EP2636632B1 - Commande de grue avec limite d'entraînement - Google Patents

Commande de grue avec limite d'entraînement Download PDF

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Publication number
EP2636632B1
EP2636632B1 EP12008290.4A EP12008290A EP2636632B1 EP 2636632 B1 EP2636632 B1 EP 2636632B1 EP 12008290 A EP12008290 A EP 12008290A EP 2636632 B1 EP2636632 B1 EP 2636632B1
Authority
EP
European Patent Office
Prior art keywords
movement
crane
control
hoisting gear
load
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
EP12008290.4A
Other languages
German (de)
English (en)
Other versions
EP2636632A1 (fr
Inventor
Klaus Dr. Schneider
Eckard Dr.-Ing. Arnold
Sebastian DI Küchler
Oliver Prof. Dr.-Ing. Sawodny
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
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Publication date
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Publication of EP2636632A1 publication Critical patent/EP2636632A1/fr
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Publication of EP2636632B1 publication Critical patent/EP2636632B1/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
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • 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
    • B66C13/02—Devices for facilitating retrieval of floating objects, e.g. for recovering crafts from water
    • 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
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/52—Floating cranes

Definitions

  • the limitations of the hoist can change during a stroke, which according to the invention can be taken into account by the sea state compensation.
  • the crane control can be used to control a hoist whose drive is connected to an energy store.
  • the amount of energy stored in the energy store thereby influences the power available for driving the hoist.
  • the amount of energy stored in the energy store or the power available for driving the hoist enters into the calculation function according to the present invention.
  • the optimization function advantageously calculates an optimum path based on a predicted vertical position and / or vertical speed of the cable suspension point and / or a load release point, which, taking into account the kinematic restrictions, minimizes the residual movement and / or differential movement of the load.
  • the sea state compensation advantageously has a path planning module which calculates a trajectory of the position and / or speed and / or acceleration of the hoisting system based on a predicted movement of the cable suspension point and / or a load release point, which trajectory enters into a desired value for a downstream control of the hoist.
  • This design of the sea state compensation results in a particularly stable and easy to implement control of the hoist. In particular, it is no longer necessary to reconstruct the unknown load position.
  • control of the lifting mechanism can thereby return measured values to the position and / or speed of the hoisting winch.
  • the path planning module thus provides as a setpoint position and / or speed of the hoist winch, which is adjusted in the downstream control with actual values.
  • the operator control also takes into account at least one limitation of the drive, and in particular the maximum permissible jerk and / or a maximum available power and / or a maximum available acceleration and / or a maximum available speed.
  • the optimization can be carried out at each time step on the basis of an updated forecast of the movement of the load pick-up point.
  • the optimization function relies on emergency trajectory planning if no valid solution can be found. This will ensure proper operation even if a valid solution can not be found.
  • the crane control may further include a forecasting device, which predicts a future movement of the cable suspension point and / or a Lastabsetziss based on the determined current sea state movement and a model of the sea state movement.
  • the prediction device can thereby determine the prevailing modes of the seaway movement from the data of the measuring device. In particular, this can be done via a frequency analysis.
  • the crane can be arranged on a float.
  • the crane may be a ship crane. Alternatively, it may also be an offshore crane, a port crane or a crawler crane.
  • the present invention further comprises a floating body with a crane according to the present invention, in particular a ship with a crane according to the invention.
  • a method for controlling a crane which comprises a hoist for lifting a load suspended on a rope, the method not being part of the present invention.
  • a swell compensation by an automatic control of the hoist compensates for the movement of the cable suspension point and / or a Lastabsetzthes due to the sea state at least partially. It is provided according to a first aspect that the sea state compensation in the calculation of the control of the hoist takes into account at least one limitation of the hoist.
  • the crane control according to the present invention may have an active sea state compensation, which at least partially compensates for a control of the hoist and the movement of the cable suspension point 2 due to the sea.
  • the vertical movement of the cable suspension point due to the sea is at least partially compensated.
  • the sea state compensation may include a measuring device which determines a current sea state movement from sensor data.
  • the measuring device may comprise sensors which are arranged on the crane foundation.
  • these may be gyroscopes and / or inclination angle sensors.
  • three gyroscopes and three inclination angle sensors are provided.
  • the forecasting device and the measuring device are advantageously designed as shown in the DE 10 2008 024513 A1 is described in more detail.
  • an electric drive could be used. This could also be connected to an energy storage.
  • Fig. 8 shows a trajectory exemplified by the method presented.
  • the course of the trajectories includes both cases, which can occur on the basis of (1.24).
  • the maximum allowable acceleration due to the hand lever position is not fully achieved.
  • the associated position history is calculated according to Fig. 5 by integrating the velocity profile, the position being initialized at startup by the rope length currently being handled by the hoist winch.
  • each of the two different modes of operation could also be implemented without the other mode of operation.
  • a constant voltage mode as described below, can also be used independently of the use of the crane on a ship and independently of an active sea state compensation.
  • the resulting desired trajectories for the system output of the drive dynamics or the wind dynamics are with y H * . y ⁇ H * and ⁇ H * designated. They represent the target position, speed and acceleration for the winch movement and thus for the winding and unwinding of the rope.
  • the precontrol F ( s ) of the two-degree-of-freedom structure is identical to that for active sea state compensation and given by (2.2) or (2.3). However will In the constant voltage mode, the hand lever signal is not applied, which is why the reference trajectory only from the negative target speed and - acceleration - y ⁇ a * and - ⁇ a * exists for the compensation movement.
  • the pilot control component initially compensates for the vertical movement of the cable suspension point Z a H s , However, there is no direct stabilization of the winch position by a return of Y h ( s ). This is done indirectly by the return of the measured force signal.

Landscapes

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

Claims (12)

  1. Commande de grue pour une grue (1), qui présente un mécanisme de levage (5) servant à lever une charge (3) suspendue au niveau d'un câble (4), avec
    un système actif de compensation de houle, qui compense au moins en partie, par un pilotage du mécanisme de levage (5), le mouvement du point de suspension de câble (2) et/ou d'un point de dépose de charge du fait de la houle, dans laquelle le système de compensation de houle tient compte, lors du calcul du pilotage du mécanisme de levage (5), d'au moins une restriction du mécanisme de levage (5),
    caractérisé en ce que
    le système de compensation de houle tient compte d'une vitesse (vmax) maximale disponible.
  2. Commande de grue selon la revendication 1, dans laquelle le système de compensation de houle tient compte d'une saccade maximale admise et/ou d'une accélération maximale (amax) disponible et/ou d'une puissance maximale disponible et/ou dans laquelle la commande de grue présente une fonction de calcul, qui calcule au moins une restriction du mécanisme de levage (5) et calcule en particulier la vitesse maximale (vmax) et/ou l'accélération maximale (amax) du mécanisme de levage (5) et/ou la puissance maximale disponible, la fonction de calcul tenant avantageusement compte de la longueur du câble (4) déroulé et/ou de la force de câble et/ou de la puissance disponible aux fins de l'entraînement du mécanisme de levage (5).
  3. Commande de grue selon la revendication 1 ou 2, dans laquelle l'entraînement du mécanisme de levage (5) est relié à un accumulateur d'énergie.
  4. Commande de grue selon l'une quelconque des revendications précédentes, avec un module de planification de cheminement , lequel définit une trajectoire à l'aide du déplacement pronostiqué du point de suspension de câble (2) et/ou d'un point de dépose de câble et en tenant compte de la restriction du mécanisme de levage (5), dans laquelle le module de planification de cheminement présente de manière avantageuse une fonction d'optimisation, laquelle définit une trajectoire à l'aide du déplacement pronostiqué du point de suspension de câble (2) et/ou d'un point de dépose de charge et en tenant compte des restrictions du mécanisme de levage (5), laquelle minimise le déplacement restant de la charge du fait du déplacement du point de suspension de câble (2) et/ou d'un point de dépose de charge.
  5. Commande de grue pour une grue (1), qui présente un mécanisme de levage (5) servant à lever une charge (3) suspendue au niveau d'un câble (4), selon l'une quelconque des revendications 1 à 4, avec un système actif de compensation de houle, lequel compense au moins en partie par un pilotage du mécanisme de levage (5) le déplacement du point de suspension de câble (2) et/ou d'un point de dépose de charge du fait de la houle,
    le système de compensation de houle présentant un module de planification de cheminement, lequel calcule une trajectoire de la position et/ou une vitesse et/ou une accélération du mécanisme de levage (5) à l'aide d'un déplacement pronostiqué du point de suspension de câble (2) et/ou d'un point de dépose de charge, qui est tenant compte dans une valeur théorique pour une régulation ultérieure du mécanisme de levage (5).
  6. Commande de grue selon la revendication 5, dans laquelle la régulation du mécanisme de levage (5) renvoie de manière avantageuse à des valeurs de mesure portant sur la position et/ou la vitesse du treuil de levage (5), et/ou tient compte de la dynamique de l'entraînement du treuil de levage (5) par une commande pilote.
  7. Commande de grue selon l'une quelconque des revendications précédentes, avec une commande d'utilisateur, laquelle pilote le mécanisme de levage (5) à l'aide de spécifications de l'utilisateur, dans laquelle la commande présente de manière avantageuse deux modules de planification de cheminement séparés, par l'intermédiaire desquels des trajectoires pour la compensation de houle et pour la commande d'utilisateur sont calculées séparément les unes des autres, dans laquelle par ailleurs de manière avantageuse, les trajectoires spécifiées par les deux modules de planification de cheminement séparés sont totalisées et servent de valeurs de consigne pour la commande et/ou la régulation du mécanisme de levage (5).
  8. Commande de grue selon la revendication 7, dans laquelle la répartition d'au moins une grandeur restreinte de manière cinématique entre le système de compensation de houle et la commande d'utilisateur peut être réglée, de manière avantageuse le réglage étant effectué par l'intermédiaire d'au moins un facteur de pondération (kl), par l'intermédiaire duquel la puissance et/ou la vitesse (vmax) et/ou l'accélération (amax) maximales disponibles du mécanisme de levage (5) sont réparties entre le système de compensation de houle et la commande d'utilisateur.
  9. Commande de grue selon l'une quelconque des revendications précédentes, dans laquelle la fonction d'optimisation du système de compensation de houle définit une trajectoire théorique, laquelle est tenant compte dans la commande et/ou la régulation du mécanisme de levage (5),
    l'optimisation étant effectuée à chaque phase temporelle sur la base d'un pronostic mis à jour du déplacement du point de suspension de câble (2) et/ou
    respectivement la première valeur de la trajectoire théorique étant utilisée aux fins de la commande et/ou de la régulation et/ou
    la fonction d'optimisation fonctionnant avec une durée de balayage plus importante que la régulation et/ou
    la fonction d'optimisation ayant recours à une planification de cheminement d'urgence quand aucune solution valable ne peut être trouvée.
  10. Commande de grue selon l'une quelconque des revendications précédentes, avec un dispositif de mesure, lequel détermine un déplacement de houle instantané à partir de données de capteur, et avec un dispositif de pronostic, lequel pronostique un déplacement futur du point de suspension de câble (2) et/ou d'un point de dépose de charge à l'aide du déplacement de houle instantané déterminé et d'un modèle du déplacement de houle, avantageusement le modèle, utilisé dans le dispositif de pronostic, du déplacement de houle étant indépendant des propriétés, et en particulier de la dynamique du corps flottant (6), sur lequel la grue (1) et/ou le point de dépose de charge sont disposés.
  11. Commande de grue selon la revendication 10, dans laquelle le dispositif de pronostic définit les modes prédominants du déplacement de houle à partir des données du dispositif de mesure, en particulier par l'intermédiaire d'une analyse de fréquence, et établit un modèle de la houle à l'aide des modes prédominants définis, dans laquelle de manière avantageuse le dispositif de pronostic paramètre en permanence le modèle à l'aide des données du dispositif de mesure, dans laquelle en particulier un observateur est paramétré, dans laquelle en particulier l'amplitude et la phase des modes sont paramétrées et/ou le modèle est mis à jour lors d'une modification des modes prédominants de la houle.
  12. Grue (1) avec une commande de grue selon l'une quelconque des revendications précédentes.
EP12008290.4A 2012-03-09 2012-12-12 Commande de grue avec limite d'entraînement Active EP2636632B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102012004803A DE102012004803A1 (de) 2012-03-09 2012-03-09 Kransteuerung mit Antriebsbeschränkung

Publications (2)

Publication Number Publication Date
EP2636632A1 EP2636632A1 (fr) 2013-09-11
EP2636632B1 true EP2636632B1 (fr) 2019-02-13

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Family Applications (1)

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EP12008290.4A Active EP2636632B1 (fr) 2012-03-09 2012-12-12 Commande de grue avec limite d'entraînement

Country Status (6)

Country Link
US (1) US9266700B2 (fr)
EP (1) EP2636632B1 (fr)
JP (1) JP6243128B2 (fr)
KR (1) KR20130103365A (fr)
CN (1) CN103303797B (fr)
DE (1) DE102012004803A1 (fr)

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CN112456361A (zh) * 2020-11-25 2021-03-09 西北工业大学 一种减小吊放声纳液压绞车水下分机摆动幅度的控制方法

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Also Published As

Publication number Publication date
KR20130103365A (ko) 2013-09-23
CN103303797B (zh) 2016-12-28
US20130245817A1 (en) 2013-09-19
JP2013184826A (ja) 2013-09-19
CN103303797A (zh) 2013-09-18
US9266700B2 (en) 2016-02-23
EP2636632A1 (fr) 2013-09-11
JP6243128B2 (ja) 2017-12-06
DE102012004803A1 (de) 2013-09-12

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