EP2896590A1 - Procede et dispositif pour contrôler en boucle ouverte l'oscillation de la charge pour engin rotatif de levage - Google Patents

Procede et dispositif pour contrôler en boucle ouverte l'oscillation de la charge pour engin rotatif de levage Download PDF

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Publication number
EP2896590A1
EP2896590A1 EP14425148.5A EP14425148A EP2896590A1 EP 2896590 A1 EP2896590 A1 EP 2896590A1 EP 14425148 A EP14425148 A EP 14425148A EP 2896590 A1 EP2896590 A1 EP 2896590A1
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Prior art keywords
payload
suspension point
movement
speed
horizontal plane
Prior art date
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EP14425148.5A
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German (de)
English (en)
Inventor
Caporali Roberto Paolo Luigi
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Individual
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Individual
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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

  • Slewing cranes such as Tower cranes or self-erecting cranes
  • the equations of the movement are necessary coupled.
  • point-to-point operations using slewing cranes are performed by operators with the goal to not excite the pendulum modes of their cable and payload. Typically these pendulum modes exhibit low frequencies.
  • the two fundamental motions of the payload in the horizontal plane, resulting from the operator commands produce a sway tangential to the arc of circle defined by the tip of the crane jib and a sway radial to the same rotation due to the centrifugal acceleration of the payload.
  • the study of slewing cranes involves the analysis of three movements: the slewing motion of the jib, the radial motion of the load suspension point (trolley) and the hoisting of the payload.
  • a building crane has three inputs as movement commands which command in an independent way the trolley movement, the slewing movement and the hoisting movement.
  • the first one is relative to the U.S. Patent 5,908,122 to Robinett et al. , where the sway correction is obtained filtering crane input signals in order to dump the payload sway.
  • the filtering method uses a model representing the dynamics of the rotary crane with a matrix of nonlinear equations of motion, and after linearizing the matrix with respect to the radial sway angle and to the tangential sway angle. In this way the filtered inputs are obtained in order to control the sway of the payload.
  • the first one is due to the fact that the equations of the movement are linearized. In this way, all the effects relative to the centrifugal force and to the Coriolis force are not considered, so arriving to a solution of the anti-sway model that is correct only in first approximation.
  • the calculation step uses a mathematical model of the pendulum with damping.
  • the limit of this invention is in the fact that the correction coefficients (necessary to define the correct damping of the sway) are defined experimentally according to the different possible lengths of the suspension cables of the load. So, these coefficients have to be obtained only after experimentation, without way to have a complete theory of their computation.
  • the solution of the movement equations is obtained in analytic way, obtaining the exact solution of the filters able to reduce the oscillatory motion of rotary crane payloads.
  • the object of the present invention is to define a system and a method to control the sway of a rotating (building) crane using a computer-controlled system with open-loop control.
  • the present invention considers the full dynamic effect of the slewing, trolley and vertical (hoisting) movement, solving in an exact way the fundamental equations of the movement.
  • This invention defines a device to control the movement of a load suspended by cables from a suspension point of an hoisting system, the suspension point being able to perform both a rotation movement about a vertical rotation axis (Slewing axis) and a translation movement along a translation axis (Trolley axis).
  • the control process does not require to know variable parameters such as the measure of the angle of swing or a measure of the current flowing in the motor.
  • the invention requires a device for adjusting the movement of the load suspended by cables to a crane which is movable along a first horizontal axis (Trolley movement).
  • Said device includes means for determining the length of cables for the load suspension and his variation in the time, means for determining the air resistance forces acting on the payload and on the hoisting system and means for determining the damping of the rotation movement due to the structure's elasticity of the hoisting system.
  • a drive controller calculates the speed profile of this first movement relative to the trolley and it supplies the information of the speed profile to the drive able to control the corresponding motor.
  • the crane is able to perform a second kind of movement in the horizontal plane (Slewing movement) about a vertical rotation axis (Slewing axis).
  • the drive controller calculates the speed profile of this second movement and it supplies the information of the speed profiles to the drives able to control the motors relative to the two considered movements.
  • FIG.5 shows, in analogous way to the previous pictures, a graph of the profile of the product of the position r multiplied for the derivative (as regard the time) of the slewing position ⁇ , as a function of the time.
  • this profile is obtained filtering input commands on both directions (radial and slewing commands) in accordance with the theory of the present invention.
  • FIG.6 shows the same kind of graph of Fig.5 .
  • FIG.7 represents a simplified diagram of the regulating device according to this invention, used to move a load along two horizontal, Trolley and Slewing axes.
  • the following detailed description of the invention includes a description of a slewing crane that is of interest and a derivation of the equations of the motion that represent the dynamics of the defined degree-of-freedom of the slewing crane.
  • the presented embodiment includes a computer-controlled interface (a Plc control) between operator and crane in order to perform movement of the payload by the operator without sway of the same payload.
  • a slewing crane includes a multi-body system with three independent degrees-of-freedom for positioning a spherical-pendulum as the payload of mass m.
  • the slewing crane includes a translating load-line, having length L and a payload of mass m attached to a moving or translating trolley with mass M.
  • a crane operator or a computer positions the payload using some available commands and changing the load length L.
  • the crane configuration is characterized by one vertical axis (in Fig.1 , axis z), a first horizontal axis, the radial axis (in Fig.1 , axis r) in the direction of the trolley displacement, and a second horizontal axis, perpendicular to the radial axis r (in Fig.1 , axis y ).
  • a trolley translation a rotation of the crane about his vertical axis z (slewing motion) and a vertical motion along the axis z with variation of the length L.
  • FIG. 1 an equivalent kinematics scheme with concentrated masses is represented in FIG. 1 .
  • T T T + T B + T R + T L
  • T 1 2 ⁇ J T ⁇ ⁇ ⁇ 2
  • T B 1 2 ⁇ m B ⁇ r B 2 ⁇ ⁇ ⁇ 2
  • T R 1 2 ⁇ m R ⁇ r 2 ⁇ ⁇ 2 + r ⁇ 2
  • T L 1 2 ⁇ m L ⁇ v L 2
  • T L 1 2 ⁇ m L ⁇ ⁇ 2 ⁇ l ⁇ ⁇ x + r 2 + ⁇ x ⁇ l ⁇ + ⁇ ⁇ x ⁇ l + r ⁇ 2 + l ⁇ ⁇ ⁇ ⁇ ⁇ y 2 + l ⁇ ⁇ ⁇ ⁇ y + l ⁇ ⁇ ⁇ y 2 + l ⁇ 2 + l ⁇ ⁇ ⁇ ⁇ 2 + l ⁇ 2 + l ⁇ ⁇ ⁇ x + l ⁇ ⁇ ⁇ x ⁇ ⁇ x 2 + l ⁇ ⁇ ⁇ y ⁇ y 2 + + 2 ⁇ ⁇ ⁇ ⁇ ⁇ x + r ⁇ ⁇ ⁇ ⁇ y + + 2 ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ y + + 2 ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ y + + 2 ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ y + + 2 ⁇ ⁇ ⁇
  • ⁇ i ( s ) are the Laplace transforms of the modal coordinates ⁇ i ( t )
  • U i ( s ) are the Laplace transforms of the operator commands U i ( t ) according to the modal coordinates
  • U 1( C ) and U 2( C ) are the not-filtered input, that is they are the constant profiles of the jib angular acceleration and of the trolley acceleration usually used for the drives that control the motors relative to the two above defined movements.
  • U 1( C ) and U 2( C ) are the sum of the commanded quantities (commanded by the crane operator) for the jib angular acceleration and of the trolley acceleration and of the air resistance forces acting on the payload and on the hoisting system and of the forces due to the damping of the rotation movement due to the structure's elasticity of the hoisting system.
  • Load-length l and trolley position r can be continuously measured (for example) by the use of encoders.
  • the parameters ⁇ 1 and ⁇ 2 in (Eq.37) are used in order to define the profiles of the filters and so the amount of the roll-off after the notch.
  • the device defined in this invention, is therefore able to be used to control, with the use of a programmable logic controller (plc) device, the sway of the payload during all the movements of the crane, both jib rotation and trolley translation, using equation (42) to define the velocity profile for each movement along the two horizontal axes.
  • plc programmable logic controller
  • the control device does not include, in advantageous way, neither any preliminary modelling step nor the measurement of specific physical parameters such as the sway angle or a measurement of the current flowing in the motor.
  • the control device above described is designed to be installed in an automation system which is responsible to control the movement of the load.
  • This automation system includes a variable speed drive for the trolley (translation) movement and a variable speed drive for the slewing (rotation) movement.
  • the control device can be installed or directly in the variable speed drives or can include also a programmable logic controller which is used to supply the speed references to the variable speed drives.
  • control process relative to this invention does not require to know variable parameters such as the measure of the angle of swing or a measure of the current flowing in the motor.
  • the present invention is realized with a device that includes means for determining the length of cables for the load suspension and his variation in the time, means for determining the position of the suspension point of the payload along the translation movement, means for determining the position of the suspension point of the payload along the rotation movement, means for determining air resistance forces acting on the payload and on the hoisting system and means for determining the damping of the rotation movement due to the structure's elasticity of the hoisting system.
  • a drive controller calculates the speed profile of the first movement relative to the trolley (Trolley movement) and it supplies the information of the speed profile to the drive able to control the corresponding motor.
  • the crane is able to perform a second kind of movement in the horizontal plane (Slewing movement) about a vertical rotation axis (Slewing axis).
  • the drive controller calculates the speed profile of this second movement and it supplies the information of the speed profiles to the drives able to control the motors relative to the two considered movements.
  • Fig. 7 shows a simplified diagram of the control device according to this invention relative to the movement of a load along two horizontal axis (slewing and trolley).
  • the control device 10 here defined is been implemented in a hoist such as a tower crane.
  • the control device 10 includes means to have information representative of the length L of the suspension cable of the payload. These means can be, as in the realized example, an encoder associated with the hoisting motor. But other means could be, in example, an encoder associated directly with the drum of the cable or several limit switch sensors on the entire run of the cable having predetermined level values as a function of the limit switch positions.
  • control device 10 includes also means to have information representative of the air resistance forces acting on the payload and on the hoisting system and means for determining the damping of the rotation movement due to the structure's elasticity of the hoisting system.
  • the first means (relative to the information about air resistance forces) can be, as in the realized example, obtained with an anemometer able to measure direction and velocity of the wind.
  • the second means (relative to the information about damping of the rotation due to the elasticity of the structure) can be, as in the realized example, obtained with calculation means for determining the elasticity of the structure.
  • control device 10 is made with an estimator module 11 connected with an input-output module 12.
  • the estimator module 11 receives the inputs from the input-output module 12 (in example the length L of the cable and the set speeds V Set_Trolley and V Set_Slewing from the operator) and computes the speed profiles necessary to obtain the anti-sway functionality to send to the devices able to command the motors relative to the movements of the tower crane along the trolley and slewing directions.
  • control device 10 is been realized using a Plc where is computed the velocity profiles for the two movements (Trolley and Slewing) using the method described above.
  • the used Plc has sufficient computation velocity in order to perform the complex calculations with a short cycle time (not more of 20 ms) in order to obtain an high precision of the velocity profiles to give to the drives that control the motors. Nevertheless, at today it is quite easy to find a Plc able to satisfy this requirement.
  • the command of the movement along the direction of the slewing it is performed using a variable speed drive D Slewing that commands the motor M Slewing .
  • the drive D Slewing receives the speed profile reference ⁇ ( t ) computed from the control device 10.
  • the hoisting movement along the axis Z of the Fig. 1 is performed using an hoisting motor (not shown in Fig. 10) that can be controlled by a variable speed drive.
  • the operator typically, provides to define a reference signal speed set-point V Set_Trolley for the Trolley direction and V Set_Slewing for the Slewing direction. That concretely is realized using a combiner as a joystick in the radio-command instrument. That was realized in the experimental apparatus on the tower crane in order to realize the control of the movements.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
EP14425148.5A 2014-01-16 2014-11-28 Procede et dispositif pour contrôler en boucle ouverte l'oscillation de la charge pour engin rotatif de levage Withdrawn EP2896590A1 (fr)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112499498A (zh) * 2019-09-16 2021-03-16 湖南中联重科建筑起重机械有限责任公司 塔机重量限位标定识别方法及设备
CN113896111A (zh) * 2021-09-28 2022-01-07 中国人民解放军火箭军工程大学 一种欠驱动起重吊装设备控制系统及其方法
CN115709914A (zh) * 2022-11-14 2023-02-24 中科航宇(北京)自动化工程技术有限公司 门式卸船机的抓斗防摇控制方法和装置

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19519368A1 (de) * 1995-05-26 1996-11-28 Bilfinger Berger Bau Verfahren zur Bestimmung der Position einer Last
WO1997045357A1 (fr) * 1996-05-24 1997-12-04 Siemens Aktiengesellschaft Procede et systeme pour eviter les oscillations en charge d'un appareil deplaçant une charge suspendue et executant des mouvements rotatifs
US5908122A (en) 1996-02-29 1999-06-01 Sandia Corporation Sway control method and system for rotary cranes
US20110218714A1 (en) 2008-12-15 2011-09-08 Scheider Toshiba Inverter Europe Sas Device for controlling the movement of a load suspended from a crane

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19519368A1 (de) * 1995-05-26 1996-11-28 Bilfinger Berger Bau Verfahren zur Bestimmung der Position einer Last
US5908122A (en) 1996-02-29 1999-06-01 Sandia Corporation Sway control method and system for rotary cranes
WO1997045357A1 (fr) * 1996-05-24 1997-12-04 Siemens Aktiengesellschaft Procede et systeme pour eviter les oscillations en charge d'un appareil deplaçant une charge suspendue et executant des mouvements rotatifs
US20110218714A1 (en) 2008-12-15 2011-09-08 Scheider Toshiba Inverter Europe Sas Device for controlling the movement of a load suspended from a crane

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112499498A (zh) * 2019-09-16 2021-03-16 湖南中联重科建筑起重机械有限责任公司 塔机重量限位标定识别方法及设备
CN112499498B (zh) * 2019-09-16 2024-01-16 湖南中联重科建筑起重机械有限责任公司 塔机重量限位标定识别方法及设备
CN113896111A (zh) * 2021-09-28 2022-01-07 中国人民解放军火箭军工程大学 一种欠驱动起重吊装设备控制系统及其方法
CN113896111B (zh) * 2021-09-28 2022-07-29 中国人民解放军火箭军工程大学 一种欠驱动起重吊装设备控制系统及其方法
CN115709914A (zh) * 2022-11-14 2023-02-24 中科航宇(北京)自动化工程技术有限公司 门式卸船机的抓斗防摇控制方法和装置
CN115709914B (zh) * 2022-11-14 2023-08-18 中科航宇(北京)自动化工程技术有限公司 门式卸船机的抓斗防摇控制方法和装置

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