EP1834920B1/de
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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
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control

Definitions

  • the invention relates to a method for handling a load suspended on a load rope of a crane or excavator, comprising a computer-controlled control for damping the load oscillation and a path planner, and more particularly to a method for automatically handling the load.
  • the invention includes load-swing damping in cranes or excavators which permits movement of the load suspended on a rope in at least three degrees of freedom.
  • Such cranes or excavators have a slewing gear, which can be mounted on a chassis, which serves for rotating the crane or excavator.
  • a luffing mechanism for erecting or tilting a boom is available.
  • the crane or excavator includes a hoist for lifting and lowering the load suspended on the rope.
  • Such cranes or excavators are used in various designs. Examples include harbor mobile cranes, ship cranes, offshore cranes, caterpillar cranes and rope excavators.
  • the DE 20 22 745 shows an arrangement for the suppression of pendulum vibrations of a load suspended by means of a rope on the cat of a crane, the drive is equipped with a speed device and a path control device, with a control arrangement, the cat taking into account the oscillation period during a first part of so accelerated and retarded during a last part of this path, that the movement of the cat and the vibration of the load at the destination immediately become zero.
  • the DE 322 83 02 To be able to transport a load body as quickly as possible from the location to the destination, the DE 322 83 02 to control the speed of the drive motor of the trolley by means of a computer so that the trolley and the load carrier are moved during the steady drive at the same speed and the pendulum damping is achieved in the shortest possible time.
  • the from the DE 322 83 02 known computer works according to a computer program to solve the differential equations applicable to the undamped two-mass vibration system formed from trolley and load body, the coulomb and speed-proportional friction of the cat or bridge drives are not taken into account.
  • the DE 691 19 913 deals with a method for controlling the adjustment of a swinging load, in which in a first control loop the deviation between the theoretical and the actual position of the load is formed. This is derived, multiplied by a correction factor and added to the theoretical position of the mobile carrier. In a second control loop, the theoretical position of the mobile carrier is compared with the actual position, multiplied by a constant and added to the theoretical speed of the mobile carrier.
  • the DE 44 02 563 deals with a method for the control of electric traction drives of hoists with a load suspended on a rope, which generates due to the dynamics descriptive equations the desired course of the speed of the trolley and gives to a speed and current regulator. Furthermore, the computing device can be extended by a position controller for the load.
  • the DE 37 10 492 requires at least the cat or bridge position as an additional sensor.
  • a method according to the preamble of claim 1 is known from WO 2004/106215 A1 known.
  • the object of the invention is to provide a method for the implementation of the so-called. Teach-in operation for cranes or excavators, especially mobile harbor cranes.
  • the fully automatic path planner is integrated into an active load swing damping system for a mobile harbor crane.
  • the requirement for the crane operator to repeatedly approach two points in the work space serves as a starting point for the development of fully automatic operation.
  • These two points are defined by the crane operator.
  • one of the two points is set as the target point.
  • the aim is to approach the target point as fast as possible and with exact position and to minimize load oscillation.
  • the target speeds for the lathes and luffing mechanism are specified by the hand lever signals.
  • the crane operator retains control of the mobile harbor crane even in fully automatic operation. Obstacles that are in the workspace can be bypassed, because the load can be moved freely in the entire workspace without being bound to a specific trajectory.
  • the active load oscillation damping ensures, as in the patent application DE 100 64 182 A1 described for minimizing the load oscillation. If it is necessary to leave the working space, the crane operator must press a corresponding key. Through this mode of operation, the so-called teach-in operation, high Achieves handling performance and minimizes the requirements placed on the crane operator. In addition, the crane behaves in fully automatic operation almost as in semi-automatic operation, in which the hand lever signal is used for crane control and the active load oscillation damping ensures the minimization of the load oscillation. Thus, the dynamic behavior of the crane remains predictable and familiar to the crane operator.
  • the control of the crane is supported by secondary vibration damping ( DE 100 64 182 A1 ) realized.
  • the substructures for the luffing and luffing mechanism essentially consist of the trajectory generation, the disturbance observers and the state controllers with precontrol (see FIG. 2 ).
  • both the lever signal ⁇ DZiel and ⁇ ALZiel and the start / end points in the working area are evaluated.
  • modified reference signals for the load speed in the direction of rotation and the radial direction are calculated.
  • target trajectories are generated from the reference signals, which are converted in the axis controllers for luffing gear and luffing gear into the corresponding drive voltages for the hydraulic drives.
  • FIG. 1 shows the two points defined by the crane operator in the working space. This allows the setpoint positions of the load to be separated into the components ⁇ D_destination and r AL_destination .
  • FIG. 2 shows the consideration of these components in the axis controllers for the luffing and luffing gear.
  • the target position set by the crane operator to the right or left is specified as the target point and separated into the components just listed.
  • the basic idea of the fully automatic path planner is the modification of the reduced hand lever signal as a function of the remaining turning range up to the target position ⁇ D_Ziel and the required braking distance. It is accelerated at a deflection of the hand lever by the crane operator first with the deposited in the path planner ramp. If the remaining range of rotation is greater than the angle of rotation required for deceleration, a phase follows in which is driven at a predetermined maximum speed. On the other hand, the acceleration phase directly follows the braking phase, if the rotation range is correspondingly small. As in FIG. 3 shown, the remaining area must first be determined by the difference between the setpoint and actual position. In order to find the right time from which to delay, the required braking distance is included.
  • the reduced hand lever signal ⁇ DZielred is not set to zero until the deceleration time is reached, but is already reduced when approaching this point in time via an adapted look-up table.
  • the direction of rotation is first determined in block "modification hand lever signal " on the basis of the sign of the reduced hand lever signal ⁇ DZielred .
  • the crane is braked even before reaching the actual deceleration time.
  • the difference between position deviation and braking distance is converted via look-up tables to factors between zero and one. If the distance to the deceleration point, which is the angle of rotation from which it must be braked to reach the target angle, is greater than 25 degrees, the reduced hand lever signal is weighted with one and converted into target trajectories in the path planner. Decreases the Distance, the hand lever signal is nonlinear reduced. If the signal diff DW negative, the factor, with which the reduced hand lever signal is weighted, zero and thus the delay time is reached.
  • the state controller for the slewing gear has no position bond, ie, the rotational angle ⁇ D is not returned, a P controller is implemented, which returns the position deviation.
  • the manipulated variable of the P controller is only applied when the destination point is passed over (see FIG. 5 ). It can thus be guaranteed for t ⁇ ⁇ reaching the target angle.
  • the gain of the P controller is determined by a fixed factor P factor weighted by the absolute value of the hand lever signal.
  • the hand lever signal is normalized from -1 to 1. This adjusts the P-controller to the dynamics of the system.
  • the basis for the calculation of the braking distance is the general solution of the state space model of the controlled subsystem slewing gear.
  • the solution of equations of state is divided into two parts, the homogeneous solution and the particulate solution.
  • the particulate solution can be approximated for the slewing gear by the relationship shown in equation (0.1).
  • the first part of the braking distance ⁇ Dbrems 1 is determined by the consideration of the measured
  • the second part of the braking distance ⁇ Dbrems 2 results from the calculation of the homogeneous solution of the controlled subsystem slewing gear.
  • a R is the system matrix of the controlled system.
  • a R 0 1 0 0 0 - 1 T D - b ⁇ k ⁇ 2 - b ⁇ k ⁇ 3 - b ⁇ k ⁇ 4 0 0 0 1 0 a T D + a ⁇ b ⁇ k ⁇ 2 - G l S + a ⁇ b ⁇ k ⁇ 3 a ⁇ b ⁇ k ⁇ 4
  • ⁇ Dhom ⁇ 11 ⁇ ⁇ D + ⁇ 12 ⁇ ⁇ ⁇ D + ⁇ 13 ⁇ ⁇ S ⁇ t + ⁇ 14 ⁇ ⁇ ⁇ S ⁇ t
  • the rotation angle ⁇ D hom is calculated dynamically and understood as an additional component ⁇ Dbrems 2 of the braking distance. Thus, it is possible to generate trajectories that lead to the correct approach of the target point.
  • the pitch angle of the jib ⁇ A is returned for the luffing gear.
  • the approach of the state controller with position binding can guarantee the achievement of the predefined position for t ⁇ ⁇ and the fully automatic path planner becomes considerably simpler (see FIG. 6 ).
  • the reduced hand lever signal ⁇ ALZielred is adapted in the block "Modification hand lever signal " so that the movement of the luffing gear is delayed at the right time to reach the target position.
  • the modified target speed profile of the load in the radial direction generated in fully automatic operation becomes as in FIG. 2 shown converted in the path planner in the target trajectory r ALref .
  • the delay time t delay is obtained by direction-dependent evaluation of the sign of the difference between the deviation from the target radius and the required braking distance (see FIG. 7 ).
  • a so-called creep zone is additionally introduced. In this range, five percent of the maximum speed are given.
  • the time t creep is based on the in FIG. 6 shown parameter d Kriech_WW determined. By adding or subtracting the parameter from the difference of Position deviation and the braking distance is obtained by means of a direction-dependent evaluation of the sign the time t creep .
  • the creep speed t creep serves as a basis for deciding when the reduced hand lever signal is changed from the predetermined maximum speed to five percent of the maximum speed. This gives you the in FIG. 8 schematically illustrated course of the modified hand lever signal.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)
EP06005296A 2006-03-15 2006-03-15 Verfahren zum automatischen Umschlagen von einer Last eines Kranes mit Lastpendelungsdämpfung und Bahnplaner Active EP1834920B1 (de)

Priority Applications (4)

Application Number Priority Date Filing Date Title
ES06005296T ES2338685T3 (es) 2006-03-15 2006-03-15 Procedimiento para la manipulacion automatica de una carga de una grua con amortiguacion del movimiento pendular de la carga y dispositivo planificador de la trayectoria.
EP06005296A EP1834920B1 (de) 2006-03-15 2006-03-15 Verfahren zum automatischen Umschlagen von einer Last eines Kranes mit Lastpendelungsdämpfung und Bahnplaner
DE502006005975T DE502006005975D1 (de) 2006-03-15 2006-03-15 Verfahren zum automatischen Umschlagen von einer Last eines Kranes mit Lastpendelungsdämpfung und Bahnplaner
AT06005296T ATE455726T1 (de) 2006-03-15 2006-03-15 Verfahren zum automatischen umschlagen von einer last eines kranes mit lastpendelungsdämpfung und bahnplaner

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP06005296A EP1834920B1 (de) 2006-03-15 2006-03-15 Verfahren zum automatischen Umschlagen von einer Last eines Kranes mit Lastpendelungsdämpfung und Bahnplaner

Publications (2)

Publication Number Publication Date
EP1834920A1 EP1834920A1 (de) 2007-09-19
EP1834920B1 true EP1834920B1 (de) 2010-01-20

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EP06005296A Active EP1834920B1 (de) 2006-03-15 2006-03-15 Verfahren zum automatischen Umschlagen von einer Last eines Kranes mit Lastpendelungsdämpfung und Bahnplaner

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EP (1) EP1834920B1 (es)
AT (1) ATE455726T1 (es)
DE (1) DE502006005975D1 (es)
ES (1) ES2338685T3 (es)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103434936A (zh) * 2013-08-29 2013-12-11 徐州重型机械有限公司 一种起重机起重作业自动控制方法和系统
CN103723629A (zh) * 2013-12-31 2014-04-16 珠海三一港口机械有限公司 一种起重机和起重机钢丝绳防摇控制方法

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010007888A1 (de) 2010-02-08 2011-08-11 Wafios AG, 72764 Verfahren und Vorrichtung zur Herstellung eines Biegeteils
CN102515022B (zh) * 2011-12-31 2013-10-16 中联重科股份有限公司 一种起重机站位确定方法及装置
CN105540433B (zh) * 2015-12-30 2017-12-15 中国一冶集团有限公司 一种倾斜安装位置超重设备吊装方法
CN106516980B (zh) * 2016-11-25 2018-07-03 北京金自天正智能控制股份有限公司 门座式起重机抓斗路径优化方法

Family Cites Families (11)

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Publication number Priority date Publication date Assignee Title
DE1278079C2 (de) 1964-10-26 1975-01-09 Licentia Patent-Verwaltungs-Gmbh, 6000 Frankfurt Anordnung zur selbsttaetigen unterdrueckung der pendelungen einer an einem seil haengenden last, insbesondere eines an einer laufkatze haengenden greifers einer verladebruecke
DE2022745C3 (de) 1970-05-09 1979-07-19 Siemens Ag, 1000 Berlin Und 8000 Muenchen Anordnung zur Unterdrückung von Pendelschwingungen einer an einem Seil hängenden, von einer Laufkatze beförderten Last
DE3210450A1 (de) 1982-03-22 1983-10-13 BETAX Gesellschaft für Beratung und Entwicklung technischer Anlagen mbH, 8000 München Einrichtung an hebezeugen fuer die selbsttaetige steuerung der bewegung des lasttraegers mit beruhigung des pendelns der an ihm haengenden last
DE3228302A1 (de) 1982-07-29 1984-02-09 Fried. Krupp Gmbh, 4300 Essen Pendeldaempfung fuer krane
DE3710492A1 (de) 1987-03-30 1988-10-20 Mannesmann Ag Verfahren und anordnung zur unterdrueckung von pendelschwingungen
DE3933527A1 (de) 1989-10-04 1991-04-18 Mannesmann Ag Verfahren zur daempfung von lastpendelschwingungen
FR2664885B1 (fr) 1990-07-18 1995-08-04 Caillard Procede de controle de deplacement d'une charge pendulaire et dispositif pour sa mise en óoeuvre.
WO1997045357A1 (de) * 1996-05-24 1997-12-04 Siemens Aktiengesellschaft Verfahren und anordnung zur vermeidung vom lastschwingungen bei einem drehbewegungen ausführenden hängelastbewegungsgerät
DE10064182A1 (de) 2000-10-19 2002-05-08 Liebherr Werk Nenzing Kran oder Bagger zum Umschlagen von einer an einem Lastseil hängenden Last mit Lastpendelungsdämpfung
DE10233874A1 (de) * 2002-07-25 2004-02-26 Siemens Ag Verfahren zum Steuern des Betriebs wenigstens einer längs einer Fahrbahn verfahrbaren Katze mit einem Fahrwerk und einem Hubwerk
US7426423B2 (en) * 2003-05-30 2008-09-16 Liebherr-Werk Nenzing—GmbH Crane or excavator for handling a cable-suspended load provided with optimised motion guidance

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103434936A (zh) * 2013-08-29 2013-12-11 徐州重型机械有限公司 一种起重机起重作业自动控制方法和系统
CN103434936B (zh) * 2013-08-29 2015-06-17 徐州重型机械有限公司 一种起重机起重作业自动控制方法和系统
CN103723629A (zh) * 2013-12-31 2014-04-16 珠海三一港口机械有限公司 一种起重机和起重机钢丝绳防摇控制方法

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DE502006005975D1 (de) 2010-03-11
ES2338685T3 (es) 2010-05-11
EP1834920A1 (de) 2007-09-19
ATE455726T1 (de) 2010-02-15

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