EP2327651B1 - Système d'amortissement d'une oscillation d'une grue de conteneur - Google Patents

Système d'amortissement d'une oscillation d'une grue de conteneur Download PDF

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Publication number
EP2327651B1
EP2327651B1 EP20090016108 EP09016108A EP2327651B1 EP 2327651 B1 EP2327651 B1 EP 2327651B1 EP 20090016108 EP20090016108 EP 20090016108 EP 09016108 A EP09016108 A EP 09016108A EP 2327651 B1 EP2327651 B1 EP 2327651B1
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EP
European Patent Office
Prior art keywords
linear motor
crane
closed
loop control
control device
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Active
Application number
EP20090016108
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German (de)
English (en)
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EP2327651A1 (fr
Inventor
Uwe Ladra
Elmar Dr. Schäfers
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Siemens AG
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Siemens AG
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Priority to EP20090016108 priority Critical patent/EP2327651B1/fr
Priority to CN201010624992.7A priority patent/CN102092638B/zh
Publication of EP2327651A1 publication Critical patent/EP2327651A1/fr
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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
    • B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
    • B66C19/002—Container cranes
    • 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
    • B66C13/22—Control systems or devices for electric drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear

Definitions

  • Container bridges are used as loading and unloading.
  • Containers are taken on the water side by a container crane from a ship, brought by a trolley movement to the land side and dropped there for further transport.
  • the container crane is excited to a vibration in the direction of travel of the trolley. This vibration has an amplitude that can be up to one meter depending on the design and size of the container crane. Occurring wind can reinforce this even further.
  • Vibration dampers can be used. Vibration dampers usually comprise dampers with spring elements and, as a central active element, have their own vibration mass which oscillates in opposite directions to a main object to be damped. In container cranes, vibration absorbers are tuned to crane vibration frequencies. The oscillating mass, together with the damper, forms a pendulum, to which kinetic energy of the crane vibration is transmitted, which is damped by the pendulum. The more mass a pendulum of a vibration absorber, the more effective is the vibration absorber, since with a larger mass higher forces can be transmitted. For effective vibration damping but very heavy vibration masses in the range of a few tens of tons are required for container cranes.
  • JP 58-220083 A discloses a system for damping vibrations according to the preamble of claim 1.
  • the font US 5,666,770 A shows another vibration damping system that uses a Kalman filter to perform some calculations.
  • the present invention has for its object to provide a simple to be integrated into a container crane system system for the effective damping of crane frame vibrations.
  • the system for damping a vibration on a crane comprises a vibration sensor mountable on a crane frame.
  • a mountable on the crane frame linear motor is provided.
  • the system according to the invention comprises a movable by the linear motor and mechanically coupled to the crane frame mass.
  • a control device is provided whose Meßuccneingang is connected to the vibration sensor, and wherein the manipulated variable output is connected to the linear motor is provided with a linear motor associated cascaded control system comprising a current and / or force controller, a speed controller and a position controller with programmable control circuit elements, and wherein the speed controller is parameterized such that after oscillation and Dampening parameterizable oscillatory system results, which acts as absorber.
  • the mass that can be moved by the linear motor is only a fraction of the weight of conventional passive vibration absorbers.
  • the system according to the invention can be integrated into existing system essentially without any structural changes to container cranes.
  • the container crane shown in the figure comprises a system for damping a crane frame vibration with a mounted on the crane frame 21 vibration sensor 11 connected to a crane frame 21 boom 22 along which a trolley 23 with a held by a gripper 25 container 26 between a quay 31st and a water-side dock 32 for container ships, a speed-controlled linear motor 14 is mounted.
  • the linear motor 14 is movable in the direction of travel of the trolley 23.
  • a mass 15 is fixed, which is movable by the linear motor 14 along a direction of travel 24 of the trolley 23 and mechanically coupled via the linear motor 14 and the boom 22 to the crane frame 21.
  • the linear motor 14 with the mass 15 can also be mounted on a bridge girder of a container crane.
  • a balance weight 27 is mounted to stabilize the crane frame.
  • the system for damping a crane frame oscillation comprises a control device 13 whose Meß foundedneingang is connected via a filter 12 to the vibration sensor 11.
  • a manipulated variable output of the control device 13 is connected to the linear motor 14 and serves to transmit a speed setpoint value V LM to a speed controller integrated in the linear motor 14.
  • the vibration damping system shown in the figure comprises a linear measuring system for controlling and commutating the linear motor 14.
  • a current or force regulator assigned to the linear motor 14 may be provided. In this case, a force or current setpoint for the force or current controller is transmitted via the manipulated variable output of the control device.
  • the filter 12 provided between the vibration sensor 11 and the control device 13 is tuned to an oscillation frequency spectrum of the crane frame 21 and also serves, for example, for conditioning a measurement signal detected by the vibration sensor 11.
  • the vibration sensor 11 is designed to detect a vibration in the direction of travel 24 of the trolley 23.
  • the speed-controlled linear motor 14 accelerates the mass 15 to generate a retroactive on the crane frame 21 compensation movement.
  • one of the acceleration of the mass 15 opposing force via the boom 22 acts on the crane frame 21, which is utilized for damping vibrations of the crane frame 21 and the boom 22.
  • a movement of the linear motor 14 is limited and is varied via an adjustment of the control device 13 and the moving mass 15 according to given boundary conditions.
  • a speed control of the linear motor can be realized for example by means of a sto-optimal setting or a damping-optimal setting.
  • parameters of the speed controller integrated into the linear motor 14 are set to a vibration frequency of the crane frame 21 or of the boom 22 to be damped.
  • This linear motor 14 and mass 15 can be operated without sensor signal or control by the control device 13 as a passive absorber.
  • a control stiffness of the linear motor 14 with integrated speed controller can be adjusted, for example, software-based on the moving through the linear motor 14 effective mass 15. With the superimposed control device 13 for vibration damping, the linear motor 14 becomes the active absorber. By means of an embodiment as an active absorber, a considerable reduction of the effective mass 15 can be realized in comparison to a passive absorber.
  • the speed controller comprises a proportional-integral controller whose gain Kp and reset time T N is set to a value which is dependent on a resonance frequency f 0 of the crane frame 21 and the mass m LM moved by the linear motor 14.
  • the linear motor 14 is tuned as a passive absorber to the resonance frequency of the container crane.
  • the parameters of the speed controller are set so that the speed controller has the widest possible bandwidth.
  • a rigid setting of the linear motor acts as firmly attached to the container crane and represents an additional mass.
  • the linear motor 14 then generates the force required for vibration damping, which acts as a counterforce on the boom 22 and the crane frame 21.
  • the greater the gain the greater the speed setpoint for the linear motor.
  • the larger the speed command value the larger the force generated by the linear motor 14. Accordingly, the required effective mass 15 is smaller.
  • An advantage of using the linear motor 14 for active damping of crane oscillations is that controller parameters can be adapted at any time to changing boundary conditions without effort. Compared to a passive absorber with a mechanical damping element, a linear motor is also nearly maintenance and wear-free.
  • a cascaded control system associated with the linear motor 14 which in addition to a current or force controller comprises a speed controller and a position controller with programmable control circuit elements.
  • the speed controller is parameterized in such a way that a vibratory system which can be parameterised according to oscillation frequency and damping results, which acts as a damper.
  • a control device that processes a Schwingungsmeß be parameterized such that approximately results in the place of action of the linear motor predeterminable, absolute damping in space.
  • a position or speed controller assigned to the linear motor 14 is parameterized such that the absolute damping which can be predetermined at the point of action of the linear motor is maintained and at the same time it is ensured that the linear motor moves within a defined working range.

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

Claims (14)

  1. Système d'amortissement d'une oscillation d'une grue comprenant
    - un capteur ( 11 ) d'oscillation pouvant être monté sur une charpente ( 21 ) de grue,
    - un moteur ( 14 ) linéaire pouvant être monté sur la charpente ( 21 ) de grue,
    - une masselotte ( 15 ) pouvant être déplacée par le moteur ( 14 ) linéaire et pouvant être couplée mécaniquement à la charpente ( 21 ) de grue,
    - un dispositif ( 13 ) de régulation, dont l'entrée de grandeurs de mesure est reliée au capteur ( 11 ) d'oscillation et dont la sortie de grandeurs de réglage est reliée au moteur ( 14 ) linéaire,
    caractérisé en ce que
    - il est prévu un système de régulation en cascade, qui est associé au moteur ( 14 ) linéaire et qui comprend un régleur de courant et/ou de force, un régleur de vitesse et un régleur de position ayant des éléments de circuit de réglage paramétrables,
    - le régleur de vitesse est paramétré de manière à obtenir un système oscillant paramétrable suivant la fréquence d'oscillation et suivant l'amortissement, qui agit en tant qu'amortisseur.
  2. Système suivant la revendication 1,
    dans lequel un système de mesure linéaire est prévu pour la régulation et la commutation du moteur ( 14 ) linéaire.
  3. Système suivant l'une des revendications 1 ou 2,
    dans lequel il est prévu un régleur de vitesse associé au moteur ( 14 ) linéaire et dans lequel une grandeur de réglage, transmise par la sortie de grandeurs de réglage du dispositif ( 13 ) de régulation, est une valeur de consigne de vitesse pour le régleur de vitesse.
  4. Système suivant la revendication 3,
    dans lequel le régleur de vitesse comprend un régleur proportionnnel-intégral, dont l'amplification et le temps de réglage sont réglés à des valeurs qui dépendent d'une fréquence de résonance de la charpente ( 21 ) de la grue et de la masselotte ( 15 ) pouvant être déplacée par le moteur ( 14 ) linéaire.
  5. Système suivant l'une des revendications 1 ou 2,
    dans lequel il est prévu un régleur de courant et/ou de force associé au moteur ( 14 ) linéaire et dans lequel une grandeur de réglage, transmise par la sortie de grandeurs de réglage du dispositif ( 13 ) de régulation, est une valeur de consigne de force et/ou de courant pour le régleur de force et/ou de courant.
  6. Système suivant l'une des revendications 1 ou 2,
    dans lequel il est prévu un régleur de vitesse associé au moteur ( 14 ) linéaire et un régleur de courant et/ou de force associé au moteur ( 14 ) linéaire et dans lequel une grandeur de réglage, transmise par la sortie de grandeurs de réglage du dispositif ( 13 ) de régulation, est une valeur de consigne de vitesse et une valeur de consigne de force et/ou de courant pour le régulateur de force ou pour le régulateur de courant.
  7. Système suivant l'une des revendications 1 à 6,
    dans lequel un dispositif ( 13 ) de régulation, qui traite une grandeur de mesure d'oscillation, est paramétré de manière à obtenir dans l'espace approximativement un amortissement absolu pouvant être prescrit à l'endroit où agit le moteur ( 14 ) linéaire.
  8. Système suivant la revendication 7,
    dans lequel un régleur de position et/ou de vitesse associé au moteur ( 14 ) linéaire est paramétré ou sont paramétrés de manière à conserver et en même temps garantir l'amortissement absolu pouvant être prescrit à l'endroit où agit le moteur ( 14 ) linéaire de manière à ce que le moteur ( 14 ) linéaire se déplace dans une plage de travail définie.
  9. Système suivant l'une des revendications 1 ou 8,
    dans lequel il est prévu entre le capteur ( 11 ) d'oscillation et le dispositif ( 13 ) de régulation un filtre ( 12 ) qui est accordé sur un spectre de fréquence d'oscillation de la charpente ( 21 ) de la grue.
  10. Système suivant l'une des revendications 1 ou 9,
    dans lequel le capteur ( 11 ) d'oscillation est constitué pour la détection d'une oscillation dans le sens ( 24 ) de marche d'un chariot ( 25 ) roulant de la grue.
  11. Système suivant l'une des revendications 1 ou 10,
    dans lequel le moteur ( 14 ) linéaire est constitué pour le déplacement dans le sens ( 24 ) de marche d'un chariot ( 25 ) roulant de la grue.
  12. Système suivant l'une des revendications 1 ou 11,
    dans lequel la masselotte ( 15 ) pouvant être couplée mécaniquement à la charpente ( 21 ) de la grue est montée sur le moteur ( 14 ) linéaire.
  13. Système suivant l'une des revendications 1 ou 12,
    dans lequel le moteur ( 14 ) linéaire est monté sur une poutre de pont de la grue.
  14. Système suivant l'une des revendications 1 ou 13,
    dans lequel le moteur ( 14 ) linéaire est monté sur une flèche ( 22 ) de la grue.
EP20090016108 2009-11-30 2009-12-30 Système d'amortissement d'une oscillation d'une grue de conteneur Active EP2327651B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP20090016108 EP2327651B1 (fr) 2009-11-30 2009-12-30 Système d'amortissement d'une oscillation d'une grue de conteneur
CN201010624992.7A CN102092638B (zh) 2009-11-30 2010-11-30 起重机减振系统

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP09014831 2009-11-30
EP20090016108 EP2327651B1 (fr) 2009-11-30 2009-12-30 Système d'amortissement d'une oscillation d'une grue de conteneur

Publications (2)

Publication Number Publication Date
EP2327651A1 EP2327651A1 (fr) 2011-06-01
EP2327651B1 true EP2327651B1 (fr) 2012-08-01

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CN (1) CN102092638B (fr)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2543619B1 (fr) * 2011-07-05 2015-04-29 Siemens Aktiengesellschaft Système d'amortissement des oscillations
EP2543620B1 (fr) * 2011-07-05 2015-05-20 Siemens Aktiengesellschaft Amortisseur d'oscillations pour amortir les oscillations de structures susceptibles d'osciller
EP2546185B1 (fr) * 2011-07-14 2014-03-19 Siemens Aktiengesellschaft Amortisseur d'oscillations
EP2574819B1 (fr) 2011-09-30 2014-04-23 Siemens Aktiengesellschaft Amortisseur d'oscillations actif à vitesse proportionnelle
JP5854748B2 (ja) * 2011-10-06 2016-02-09 株式会社Ihi 走行クレーンの免震支持装置
EP2706034B1 (fr) * 2012-09-10 2015-11-04 Integrated Dynamics Engineering GmbH Réducteur actif pour structures oscillantes de basse fréquence
JP5984642B2 (ja) * 2012-11-28 2016-09-06 住友重機械搬送システム株式会社 クレーンの制振制御システム及びクレーンの制振制御方法
CN106005952A (zh) * 2016-05-26 2016-10-12 淮南市鸿裕工业产品设计有限公司 一种堆垛机的超载预防装置
CN107176546A (zh) * 2017-05-22 2017-09-19 无锡石油化工起重机有限公司 带卷帘门隔断车间的防爆桥式起重机
CN108892025B (zh) * 2018-09-14 2023-09-08 上海久能机电制造有限公司 一种耐冲击由直线电机驱动的吊具转销机构

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JPS58220083A (ja) * 1982-06-16 1983-12-21 株式会社日立製作所 クレ−ンの振れ止め装置
JPS63183187U (fr) * 1987-05-15 1988-11-25
US5255764A (en) * 1989-06-06 1993-10-26 Takafumi Fujita Active/passive damping apparatus
JP2847119B2 (ja) * 1989-12-28 1999-01-13 石川島運搬機械株式会社 クレーン
JP3359976B2 (ja) * 1994-04-22 2002-12-24 カヤバ工業株式会社 制振装置
JP3565294B2 (ja) * 1995-06-07 2004-09-15 石川島播磨重工業株式会社 クレーンの制振構造
JPH09208009A (ja) * 1996-02-05 1997-08-12 Komatsu Ltd スタッカクレーンの揺動低減装置
JPH09272606A (ja) * 1996-04-01 1997-10-21 Komatsu Ltd スタッカクレーンの走行制御装置
JPH11255477A (ja) * 1998-03-12 1999-09-21 Ishikawajima Harima Heavy Ind Co Ltd 走行クレーン
AT506266A1 (de) * 2007-12-28 2009-07-15 Tgw Mechanics Gmbh Fahrzeug, insbesondere regalbediengerät, sowie verfahren zur antriebsregelung eines derartigen fahrzeugs

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Publication number Publication date
EP2327651A1 (fr) 2011-06-01
CN102092638A (zh) 2011-06-15
CN102092638B (zh) 2015-04-29

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