EP2636635A1 - Commande de grue avec mode de traction de câble - Google Patents

Commande de grue avec mode de traction de câble Download PDF

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Publication number
EP2636635A1
EP2636635A1 EP12008264.9A EP12008264A EP2636635A1 EP 2636635 A1 EP2636635 A1 EP 2636635A1 EP 12008264 A EP12008264 A EP 12008264A EP 2636635 A1 EP2636635 A1 EP 2636635A1
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EP
European Patent Office
Prior art keywords
crane
cable
force
cable force
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.)
Granted
Application number
EP12008264.9A
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German (de)
English (en)
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EP2636635B1 (fr
Inventor
Karl Langer
Klaus Schneider
Sebastian Küchler
Oliver 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
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Liebherr Werk Nenzing GmbH
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Publication of EP2636635A1 publication Critical patent/EP2636635A1/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
    • B66C13/18—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
    • 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
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • B66D1/48—Control devices automatic
    • B66D1/52—Control devices automatic for varying rope or cable tension, e.g. when recovering craft from water
    • B66D1/525—Control devices automatic for varying rope or cable tension, e.g. when recovering craft from water electrical

Definitions

  • the present invention relates to a crane control for a crane having a hoist for lifting a load suspended on a rope.
  • a control or regulation is usually used, in which the desired position or speed of the load is used as a setpoint.
  • the crane operator uses a hand lever to specify a desired speed of the load, which then serves as input for the crane control.
  • the inventors of the present invention have recognized that such control of the hoist may be disadvantageous in certain constellations.
  • Object of the present invention is therefore to provide an improved crane control available.
  • the present invention shows a crane control for a crane, which has a hoist for lifting a hanging on a rope load.
  • the crane control has a cable force mode in which the crane control activates the lifting mechanism so that a desired value of the cable force is established.
  • Such control of the hoist on the basis of the desired force acting in the cable, it may have advantages over a crane control for certain lifting situations, which operates on the basis of a desired position or target speed of the load.
  • the emergence of slack rope when placing the load can be prevented by the cable force mode of the crane control according to the invention.
  • the control takes place automatically.
  • the speed and / or position of the winch is controlled.
  • the speed and / or position of the winch taking into account the elasticity of the system, can be controlled such that the desired value of the cable force is set.
  • the cable force in the cable force mode can be kept at a constant setpoint.
  • the crane control controls the hoist in the cable force mode so that the cable force is automatically set to a predetermined setpoint.
  • a cable force determination unit can be provided, which determines an actual value of the cable force.
  • the control then takes place on the basis of a comparison of the actual value and the nominal value of the cable force.
  • the cable force in the cable force mode can be regulated by returning at least one measured value.
  • the cable force determination unit determines the actual value of the cable force on the basis of a measurement signal of a cable force sensor.
  • the cable force sensor can be arranged on the hoist, in particular on a fastening of the hoist winch and / or a fastening of a pulley.
  • the rope force sensor can be arranged in a tab which secures the hoist winch to a hoist winch platform, or which holds a pulley over which the hoist rope is guided.
  • the cable force determination unit determines the actual value of the cable force via a filtering of measured values or a model-based estimation.
  • an observer can be provided, which determines the cable force on the basis of measured values and a physical model of the dynamics of the cable.
  • the crane control according to the invention can have a setpoint determination unit which determines the setpoint value of the cable force on the basis of measured values and / or control signals and / or inputs of a user.
  • the setpoint determination unit can determine the static force acting on the cable during a stroke.
  • the static force corresponds in particular to the weight of the lifted load.
  • the dynamic portion of the forces acting in the rope can be removed, for example by filtering.
  • the rope length can be included in the setpoint determination unit. Especially with strokes with a large rope length while the load acting on the rope suspension point also depends on the length of the unwound rope or its weight.
  • the setpoint determination unit therefore takes into account the weight of the unwound cable.
  • the weight of the lifted load can thereby be determined by subtracting the weight of the unwound cable from a static portion of a measured force in the case of a free-hanging load.
  • the setpoint determination unit then takes into account the weight of the lifted load determined in this way and the weight of the cable currently being unwound in the cable power mode.
  • a nominal value determination unit which takes into account the rope length, is particularly advantageous if the cable force is measured via a sensor which is not arranged on the load hook but, for example, on the hoist.
  • a crane control according to the invention may comprise an input element, via which the crane operator can change the desired value of the cable force. This allows the crane operator to adjust which tension should be maintained during the cable force mode in the rope.
  • a factor can be entered, which determines the ratio between the desired value of the cable force and the static force during a stroke.
  • the crane operator may pretend that at least a portion of the cable force during the cable power mode should be in some relation to the weight force of the load previously acting on the cable.
  • the desired value of the cable force is determined so that it is always above the weight force generated by the unwound load rope. This ensures that no slack rope can arise in the cable force mode.
  • the rope length is taken into account and determines the weight of the unwound rope.
  • the desired value of the cable force can consist of the sum of the weight force generated by the unwound load cable and a force which is in a certain ratio to the weight force of the load previously acting on the cable.
  • the crane control in the cable force mode can comprise a pre-control part, which takes into account the dynamics of the cable, and a return part, via which the cable force determined by the cable force determination unit is returned becomes.
  • the pilot control part can be based on the inversion of a model describing the vibration dynamics of the cable.
  • the weight of the unwound rope is taken into account in this. The control is then stabilized via the feedback part.
  • the crane control according to the invention can have a state detection, wherein the crane control automatically changes based on the state detection in and / or from the cable power mode.
  • the condition detection can detect settling and / or picking up the load.
  • the crane control can automatically switch into or out of the cable power mode when it detects a drop or picking up the load.
  • the change in one or both directions can also be done manually by the crane operator.
  • the state detection can display the current state.
  • the condition detection monitors the cable force in order to detect the condition of the crane and in particular to detect a settling and / or receiving the load.
  • a discontinuation of the load is detected when a negative load change is present and / or when the derivative of the cable force is below a certain threshold, while the crane operator prescribes a lowering of the load via an input device.
  • a pick-up of the load can be detected if there is a positive load change and / or if the derivative of the cable force is above a certain threshold, while the crane operator predetermines a lifting of the load via an input device.
  • the crane control according to the invention can furthermore comprise a lifting mode in which the lifting mechanism is actuated on the basis of a desired value of the load position and / or the load speed, and / or a desired value of the cable position and / or cable speed.
  • a scheme may be provided, which in the lifting mode an actual value of the load position and / or load speed and / or rope position and / or rope speed leads back.
  • the crane control changes from the lifting mode in the cable force mode when it detects a discontinuation of the load.
  • the crane control or the crane operator can change from the cable force mode to the lift mode when the crane control detects a picking up of the load and possibly displays it.
  • the crane control according to the present invention can be used particularly preferably in strokes in which either the cable suspension point or the load settling moves, as is the case, for example, in cranes mounted on a ship or loads to be deposited on a ship due to the sea.
  • the crane control according to the invention can have an active sea state compensation, which compensates for the movement of the cable suspension point and / or a Lastabsetzmatis due to the sea state at least partially by a control of the hoist. In this way, a further improved control of the crane can be achieved at sea.
  • the active sea state compensation takes place on the basis of a prediction, which the future movement of the cable suspension point or of the Lastabsetziss due to the sea state predicts and at least partially compensated by a corresponding control of the hoist.
  • the active sea state compensation can be used in the lifting mode and / or in the cable force mode of the crane control according to the invention.
  • the present invention further comprises a crane with a crane control as described above.
  • the crane according to the invention may be a ship crane.
  • a ship crane is a crane, which is arranged on a float.
  • the rope suspension point can move due to the sea.
  • the crane according to the invention may, for example, also be a harbor crane or offshore crane or a crawler crane, in particular a mobile harbor crane.
  • a harbor crane is used to load or unload loads from a ship.
  • a crane according to the present invention can therefore also be installed on a drilling platform. In such cranes, which are used for loading or unloading a ship, the Lastabsetzddling can move due to the sea state.
  • the present invention further comprises the use of a crane control according to the invention in lifting situations in which the cable suspension point and / or the load suspension point moves due to external influences such as due to the sea. As external influences but also wind loads come into question, which move the rope suspension point.
  • the cable force mode according to the invention can prevent slack rope from arising due to this external movement.
  • the cable suspension point may in particular be the crane tip, from which the hoist cable is led to the load. If this is moved, for example due to the sea, transmits This movement affects the rope and thus the load.
  • the load dumping point can be, for example, the loading area of a floating body, in particular of a ship. If this moves, either slack rope can arise or the load can be lifted when the load is lowered.
  • the present invention further includes the use of a crane control according to the invention with the load applied.
  • the cable force mode according to the invention automatically ensures that a desired desired value of the cable force is maintained.
  • this is done according to the invention by regulating the cable force.
  • the present invention further includes a method of driving a crane having a hoist for lifting a load suspended on a rope.
  • the hoist is controlled based on a setpoint of the cable force. This also gives rise to the advantages which have already been described in more detail above with regard to the crane control and its use.
  • the method is carried out as described above with regard to the crane control according to the invention or its use.
  • the method according to the invention can be carried out with a crane control as described above.
  • the crane control according to the invention automatically switches to the cable force mode upon detection of a settling process.
  • a ramp-shaped transition from the force currently measured during the detection of the settling process to the actual desired force takes place in order to avoid setpoint jumps in the reference variable.
  • the setpoint force can first be raised so far that the load is lifted. Further advantageously, then a change from Sollkraft- to the lifting mode is carried out at free-hanging load.
  • the crane operator can manually change from the cable power mode to a lift mode. Alternatively, this is done automatically by the crane control
  • the input device via which the crane operator predefines the movement of the load in the lifting mode is also automatically deactivated.
  • the present invention further includes software with code for performing a method as described above.
  • the software can be stored in particular on a machine-readable data memory.
  • a crane control according to the invention can be implemented.
  • the crane control according to the invention and in particular the cable force mode is advantageously realized by an electronic control.
  • a control computer can be provided, which is in communication with input elements and / or sensors and generates control signals for driving the hoist.
  • the control computer can continue to be in communication with a display device, which visually displays information about the state of the crane control to the crane operator.
  • the setpoint can be visualized according to the invention.
  • the control computer is connected to an input element via which the desired cable force can be set. Further advantageously, the control computer is in communication with a rope force sensor.
  • Figure 0 shows an embodiment of a crane 1 with a crane control according to the invention for controlling the hoist 5.
  • the hoist 5 has a hoist winch, which moves the cable 4.
  • the cable 4 is guided over a cable suspension point 2, in the exemplary embodiment a deflection roller at the end of the crane boom, on the crane. By moving the cable 4, a load hanging on the rope 3 can be raised or lowered.
  • At least one sensor may be provided which measures the position and / or speed of the hoist and transmits corresponding signals to the crane control.
  • At least one sensor can be provided which measures the cable force and transmits corresponding signals to the crane control.
  • the sensor can be arranged in the region of the crane structure, in particular in a fastening of the winch 5 and / or in a fastening of the pulley 2.
  • the crane 1 is arranged in the embodiment on a float 6, here a ship. Like also in Figure 0 to recognize the float 6 moves due to the sea at its six degrees of freedom. This will also arranged on the float 6 crane 1 and the cable suspension point 2 moves.
  • 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.
  • a prediction device can be provided which predicts a future movement of the cable suspension point 2 on the basis of the determined seaward movement and a model of the seaward movement.
  • the forecasting device alone predicts the vertical movement of the cable suspension point.
  • Sometimes. can be converted in the context of the measuring and / or the forecasting device, a movement of the ship at the point of the sensors of the measuring device in a movement of the cable suspension point.
  • the forecasting device and the measuring device are advantageously designed as shown in the DE 10 2008 024513 A1 is described in more detail.
  • the crane according to the invention could also be a crane which is used for lifting and / or lowering a load from or onto a load settling point arranged on a floating body, which therefore moves with the seaway.
  • the forecasting device must in this case predict the future movement of the load take-off point. This can be analogous to the procedure described above, wherein the sensors of the measuring device are arranged on the float of Lastabsetzthes.
  • the crane may be, for example, a harbor crane, an offshore crane or a crawler crane.
  • the hoist winch of the hoist 5 is hydraulically driven in the embodiment.
  • a hydraulic circuit of hydraulic pump and hydraulic motor is provided, via which the hoist winch is driven.
  • a hydraulic accumulator can be provided, via which energy is stored when the load is lowered, so that this energy is available when lifting the load.
  • an electric drive could be used. This could also be connected to an energy storage.
  • a follow-up control consisting of a precontrol and a feedback in the form of a two-degree-of-freedom structure is used in the exemplary embodiment.
  • the feedforward control is calculated by a differential parameterization and requires twice continuously differentiable reference trajectories.
  • v max and a max is divided using a weighting factor 0 ⁇ k l ⁇ 1 (cf. Fig. 1 ). This is specified by the crane driver and thus allows the individual distribution of power, which is available for the compensation or the method of the load.
  • a weighting factor 0 ⁇ k l ⁇ 1 (cf. Fig. 1 ).
  • a change of k l can be carried out during operation. Since the maximum possible travel speed or acceleration depends on the total mass of rope and load, v max and a max can also change during operation. Therefore, the valid values are also transferred to the trajectory planning.
  • the crane operator can easily and intuitively adjust the influence of the active sea state compensation.
  • the first part of the chapter first explains the generation of reference trajectories y a * . y ⁇ a * and y ⁇ a * for compensating the vertical movement of the cable suspension point.
  • the essential aspect here is that with the planned trajectories the vertical movement is compensated as far as is possible on the basis of the given restrictions set by k l .
  • the second part of the chapter deals with the planning of trajectories y l * . y ⁇ l * and y ⁇ l * for moving the load. These are generated directly from the hand lever signal of the crane driver w hh . The calculation is done by adding the maximum allowable jerk.
  • trajectory planning for the compensating movement of the hoisting winch, sufficiently smooth trajectories are to be generated from the predicted vertical positions and speeds of the rope suspending point, taking into account the valid drive restrictions.
  • This task is considered below as a limited optimization problem, which is to be solved online in each time step. Therefore, the approach is similar to the design of a model-predictive control, but in the sense of a model-predictive trajectory generation.
  • an optimal time sequence for the compensation movement can then be determined.
  • an emergency function can be implemented in this concept, in case the optimization does not find a valid solution, independently of the regulation. It consists of a simplified trajectory planning, whereupon the regulation resorts to such an emergency situation and continues to control the winds.
  • the third derivation must be made at the earliest y ... a * be considered as capable of jumping.
  • making only the fourth derivative y 4 a * can be considered as capable of jumping.
  • the jerk y ... a * plan at least steadily and the Trajektoriengener mich for the compensation movement is based on the in Fig. 2 illustrated fourth order integrator chain.
  • this time-continuous model first becomes on the grid ⁇ 0 ⁇ ⁇ 1 ⁇ ... ⁇ ⁇ K p - 1 ⁇ ⁇ K p where K p represents the number of prediction steps for the prediction of the vertical movement of the cable suspension point.
  • Fig. 3 makes it clear that the selected grid is not equidistant, which reduces the number of necessary nodes on the horizon. This makes it possible to keep the dimension of the optimal control problem to be solved small.
  • the influence of the grosser discretization towards the end of the horizon does not adversely affect the planned trajectory since the prediction of vertical position and velocity towards the end of the prediction horizon is less accurate.
  • x a t e A a ⁇ t ⁇ x a 0 + ⁇ 0 t e A a ⁇ t - ⁇ ⁇ B a u a ⁇ ⁇ d ⁇
  • a trajectory is to be planned which follows the predicted vertical movement of the cable suspension point as close as possible and at the same time satisfies the given restrictions.
  • the weights q w, 3 and q w, 4 only penalize deviations from zero, which is why they are less than the weights for the position q w, 1 ( ⁇ k ) and velocity q w, 2 ( ⁇ k ) can be selected.
  • ⁇ a ( ⁇ k ) represents a reduction factor chosen so that the respective limit at the end of the horizon is 95% of that at the beginning of the horizon.
  • ⁇ a ( ⁇ k ) follows from linear interpolation. The reduction of the restrictions along the horizon increases the robustness of the method with respect to the existence of permissible solutions.
  • the jerk limitations are j max and the derivative of the jerk d d t ⁇ j Max constant. To increase the lifespan of the hoist winch and the entire crane, they are selected for maximum shock load. There are no restrictions on the position condition.
  • the presented time-variant constraints take into account the presented concept as follows: As soon as a constraint changes, the updated value is first only at the end of the prediction horizon for the time step ⁇ ⁇ ⁇ included. Then, as time progresses, it pushes it to the beginning of the prediction horizon.
  • Fig. 4 clarifies this procedure based on the speed limit.
  • care must also be taken that it matches its maximum permissible derivative. This means that, for example, the speed limit (1-k l ) v max can be reduced as fast as the current acceleration limitation (1 k l ) a max permits.
  • a constrained initial condition x a ( ⁇ 0 ) always has a solution which in turn does not violate the updated constraints. However, it takes the complete prediction horizon until a changed restriction finally affects the planned trajectories at the beginning of the horizon.
  • the optimal control problem is fully met by the quadratic merit function (1.5) to be minimized, the system model (1.4) and the inequality constraints from (1.8) and (1.9) in the form of a linear quadratic programming problem (QP problem).
  • the value x a ( ⁇ 1 ) calculated in the last optimization step for the time step ⁇ 1 is used as the initial condition.
  • the actual solution to the QP problem is calculated in each time step using a numerical method known as the QP solver.
  • the sampling time for the trajectory planning of the compensatory motion is greater than the discretization time of all remaining components of the active sea state compensation; thus ⁇ > ⁇ t .
  • the simulation of the integrator chain takes place Fig. 2 outside the optimization with the faster sampling time A t instead.
  • the states x a ( ⁇ 0 ) are used as an initial condition for the simulation, and the manipulated variable at the beginning of the prediction horizon u a ( ⁇ 0 ) is written to the integrator chain as a constant input.
  • Fig. 5 shows, it also serves as the input of a third-order integrator chain.
  • the planned trajectories must also meet the currently valid speed and acceleration restrictions which result for the lever control in k l v max and k l a max .
  • the hand lever signal of the crane driver -100 ⁇ w hh ⁇ 100 is interpreted as a relative speed specification in relation to the currently maximum permissible speed k l v max .
  • the setpoint speed currently given by the hand lever depends on the hand lever position w hh , the variable weighting factor k l and the current maximum permissible winch speed v max .
  • the task of trajectory planning for the hand lever control can now be specified as follows: From the setpoint speed given by the hand lever, a continuously differentiable speed profile is to be generated so that the acceleration has a steady course. As a method for this task offers a so-called jerk-on.
  • the maximum permissible jerk j max in a first phase acts on the input of the integrator chain until the maximum permissible acceleration is reached.
  • the speed is increased with constant acceleration; and in the last phase, the maximum permissible negative jerk is switched on so that the desired final speed is reached.
  • Fig. 7 illustrates an exemplary course of the jerk for a speed change together with the switching times.
  • T l, 0 denotes the time at which a rescheduling takes place.
  • the times T l, 1 , T l, 2 and T l, 3 each refer to the calculated switching times between the individual phases. Their calculation is outlined in the following paragraph.
  • a new situation occurs as soon as the setpoint speed v hh * or the currently valid maximum acceleration for the hand lever control k l a max changes.
  • the desired speed may change due to a new hand lever position w hh or by a new specification of k l or v max (cf. Fig. 6 ). Analogously, a variation of the maximum valid acceleration by k l or a max is possible.
  • u l ⁇ j Max 0 - j Max .
  • u l ⁇ u l . 1 . u l . 2 . u l . 3 ⁇ and the input in the respective phase input signal u l, i .
  • y ⁇ l * T l . 2 y ⁇ l * T l . 1 .
  • y ⁇ l * T l . 2 y ⁇ l * T l . 1 .
  • u l, 2 0 was assumed.
  • y ⁇ l * T l . 3 y ⁇ l * T l . 2 + ⁇ ⁇ T 3 ⁇ y ⁇ l * T l . 2 + 1 2 ⁇ ⁇ ⁇ T 3 2 ⁇ u l . 3 .
  • y ⁇ l * T l . 3 y ⁇ l * T l . 2 + ⁇ ⁇ T 3 ⁇ u l . 3 ,
  • the speed and acceleration curves to be planned y ⁇ l * and y ⁇ l * can be calculated analytically with the individual switching times. It should be mentioned here that the trajectories planned by the switching times are often not traversed completely, since a new situation occurs before reaching the switching time T l, 3 , as a result a rescheduling takes place and new switching times are calculated. As already mentioned, a new situation occurs by a change of w hh , v max , a max or k l .
  • 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 reached at the time t 1 s and it follows a phase with constant acceleration.
  • 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.
  • the control consists of two different modes of operation: the active sea state compensation for decoupling the vertical load movement from the ship movement with free-hanging load and the constant voltage control to avoid slack rope, as soon as the load is deposited on the seabed.
  • the sea state compensation is initially active. Based on a detection of the settling process is automatically switched to the constant voltage control.
  • Fig. 9 illustrates the overall concept with the associated control and control variables.
  • 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.
  • Active hoist compensation is intended to control the hoist winch so that the winch movement controls the vertical movement of the rope suspension point z a H compensates and the crane operator moves the load with the help of the hand lever in the considered as inertial h-coordinate system.
  • a pilot control and stabilization part in the form of a two-degree-of-freedom structure implemented.
  • the feedforward control is calculated from a differential parameterization with the aid of the flat output of the wind dynamics and results from the planned trajectories for moving the load y l * . y ⁇ l * and y ⁇ l * and the negative trajectories for the compensation movement - y a * .
  • the resulting desired trajectories for the system output of the drive dynamics or the wind dynamics are with y H * . y ⁇ H * and y ⁇ 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 cable force at the load F sl should be regulated to a constant amount in order to avoid slack rope. Therefore, in this mode of operation, the hand lever is deactivated and the trajectories planned from the hand lever signal are no longer applied.
  • the control of the winch is again by a two-degree-of-freedom structure with pilot control and stabilization part.
  • the length l s is obtained indirectly from the angle of rotation ⁇ h measured using an incremental encoder and the winding radius r h (j l ) dependent on the winding position j l .
  • the associated rope speed i s can be numerical Calculate differentiation with suitable low-pass filtering.
  • the cable force F c acting on the cable suspension point is detected by means of a force measuring axis.
  • Fig. 10 illustrates the control of the hoist winch for the active sea state compensation with a block diagram in the frequency domain.
  • the compensation of the vertical movement of the cable suspension point acting as an input disturbance on the cable system G s, z ( s ) takes place Z a H s purely pre-taxing; Rope and load dynamics are neglected.
  • the rope's own dynamics are excited, but in practice it can be assumed that the resulting load movement in the water is strongly damped and decays very rapidly.
  • Neglecting the compensation movement Y a * s can be the reference size Y H * s be approximated at constant or stationary Handhebelauslenkung as a ramp-shaped signal, since in such a case, a constant target speed v hh * is present.
  • the open chain K a (s) G h (s) must therefore have l 2 behavior [9].
  • the decrease in the negative spring force ⁇ F c is calculated in each case with respect to the last high point F c in the measured force signal F c .
  • the force signal is preprocessed by a corresponding low-pass filter.
  • ⁇ l ⁇ 1 and the maximum value ⁇ F c, max were determined experimentally.
  • the two parameters ⁇ 2 ⁇ 1 and F c, max were also determined experimentally.
  • the crane operator manually maneuvers the change from the constant tension mode to the active sea state compensation with the load suspended.
  • Fig. 11 shows the converted control of the hoist winch in the constant voltage mode in a block diagram in the frequency domain.
  • the output of the cable system F c ( s ) ie the force measured at the cable suspension point, is returned instead of the output of the winch system Y h ( s ).
  • the measured force F c ( s ) decreases (2.12) from the force change ⁇ F c ( s ) and the static weight force m e g + ⁇ s l s g, which is denoted by M (s) in the image area.
  • the cable system is again approximated as a spring-mass system.
  • 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, 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 - y ⁇ 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.
  • the compensation error E a ( s ) is compensated by a stable transfer function G CT, 1 ( s ) and the wind position stabilized indirectly.
  • the request to the controller K s ( s ) also results in this case from the expected command signal F c * s . which after a transitional phase by the constant desired force F c * from (2.21).
  • the open chain must have K s (s) G h (s) G s, F (s) / behaviors.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)
EP12008264.9A 2012-03-09 2012-12-11 Commande de grue avec mode de traction de câble Active EP2636635B1 (fr)

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DE102012004914A DE102012004914A1 (de) 2012-03-09 2012-03-09 Kransteuerung mit Seilkraftmodus

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US (1) US9120650B2 (fr)
EP (1) EP2636635B1 (fr)
JP (1) JP6193590B2 (fr)
KR (1) KR102029949B1 (fr)
CN (1) CN103303799B (fr)
DE (1) DE102012004914A1 (fr)

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KR102029949B1 (ko) 2019-10-08
US9120650B2 (en) 2015-09-01
JP6193590B2 (ja) 2017-09-06
CN103303799A (zh) 2013-09-18
EP2636635B1 (fr) 2019-03-13
KR20130103364A (ko) 2013-09-23
CN103303799B (zh) 2017-04-26
US20130245816A1 (en) 2013-09-19
DE102012004914A1 (de) 2013-09-12

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