EP2272785B1 - Procédé de commande d'un entraînement de grue - Google Patents

Procédé de commande d'un entraînement de grue Download PDF

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Publication number
EP2272785B1
EP2272785B1 EP10005588A EP10005588A EP2272785B1 EP 2272785 B1 EP2272785 B1 EP 2272785B1 EP 10005588 A EP10005588 A EP 10005588A EP 10005588 A EP10005588 A EP 10005588A EP 2272785 B1 EP2272785 B1 EP 2272785B1
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EP
European Patent Office
Prior art keywords
crane
control
drive
load
variable
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EP10005588A
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German (de)
English (en)
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EP2272785A1 (fr
Inventor
Klaus Dr. Dipl.-Ing. Schneider
Oliver Professor Dr.-Ing. Sawodny
Sebastian Küchler
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Liebherr Werk Nenzing GmbH
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Liebherr Werk Nenzing GmbH
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    • 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 present invention relates to methods for controlling drives of a crane.
  • the present invention relates to a method for controlling a drive of a crane, in particular a slewing gear and / or a luffing gear, wherein a target movement of the boom tip serves as an input, on the basis of which a control variable for driving the drive is calculated.
  • the present invention relates to a method for controlling a hoist of a crane, in which a desired stroke movement of the load serves as input, on the basis of which a control variable for driving the drive is calculated.
  • the drive of the crane according to the invention may in particular be a hydraulic drive.
  • the use of an electric drive is also possible.
  • the luffing z. B. be realized via a hydraulic cylinder or a retractable.
  • the object of the present invention is therefore to provide a method for controlling a drive of a crane which reduces such loads on the crane structure.
  • a desired movement of the cantilever tip serves as an input quantity, on the basis of which a control variable for controlling the drive is calculated.
  • a control variable for controlling the drive is calculated.
  • the drive may be a hydraulic drive. The use of an electric drive is also possible.
  • the inventors of the present invention have found that the natural vibrations can heavily load the crane structure and the drives.
  • natural oscillations can be damped and advantageously largely avoided.
  • this has the advantage that the cantilever tip follows the predetermined target movement without oscillation exactly.
  • the crane structure and the drives are not burdened by the natural vibration.
  • the damping of the natural vibrations according to the invention therefore has a positive effect on the service life and the maintenance costs.
  • the method according to the invention is advantageously used in cranes, in which a boom is articulated around a horizontal rocking axis so that it can be wiped on a tower.
  • the boom can be up and tipped off by a arranged between the tower and the boom boom cylinder in the rocker. It is also possible to use as a luffing mechanism a retractor, which moves the boom via a stranding in the rocker plane.
  • the tower is in turn rotatable about a slewing gear, in particular in the form of a hydraulic motor about a vertical axis.
  • the tower can be arranged on an undercarriage, which can be moved by a chassis.
  • the inventive method can be used in any cranes, for example in port cranes and in particular mobile harbor cranes.
  • the drive is controlled on the basis of a physical model which describes the movement of the crane tip as a function of the control variable.
  • a physical model describes the movement of the crane tip as a function of the control variable.
  • the vibration behavior does not have to be laboriously determined by measurements, but can be described on the basis of the physical model.
  • the physical model allows a realistic description of the vibration dynamics of the crane structure, so that all relevant natural oscillations can be damped.
  • the physical model describes not only the kinetics of the drives and the crane structure, but also the vibration dynamics of the drive and the crane structure.
  • the calculation of the control variable is based on an inversion of the physical model, which describes the movement of the crane tip as a function of the control variable.
  • the inversion thus gives the control variable as a function of the desired movement of the cantilever tip.
  • the model describing the movement of the crane tip as a function of the control variable is non-linear. This results in a greater accuracy of the control result, since the decisive effects, which lead to natural oscillations of the crane structure, are non-linear.
  • the model advantageously takes into account the vibration dynamics of the drive due to the compressibility of the hydraulic fluid. This compressibility leads to vibrations of the crane structure, which can significantly burden them. By considering the compressibility of the hydraulic fluid, these vibrations can be damped.
  • the inventive method is used to control the rocking cylinder used as luffing mechanism, the kinematics of the articulation of the cylinder and the mass and inertia of the boom of the crane are included in the calculation of the control variable.
  • the kinematics of the articulation of the cylinder and the mass and inertia of the boom of the crane are included in the calculation of the control variable.
  • a retraction mechanism can be used as a luffing mechanism, wherein advantageously the kinematics and / or dynamics of the pull-in stranding as well as the mass and the inertia of the boom of the crane are included in the calculation of the control variable.
  • the inventive method is used to control the slewing gear, wherein the moment of inertia of the boom of the crane enters the model.
  • the inventive method is used to control the slewing gear, wherein the moment of inertia of the boom of the crane enters the model.
  • the vibration damping takes place by means of feedforward control.
  • feedforward control allows effective reduction of the natural oscillations without being limited to a certain frequency range by the response speed of the drives, as in closed-loop control.
  • the position, the speed, the acceleration and / or the jerk of the cantilever tip serve as reference values of the pilot control.
  • at least two of these values advantageously serve as nominal values.
  • at least one of the further variables is used as the setpoint. Further advantageously, all these variables are used as desired values of the precontrol.
  • a desired trajectory of the cantilever tip is generated as inputs of the controller from inputs of an operator and / or an automation system.
  • a desired trajectory of the cantilever tip is generated.
  • the control method according to the invention now ensures that the drives of the crane are controlled so that the jib tip follows this desired trajectory and natural oscillations of the crane are avoided.
  • the method according to the invention can be used together with a load oscillation damping, or else completely without a load oscillation damping.
  • load oscillation damping focus solely on the avoidance of pendulum vibrations of the load, which sometimes even to a Increasing the natural vibration of the crane structure and thus could lead to a greater load than a control without load oscillation damping.
  • the present invention dampens the natural vibrations of the crane structure and thus protects the crane structure.
  • the method according to the invention can also be used for simpler crane controls without load oscillation damping in order to protect the crane structure.
  • the method according to the invention can also be used in crane controls with load oscillation damping.
  • the method is then implemented in such a way that initially the load movement serves as a set value, from which a desired movement of the cantilever tip is generated. This desired movement of the cantilever tip then serves as input of the method according to the invention.
  • a damping of the natural vibrations of the crane structure can be achieved even with methods with load oscillation damping.
  • Known methods for load-swing damping are designed solely to avoid vibrations of the load and can thereby even increase the natural vibrations of the crane structure.
  • the method described so far was preferably used to control a slewing gear and / or a luffing gear of a crane. However, it can also be used to control the hoist of a crane. In particular, the vibration dynamics of the hoist can be taken into account due to the compressibility of the hydraulic fluid.
  • the target stroke of the load is used as input, on the basis of which a control variable for driving the drive is calculated.
  • Object of the present invention is therefore also to allow a structural protection in the control of the hoist of a crane.
  • a method for controlling a hoist of a crane in which a desired stroke movement of the load serves as input, on the basis of which a control variable for controlling the drive is calculated.
  • the vibration dynamics of the system of hoist, rope and load in the cable direction is taken into account to dampen natural oscillations.
  • the inventors of the present invention have recognized that the vibration dynamics of the system of hoist, rope and load can lead to vibrations of the load or the crane structure, which can significantly burden both the load rope and the boom. Therefore, this vibration dynamics is now considered according to the invention to avoid natural oscillations of the load and / or the hoist.
  • the hoist can be driven hydraulically and / or electrically.
  • this method is advantageously used in cranes, in which a boom is pivoted about a horizontal rocking axis wippen on a tower.
  • the load rope is advantageously guided by a winch on the tower base via one or more pulleys on the spire to one or more pulleys on the boom tip.
  • the vibration dynamics of the lifting system is taken into account according to the inventive method in a vibration-reduction operation, while any movements of the support area on which the crane structure is supported, not taken into account in the control of the hoist become.
  • the control thus starts in the vibration reduction operation of a stationary support area.
  • the control according to the invention must therefore take into account only vibrations which arise through the hoisting rope and / or the hoisting gear and / or the crane structure. Movements of the support area, as z. B. arise in a floating crane by wave motion, remain disregarded in the vibration reduction operation, however.
  • the crane control can be made considerably simpler.
  • the method according to the invention can be used in a crane, which is actually supported on a stationary support area during the lift with the crane structure, in particular on the ground.
  • the crane control according to the invention can also be used in a floating crane, but does not take into account the movements of the floating body in the vibration reduction mode. If the crane control system has an operating mode with active coasting sequence, the vibration reduction operation accordingly takes place without simultaneous active coasting sequence operation.
  • the method according to the invention in transportable and / or mobile cranes is used.
  • the crane advantageously has support means via which it can be supported at different lifting locations.
  • the method is used in port cranes, especially in mobile harbor cranes, crawler cranes, vehicle cranes, etc. used.
  • the oscillation dynamics of the lifting system due to the extensibility of the hoisting rope is taken into account in the calculation of the control variable.
  • the extensibility of the hoisting cable leads to an expansion of the rope in the cable direction, which is attenuated according to the invention by a corresponding control of the hoist.
  • the vibration dynamics of the rope is taken into account with the load hanging freely in the air.
  • the hoist of the crane according to the invention can be hydraulically driven. Alternatively, a drive via an electric motor is possible.
  • the oscillation dynamics of the hoisting gear due to the compressibility of the hydraulic fluid are also advantageously taken into account in the calculation of the control variable.
  • those natural oscillations are taken into account, which arise due to the compressibility of the hydraulic fluid, which is applied to the drive of the hoist.
  • variable cable length of the hoist rope is included in the calculation of the control variable.
  • the method according to the invention for controlling the lifting mechanism thus takes into account vibrations of the load suspended on the hoist rope, which are caused by the extensibility of the hoisting rope depending on the rope length of the hoist rope.
  • the rope length is determined by the position of the hoist.
  • the weight of the load hanging on the load rope is included in the calculation of the control variable.
  • this weight of the load is measured and enters as a measured value in the control process.
  • control of the hoist is based on the inversion of the physical model.
  • This inversion allows precise control of the drive.
  • the physical model first describes the movement of the load as a function of the control variable.
  • the inversion therefore gives the control variable as a function of the desired stroke movement of the load.
  • the control of the hoist according to the present invention can be combined with a load oscillation damping, which dampens spherical oscillations of the load.
  • the present method can also be used without a load swing damping to dampen natural oscillations of the system of hoist winch, rope and load, which run in the cable direction, and in particular vibrations of the load in the stroke direction.
  • the present invention further comprises a crane having a control unit having a control program via which a method as set forth above is implemented.
  • the crane control or the crane obviously gives rise to the same advantages as already described above with regard to the methods.
  • the crane advantageously has a slewing gear, a luffing gear and / or a hoist.
  • the crane has a boom, which is pivoted about a horizontal rocking axis on the crane crane and is moved over a luffing cylinder.
  • a retraction mechanism can be used as a luffing mechanism.
  • the crane advantageously has a tower which is rotatable about a vertical axis of rotation.
  • the boom is doing on Tower hinged.
  • the hoist cable runs from the hoist via one or more pulleys to the load.
  • the crane has an undercarriage with a chassis.
  • FIG. 1 an embodiment of the crane according to the invention is shown in which an embodiment of a control method according to the invention is implemented.
  • the crane has a boom 1, which is pivoted about a horizontal rocking axis on the tower 2.
  • a hydraulic cylinder 10 is provided for rocking up and down the boom 1 in the rocker plane, which is articulated between the boom 1 and the tower 2.
  • the kinematics of the articulation of the boom 1 on the tower 2 is closer in FIG. 2 shown.
  • the boom 1 is pivoted at a pivot point 13 on the tower 2 about a horizontal rocking axis.
  • the hydraulic cylinder 10 is via a Anschddling 11 on the tower 2 and a pivot point 12 on the boom 1 between them.
  • By a change in length of the hydraulic cylinder 10 so the boom 1 in the rocker plane can be up and tilts.
  • the relevant angles and lengths are in FIG. 2 located.
  • the tower 2 is as in Fig. 1 shown rotatably disposed about a vertical axis of rotation z, wherein the rotational movement is generated by a slewing gear 20.
  • the tower 2 is arranged for this purpose on an upper carriage 7, which can be rotated over the slewing gear relative to a lower carriage 8.
  • this is a movable crane, for which the undercarriage 8 is equipped with a chassis 9. At the hub of the crane can then be supported by support members 71.
  • the lifting of the load takes place via a hoist rope 3, on which a load-receiving element 4, in this case a gripper, is arranged.
  • the hoist rope 3 is guided over pulleys on the jib tip 5 and on the tower top 6 to the hoist 30 on the superstructure over which the length of the hoist rope can be changed.
  • the inventors of the present invention have now recognized that in known methods for controlling the drives of the crane natural oscillations of the crane structure and the drives can arise, which can significantly burden them.
  • a desired movement of the cantilever tip serves as an input variable, based on which a control variable for controlling the drives is calculated.
  • the control variable can include, for example, the hydraulic pressure or the hydraulic flow to the hydraulic drive.
  • the total system of hoist 30 and rope 3 is used here as the drive system for calculating the control of the hoist.
  • the setpoint stroke position of the load serves as an input variable, on the basis of which the control variable for controlling the hoist is calculated.
  • the vibration dynamics of the hoist, rope and load system are taken into account in the calculation of the control variable in order to avoid inherent vibrations of the system.
  • the extensibility of the hoisting rope is taken into account in the calculation of the control quantity in order to dampen the expansion vibrations of the rope.
  • the present invention thus allows a considerable structural protection of the crane, which in turn saves costs in maintenance as well as in the construction.
  • the vibration dynamics of the drives of the crane that is, the slewing gear, the luffing gear and the system of hoist and rope loads of the crane structure are avoided, which can even be strengthened in known methods for spherical pendulum damping of the load on the contrary.
  • the actuation of the drives takes place on the basis of a physical model, which describes the movement of the crane tip or the load as a function of the control variable, the model takes into account the internal vibration dynamics of the respective drives.
  • FIG. 3 Here is a schematic diagram of the hydraulics of the luffing gear shown. It is z. B. a diesel engine 15 is provided, which drives a variable displacement pump 16. This variable displacement pump 16 acts on the two hydraulic chambers of the luffing cylinder 10 with hydraulic fluid. Alternatively, could be used to drive the variable displacement pump 16 and an electric motor.
  • FIG. 4 shows a schematic diagram of the hydraulics of the slewing gear and the hoist.
  • a diesel or electric motor 25 is provided, which drives a variable displacement pump 26.
  • This variable displacement pump 26 forms with a hydraulic motor 27 a hydraulic circuit and drives it.
  • the hydraulic motor 27 is designed as an adjusting motor. Alternatively, a constant motor could be used. About the hydraulic motor 27 then the slewing or the hoist winch is driven.
  • the system of load rope and load is considered as a damped spring pendulum, with a spring constant C and a damping constant D.
  • the spring constant C is the length of the hoist rope L, which is determined either on the basis of measured values or calculated on the basis of the control of the hoist winch , Furthermore, the mass M of the load, which is measured via a load mass sensor, enters into the control.
  • FIG. 1 illustrated embodiment is a mobile harbor crane.
  • the boom, the tower and the hoist winch are set in motion by appropriate drives.
  • the boom, the tower and the Hoist winches of the crane in motion offset hydraulic drives generate natural vibrations due to the inherent dynamics of the hydraulic systems.
  • the resulting force oscillations affect the long-term fatigue of the cylinder and the cables and thus reduce the life of the entire crane structure, resulting in increased maintenance.
  • a tax law is provided which suppresses caused by rocking, turning and lifting movements of the crane natural oscillations and thereby reduces the stress cycles within the Wöhlerdiagramms.
  • a reduction in the stress cycles logically increases the service life of the crane structure.
  • the boom of the crane is set in motion by a hydraulic luffing cylinder, as in FIG. 1 is shown.
  • the dynamic model and the control law for the luffing cylinder are derived in the following section.
  • a dynamic model of the hydraulically driven boom of the crane is derived below.
  • the boom is schematically in together with the hydraulic cylinder FIG. 2 shown.
  • the movement of the boom is described by the rocking angle ⁇ a and the angular velocity ⁇ a .
  • the movement of the hydraulic cylinder is determined by the cylinder position Z c , which is considered the distance between the cylinder connection with the tower and the cylinder connection is defined with the boom, and the cylinder speed ⁇ c described.
  • the geometric dependencies between the movement of the boom and the cylinder are given by the geometric constants d a , d b , ⁇ 1 and ⁇ 2 and the Cosinussatz.
  • the hydraulic circuit of the luffing cylinder consists in principle of a variable displacement pump and the hydraulic cylinder itself, as in FIG. 3 is shown.
  • F c p 2 ⁇ A 2 - p 1 ⁇ A 1
  • a 1 and A 2 denote the effective areas in each chamber.
  • the pressures p 1 and p 2 are described by the pressure buildup assumption that no internal or external leakage occurs.
  • p ⁇ 1 1 ⁇ ⁇ V 1 z c ⁇ q l - A 1 ⁇ z ⁇ c .
  • p 1 0 p 10
  • p ⁇ 2 1 ⁇ ⁇ V 2 z c ⁇ - q l + A 2 ⁇ z ⁇ c .
  • the flatness-based feedforward control uses the differential flatness of the system to invert the system dynamics.
  • the dynamic model derived in Section 2.1 must be transformed into the state space.
  • the state vector x [ ⁇ a , ⁇ a , F c ] T
  • the reference signals y and the corresponding derivatives are obtained by a numerical trajectory generation from the hand lever signal of the crane operator or from the control signals of an automation system. Since the drive current u l gives the cylinder speed (see (10)), the trajectories are originally planned in cylinder coordinates for z c , ⁇ c , z c and z c . Subsequently, the trajectories thus obtained are transformed into ⁇ a coordinates and the actual drive current is calculated.
  • the tower is rotated by a hydraulic rotary motor.
  • the dynamic model and the control law for the slewing gear are derived within the following section.
  • J t and J m denote the moment of inertia of the tower and the motor
  • i s is the gear ratio of the slewing gear
  • ⁇ p s is the pressure difference between the pressure chambers of the engine
  • D m denotes the displacement of the hydraulic motor.
  • the moment of inertia of the tower J t comprises the moment of inertia of the tower itself, the boom, the attached payload of the tower about the z-axis of the tower (see FIG. 1 ).
  • the hydraulic circuit of the slewing gear consists in principle of a variable displacement pump and the hydraulic motor itself, as in FIG. 4 is shown.
  • the dynamic model for the slewing gear is transformed into the state space and a flatness-based feedforward control is designed.
  • the dynamic model consisting of (24), (25) and (26) can be written as a system of first-order differential equations.
  • the hoist winch of the crane is driven by a hydraulically operated rotary motor.
  • the dynamic model and the hoist winch control law are derived in the following section.
  • the payload with the mass m p is attached to a hook and can be raised or lowered by the crane by means of a rope of length l r .
  • the rope is deflected by a pulley on the jib tip and on the tower.
  • the rope is not deflected directly from the end of the boom to the hoist winch, but from the end of the boom to the tower, from there back to the end of the boom and then over the tower to the hoist winch (see FIG. 1 ).
  • l 1 , l 2 and l 3 denote the partial lengths of the hoist winch to the tower, from the tower to the end of the boom and from the end of the boom to the hook.
  • the lifting system of the crane which consists of the hoist winch, the rope and the payload, is considered below as a spring-mass-damper system and is in FIG. 5 shown.
  • z ⁇ p 0 0 with the gravitational constant g , the spring constant c , the damping constant d , the radius of the hoisting winch r w , the angle ⁇ w , the hoisting winch, the angular velocity ⁇ w , the payload position z p , the payload speed ⁇ p , and the payload acceleration z ⁇ p .
  • ⁇ ⁇ w 0 0
  • J w and J m denote the moment of inertia of the winch and the motor
  • i w is the gear ratio between the engine and the winch
  • ⁇ p w is the pressure difference between high and low pressure chambers of the engine
  • D m is the displacement of the hydraulic motor
  • F s is the spring force given in (39).
  • the initial condition ⁇ w0 for the angle of the hoist winch is given by (41).
  • the hydraulic circuit for the hoist winch is basically the same as for the slewing gear and is in FIG. 4 shown.
  • the dynamic model for the hoist winch is transformed into the state space to design a flatness-based feedforward control.
  • the system output (50) and its time derivatives are used to invert the system dynamics, as was done for the seesaw and slewing gear.

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

Claims (15)

  1. Procédé de commande d'un entraînement d'une grue, en particulier d'un dispositif de rotation et/ou d'un dispositif de basculement, où un mouvement de consigne de la pointe de flèche sert de grandeur d'entrée, sur la base de laquelle sera calculée une grandeur de commande pour la commande de l'entraînement, caractérisé en ce que pour le calcul de la grandeur de commande, la dynamique d'oscillation du système résultant de l'entraînement et de la structure de la grue est prise en considération afin de réduire des oscillations propres.
  2. Procédé selon la revendication 1, dans lequel la commande de l'entraînement a lieu sur la base d'un modèle physique qui décrit le mouvement de la pointe de la grue en fonction de la grandeur de commande, et où avantageusement le modèle n'est pas linéaire.
  3. Procédé selon la revendication 2, où la commande de l'entraînement a lieu sur la base d'une inversion du modèle.
  4. Procédé selon l'une des revendications précédentes, dans lequel, dans le cas de l'entraînement, il s'agit d'un entraînement hydraulique, et le modèle prend en considération la dynamique d'oscillation de l'entraînement sur la base de la compressibilité du fluide hydraulique.
  5. Procédé selon l'une des revendications précédentes pour la commande du cylindre de basculement utilisé comme dispositif de basculement, dans lequel la cinématique de l'articulation du cylindre ainsi que la masse et le moment d'inertie de la flèche de la grue entrent dans le calcul de la grandeur de commande.
  6. Procédé selon l'une des revendications précédentes pour la commande du dispositif de rotation, dans lequel le moment d'inertie de la flèche de la grue entre dans le modèle.
  7. Procédé selon l'une des revendications précédentes, dans lequel l'amortissement des oscillations a
    lieu par la voie de la pré-commande, où avantageusement la position, la vitesse, l'accélération et/ou l'à-coup de la pointe de la flèche servent de grandeurs de consigne de la pré-commande.
  8. Procédé selon l'une des revendications précédentes, dans lequel, à partir d'entrées d'un opérateur et/ou d'un système d'automatisation, une trajectoire de consigne de la pointe de la flèche est générée en tant que grandeur d'entrée de la commande.
  9. Procédé selon l'une des revendications précédentes, dans lequel des oscillations pendulaires sphériques possibles de la charge n'entrent pas comme grandeurs de mesure dans la commande et/ou où des oscillations pendulaires sphériques possibles de la charge, lors de la commande de l'entraînement, ne sont pas prises en considération.
  10. Procédé de commande d'un mécanisme de levage d'une grue, dans lequel un mouvement de levage de consigne de la charge sert de grandeur d'entrée, sur la base de laquelle est calculée une grandeur de commande pour la commande de l'entraînement, caractérisé en ce que pour le calcul de la grandeur de commande, la dynamique d'oscillation du système résultant du mécanisme de levage, du câble et de la charge dans la direction du câble est prise en considération afin de réduire des oscillations propres.
  11. Procédé selon la revendication 10, dans lequel lors du calcul de la grandeur de commande, la dynamique d'oscillation sur la base de l'extensibilité du câble de levage est prise en considération.
  12. Procédé selon la revendication 10 ou 11, dans lequel le mécanisme de levage est entraîné d'une manière hydraulique et, lors du calcul de la grandeur de commande, la dynamique d'oscillation en raison de la compressibilité du fluide hydraulique est prise en considération.
  13. Procédé selon l'une des revendications 10 à 12, dans lequel la longueur de câble variable du câble de levage et/ou le poids de la charge accrochée au câble de charge entre dans le calcul de la grandeur de commande.
  14. Procédé selon l'une des revendications 10 à 13, dans lequel la commande du mécanisme de levage repose sur un modèle physique de la grue, qui décrit le mouvement de levage de la charge en fonction de la grandeur de commande du mécanisme de levage, où avantageusement la commande du mécanisme de levage repose sur l'inversion du modèle physique.
  15. Grue ou commande de grue avec une unité de commande, qui présente un programme de commande par lequel un procédé selon l'une des revendications 1 à 4 est mis en oeuvre.
EP10005588A 2009-07-08 2010-05-28 Procédé de commande d'un entraînement de grue Active EP2272785B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102009032270A DE102009032270A1 (de) 2009-07-08 2009-07-08 Verfahren zur Ansteuerung eines Antriebs eines Kranes

Publications (2)

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EP2272785A1 EP2272785A1 (fr) 2011-01-12
EP2272785B1 true EP2272785B1 (fr) 2012-02-08

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US (1) US10046953B2 (fr)
EP (1) EP2272785B1 (fr)
CN (1) CN101948082B (fr)
AT (1) ATE544719T1 (fr)
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US20110006023A1 (en) 2011-01-13
DE102009032270A1 (de) 2011-01-13
EP2272785A1 (fr) 2011-01-12
CN101948082B (zh) 2015-11-25
ATE544719T1 (de) 2012-02-15
CN101948082A (zh) 2011-01-19
US10046953B2 (en) 2018-08-14

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