EP2902356B1 - Crane with active damping of pendular movements of loads - Google Patents

Description

The present invention relates to a method for influencing a pendulum movement of a crane-handled load, wherein the load is connected to a lower load suspension point of the crane and the lower load suspension point is connected via a cable system of the crane with an upper load suspension point of the crane, so that a center of gravity the load is below the lower load suspension point, wherein the pendulum motion is related to a vertical plane containing the upper load suspension point.

The present invention further relates to a computer program for a control device of a crane, the computer program comprising machine code which can be executed by the control device, wherein the execution of the machine code by the control device causes the control device to operate the crane according to such a method.

The present invention further relates to a control device for a crane, wherein the control device is designed, in particular programmed, that it operates the crane according to such a method.

• wobei der Kran einen unteren Lastaufhängepunkt, einen oberen Lastaufhängepunkt und ein aus vier Seilen bestehendes Seilsystem aufweist,
• wobei die Seile von einem jeweiligen im Bereich des oberen Lastaufhängepunkts angeordneten oberen Eckpunkt zu einem jeweiligen im Bereich des unteren Lastaufhängepunkts angeordneten unteren Eckpunkt verlaufen,
• wobei die Last mit dem unteren Lastaufhängepunkt verbindbar ist, so dass ein Schwerpunkt der Last unterhalb des unteren Lastaufhängepunkts liegt,
• wobei der untere Lastaufhängepunkt über das Seilsystem mit dem oberen Lastaufhängepunkt verbunden ist.

The present invention further relates to a crane for handling a load,

• the crane having a lower load suspension point, an upper load suspension point and a four-cable cable system,
• wherein the cables extend from a respective upper corner point arranged in the region of the upper load suspension point to a respective lower corner point arranged in the region of the lower load suspension point,
• wherein the load is connectable to the lower load suspension point such that a center of gravity of the load is below the lower load suspension point,
• wherein the lower load suspension point is connected via the cable system to the upper load suspension point.

For handling loads - for example from a ship to a truck or a railroad car or vice versa - cranes are often used. Such cranes often have a substantially horizontally oriented boom, on which a trolley is linearly movable. The trolley corresponds to an upper load suspension point in the sense of the present invention. Furthermore, often the crane as a whole can also be moved. The direction of travel of the crane as a whole generally runs in this case also horizontally and in particular orthogonal to the direction of travel of the trolley. Such cranes can be designed in particular as container bridges.

To load the load, the load is connected to the lower load suspension point at a pickup location. Thereafter, by appropriate shortening of an effective rope length of the cable system, the load is raised, moved by appropriate method of the upper Lastaufhängepunkts from the recording location to a destination and there discontinued by appropriately extending the effective cable length of the cable system. Ideally, during the method from the picking location to the destination, the load should always be located vertically below the upper load suspension point and also vertically below the lower load suspension point. Often, however, the load, including the lower load suspension point, oscillates about the upper load suspension point. The pendulum motion is related to a vertical plane containing the upper load suspension point. The pendulum motion can be stimulated by various causes. One possible cause is the movement of the upper Lastaufhängepunkts, for example, the trolley. In this case, the vertical plane is oriented to be in addition to the vertical direction contains the direction of travel of the trolley. Alternatively, the pendulum movement can be stimulated for example by crosswind or by a movement of the crane as a whole. In this case, the vertical plane is oriented so that it is orthogonal to the direction of travel of the trolley. This pendulum movement is referred to in professional circles as a side sway.

A pendulum movement has a negative effect on the handling capacity. For example, it is necessary to wait for the procedure to the destination until the pendulum movement has subsided. Alternatively, the pendulum movement must be damped, for example by manual intervention of the crane operator in manual control mode.

From the DE 43 25 946 A1 is a damping and positioning device for active damping of the pendulum of suspended on cranes loads known. In this device run - in addition to the suspension cable or in addition to the support cables - guide cables between a arranged at the top load suspension point frame and a corresponding with the lower load suspension point traverse. The effective cable lengths of the guide cables are recorded and used to determine the pendulum angle and the pendulum speed of the load. Depending on the detected pendulum motion, traction forces are set with which the guide cables are acted upon. As a result, the occurring pendulum motion is damped.

From the EP 0 841 296 A1 For example, a method for influencing a movement of a load handled by a crane is known. An upper load suspension point and a lower load suspension point are interconnected by a cable system consisting of four cables. In the EP 0 841 296 A1 are arranged in the region of the lower load suspension point sensors by means of which vibrations or oscillations in a horizontal direction can be detected, in which the upper Lastaufhängepunkt (for example, a trolley) movable is. In the region of the lower load suspension point masses are still arranged, which are movable in this horizontal direction. By moving the masses, horizontal vibrations of the load are damped.

From the JP 2010-247 928 A A method is known for influencing a pendulum movement of a load handled by a crane, wherein the load is connected to a lower load suspension point of the crane and the lower load suspension point is connected via a cable system of the crane to an upper load suspension point of the crane, so that a center of gravity of the load is below the lower load suspension point. The cable system seems to comprise a single suspension cable. The pendulum motion may be related to a vertical plane containing the upper load suspension point. A deflection angle of the pendulum movement or a time derivative of the deflection angle are detected and fed to a control device of the crane. From the control device, a control variable acting on the load is determined based on an actuating law. From the control device, an adjusting device of the crane is controlled according to the determined manipulated variable, so that the oscillating motion is damped. The adjusting device is designed as a pair of arms, at the ends of which masses are arranged. The arms are rotated about an axis of rotation aligned with the support cable. The arms are basically rotatable independently of each other. The rotation of the two arms is coordinated by the control device accordingly, so that there is the desired damping of the pendulum motion.

The object of the present invention is to provide ways by which an automatic damping of a pendulum movement of the load is possible in a simple and reliable manner.

The object is achieved by a method having the features of claim 1. Advantageous embodiments of the method are the subject of the dependent claims 2 to 5.

• dass ein Auslenkwinkel der Pendelbewegung und/oder eine zeitliche Ableitung des Auslenkwinkels der Pendelbewegung erfasst und einer Steuereinrichtung des Krans zugeführt werden,
• dass von der Steuereinrichtung anhand eines Stellgesetzes eine auf die Last wirkende Stellgröße ermittelt wird,
• dass von der Steuereinrichtung eine Stelleinrichtung des Krans entsprechend der ermittelten Stellgröße angesteuert wird, so dass mittels der Stelleinrichtung innerhalb der vertikalen Ebene ein Kippmoment um den unteren Lastaufhängepunkt in die Last eingebracht wird, das der Pendelbewegung der Last um den oberen Lastaufhängepunkt entgegenwirkt,
• dass das Seilsystem aus vier Seilen besteht, die von einem jeweiligen im Bereich des oberen Lastaufhängepunkts angeordneten oberen Eckpunkt zu einem jeweiligen im Bereich des unteren Lastaufhängepunkts angeordneten unteren Eckpunkt verlaufen,
• dass durch Einstellen einer wirksamen Seillänge der untere Lastaufhängepunkt angehoben und abgesenkt wird und
• dass die Stelleinrichtung zum Einbringen des Kippmoments in die Last eine Längenverstellung der Seile relativ zueinander bewirkt.

According to the invention, a method of the type mentioned is configured by

• that a deflection angle of the pendulum movement and / or a time derivative of the deflection angle of the pendulum motion are detected and fed to a control device of the crane,
• that a control variable acting on the load is determined by the control device on the basis of an actuating law,
• in that an adjusting device of the crane is actuated by the control device in accordance with the determined manipulated variable, so that a tilting moment about the lower load suspension point is introduced into the load by means of the actuating device within the vertical plane, counteracting the pendulum movement of the load about the upper load suspension point,
• in that the cable system consists of four cables which run from a respective upper corner point arranged in the region of the upper load suspension point to a respective lower corner point arranged in the region of the lower load suspension point,
• that by setting an effective rope length of the lower load suspension point is raised and lowered, and
• that the adjusting device for introducing the tilting moment into the load causes a length adjustment of the cables relative to each other.

Due to the inventive length adjustment of the cables relative to each other, the load is suspended as it were askew. The oblique suspension of the load must be adjusted in this case to the pendulum motion, that counteracts the oblique suspension of the pendulum motion.

The procedure according to the invention generally requires only minimal modification effort, especially for existing cranes. Because the individual length adjustability of the ropes is usually already given. The corresponding functionality is known in professional circles as so-called TLS functionality. The abbreviation TLS stands for trim - list - skew. The TLS functionality is used in the prior art, however, only to reduce the lower load suspension point on the load manually in the context of connecting the load with the lower Lastaufhängepunkt at the pickup and manually in the context of settling the load at the destination when lowering the load Manually align load directly before settling in these three directions of movement.

The inventive method thus operates on the same principle by means of which a child swings on a swing. In contrast to the normal procedure of a child while rocking the pendulum motion is not excited in the inventive method, but dampened.

In many cases, the upper load suspension point by means of a trolley of the crane in a direction of travel is movable. It is possible that the vertical plane, to which the oscillating movement is related, parallel to the direction of travel of the trolley. In a pendulum motion in such a vertical plane, however, other options are available in addition to the procedure according to the invention to dampen the pendulum motion. In particular, a travel speed of the trolley can be adjusted to dampen the pendulum motion. However, it is alternatively possible for the vertical plane, to which the pendulum movement of the load is related, to be orthogonal to the direction of travel (so-called side sway). In this case, the procedure according to the invention offers for the first time the possibility of automatically damping such a pendulum motion.

Preferably, the adjusting device for introducing the tilting moment is driven into the load such that it extends and shortens each two of the four cables. As a result, the effective lifting height of the load is not affected by the damping of the pendulum motion.

Often the top corners define an upper rectangle with an upper length and an upper width and the lower corner points a lower rectangle with a lower length and a lower width. In this case, the upper length is generally greater than the lower length and / or the upper width greater than the lower width.

Preferably, the ropes in addition to the adjusting device associated with a hoist of the crane, by means of which an effective length of the cables is uniformly variable. As a result, in particular independent control of the lifting movement of the load on the one hand and the tilting of the load for damping the pendulum motion on the other hand can be realized. In principle, however, it is also possible that the ropes are assigned individually controllable hoists, by means of which both the lifting movement of the load and the individual length adjustment of the ropes is realized. In this case, the hoists in their entirety correspond to the actuator.

The object is further achieved by a computer program having the features of claim 6. According to the invention, the execution of the machine code by the control device causes the control device to operate the crane according to a method according to the invention.

The object is further achieved by a control device with the features of claim 7. According to the invention, the control device is designed, in particular programmed, to operate the crane in accordance with a method according to the invention.

The object is further achieved by a crane having the features of claim 8. Advantageous embodiments of the crane are the subject of the dependent claims 9 to 12.

• dass der Kran eine Erfassungseinrichtung zur Erfassung eines Auslenkwinkels einer Pendelbewegung und/oder einer zeitlichen Ableitung des Auslenkwinkels der Pendelbewegung aufweist, welche die Last, bezogen auf eine den oberen Lastaufhängepunkt enthaltende vertikale Ebene, um den oberen Lastaufhängepunkt durchführt,
• dass der Kran eine Stelleinrichtung aufweist, mittels derer in die Last innerhalb der vertikalen Ebene ein Kippmoment einbringbar ist,
• dass der Kran eine Steuereinrichtung aufweist, welcher der erfasste Auslenkwinkel und/oder die erfasste zeitliche Ableitung des Auslenkwinkels zugeführt werden, von der anhand eines Stellgesetzes eine Stellgröße der Stelleinrichtung ermittelt wird und von der die Stelleinrichtung entsprechend der ermittelten Stellgröße angesteuert wird,
• dass die Stellgröße von der Steuereinrichtung derart ermittelt wird, dass das in die Last eingebrachte Kippmoment der Pendelbewegung der Last um den oberen Lastaufhängepunkt entgegenwirkt,
• dass durch Einstellen einer wirksamen Seillänge der untere Lastaufhängepunkt angehoben und abgesenkt wird und
• dass die Stelleinrichtung zum Einbringen des Kippmoments in die Last eine Längenverstellung der Seile relativ zueinander bewirkt.

According to the invention a crane of the type mentioned is configured by

• the crane comprises a detection device for detecting a deflection angle of a pendulum movement and / or a time derivative of the deflection angle of the pendulum movement, which carries out the load relative to a vertical plane containing the upper load suspension point, around the upper load suspension point,
• that the crane has an adjusting device by means of which a tilting moment can be introduced into the load within the vertical plane,
• the crane has a control device to which the detected deflection angle and / or the detected time derivative of the deflection angle are fed, from which a control variable of the control device is determined by means of a control law and by which the control device is controlled according to the determined control variable,
• that the manipulated variable is determined by the control device such that the overturning moment introduced into the load counteracts the pendulum movement of the load about the upper load suspension point,
• that by setting an effective rope length of the lower load suspension point is raised and lowered, and
• that the adjusting device for introducing the tilting moment into the load causes a length adjustment of the cables relative to each other.

The advantageous embodiments of the crane essentially correspond to those of the method, so that it is possible to dispense with detailed explanations of these embodiments.

FIG 1

einen Kran von der Seite,

FIG 2

den Kran von FIG 1 von vorne,

FIG 3

ein Ablaufdiagramm,

FIG 4

eine pendelnde Last,

FIG 5

eine Last und einen unteren Lastaufhängepunkt,

FIG 6

eine Last, einen oberen und einen unteren Lastaufhängepunkt und ein Seilsystem,

FIG 7

ein Blockschaltbild einer Regelstrecke einschließlich der zugehörigen Regelung und

FIG 8

eine Ergänzung zu FIG 6.

The above-described characteristics, features and advantages of this invention, as well as the manner in which they are achieved, will become clearer and more clearly understood in connection with the following description of the embodiments, which will be described in more detail in conjunction with the drawings. Here are shown in a schematic representation:

FIG. 1

a crane from the side,

FIG. 2

the crane of FIG. 1 from the front,

FIG. 3

a flow chart,

FIG. 4

a swinging load,

FIG. 5

a load and a lower load suspension point,

FIG. 6

a load, an upper and a lower load suspension point and a cable system,

FIG. 7

a block diagram of a controlled system including the associated control and

FIG. 8

an addition to FIG. 6 ,

According to the 1 and 2 For example, a crane 1 for handling a load 2 has an upper load suspension point 3. The upper load suspension point 3, for example, as shown in the 1 and 2 be arranged on a trolley 4, which is movable on a boom 5 of the crane 1 in a traversing x. Starting from the upper load suspension point 3, a cable system 6 extends to a lower load suspension point 7. The lower load suspension point 7 is thus connected to the upper load suspension point 3 via the cable system 6. By setting an effective rope length 1, the lower load suspension point 7 can be raised and lowered. The load 2 is releasably connected to the lower load suspension point 7. When and as long as the load 2 is connected to the lower load suspension point 7, the load 2 is raised and lowered together with the lower load suspension point 7. The load 2 has a center of gravity 8. The center of gravity 8 of the load 2 lies below the lower load suspension point 7. The center of gravity 8 thus has a distance h from the lower load suspension point 7.

The crane 1 is controlled by a control device 9. The control device 9 is usually designed as a software programmable control device. The design of the control device 9 is effected in this case by a computer program 10, with which the control device 9 is programmed. The computer program 10 comprises machine code 11 which can be processed by the control device 9. The processing of the machine code 11 by the controller 9 causes the controller 9 to operate the crane 1.

The processing of the machine code 11 by the control device 9 initially causes the normal handling of loads 2, as in the prior art also. In addition, however, the processing of the machine code 11 by the control device 9 additionally causes the control device 9 to operate the crane 1 during the loading of the load 2 in accordance with a method for influencing a pendulum movement of the load 2, which will be explained in more detail below.

The computer program 10 can be supplied to the control device 9 in any desired manner. As shown in the 1 and 2 the supply of the computer program 10 via a data carrier 12, on which the computer program 10 in machine-readable form - for example, in electronic form - is deposited. The disk 12, as shown in the 1 and 2 be designed for example as a USB memory stick. However, other embodiments are possible as well.

During the turning over of the load 2, it may happen that the load 2 makes a pendulum movement about the upper load suspension point 3. The pendulum motion is related to a vertical plane 13. The vertical plane 13 contains the upper load suspension point 3. The pendulum movement can be described by a deflection angle φ of the cable system 6 from the vertical about the upper load suspension point 3, wherein the deflection angle φ varies with time. Such a pendulum motion should be attenuated or suppressed according to the invention.

As shown in FIG. 1 it is possible that the load 2 oscillates in the travel direction x. In this case, the vertical plane 13 corresponding to the mark in FIG. 2 parallel to the travel direction x. Alternatively, it is possible that the load 2 as shown in FIG FIG. 2 orthogonal to the travel direction x commutes. In this case runs the vertical plane 13 corresponding to the mark in FIG. 1 orthogonal to the travel direction x (so-called side sway). This latter case represents the rule of the application of the present invention. However, the former case is also possible. Furthermore, the two cases can be considered independently. Even in the event that both oscillations occur and the oscillations have a phase offset relative to each other, the two oscillations can thus be damped independently.

The crane 1 has a detection device 14. By means of the detection device 14, the deflection angle φ of the cable system 6 can be detected. Alternatively or additionally, by means of the detection device 14, a time derivative of the deflection angle φ can be detected, for example the first time derivative (angular velocity) and / or the second time derivative (angular acceleration). As shown in the 1 and 2 the detection device 14 is designed as a camera system. This embodiment is currently preferred. In principle, however, the detection device 14 can be designed as desired, provided that it has the required functionality. Furthermore, the camera system as shown in the 1 and 2 arranged on the boom 5. Alternatively, the camera system can be arranged on the trolley 4. This latter embodiment is the rule.

The detection device 14 is connected to the control device 9 in terms of data technology. In particular, the detected deflection angle φ and / or the detected time derivative of the deflection angle φ are fed to the control device 9. The control device 9 takes the detected deflection angle φ and / or the detected time derivative of the deflection angle φ in accordance with FIG. 3 in a step S1 opposite.

In a step S2, the control device 9 determines by means of an actuating law - the setting law will be detailed later be explained - a manipulated variable S for an actuator 15 (see FIGS. 5 and 6 ). In a step S3, the control device 9 then controls the adjusting device 15 in accordance with the determined manipulated variable S. The manipulated variable S acts on the load 2. In particular, a tilting moment M is introduced into the load 2 by means of the adjusting device 15 around the lower load suspension point 7. The determination of the manipulated variable S takes place in such a way that the overturning moment M introduced into the load 2 counteracts the pendulum movement of the load 2 about the upper load suspension point 3.

The following will be in connection with FIG. 4 derived the Stellgesetz. Combined with FIG. 4 on the one hand the general case is explained. Furthermore, several more concrete statements are made for the frequent application that the load 2 is a container. However, the load 2 may also be designed as another load.

The load 2 has a mass m. The cable system 6 also has, as already mentioned, an effective cable length 1. Finally, the center of gravity 8 of the load 2 from the lower load suspension point 7 on the distance h.

If the load 2 can oscillate in addition to the pendulum motion around the upper load suspension point 3 to the lower load suspension point 7, these two oscillations are coupled together. If the deflection of the load 2 from a rest position about the lower load suspension point 7 - more precisely: the center of gravity 8 of the load 2 from a vertical V through the lower load suspension point 7 - is denoted by β, obey the two coupled oscillations - at least for small oscillations - approximately the relationship $$J_{\phi }\ddot{\phi }+\mathit{mgl\phi }+J_{\beta }\ddot{\beta }+\mathit{mgh\beta }=0$$

und $$J_{\beta }=m\cdot \left(\left(\frac{H^2}{3}+\frac{L^2}{12}\right)+l{}_{}{}^H{/}_2\right)$$

In the above formula, the second time derivative is referred to in the usual way with two points. J _φ corresponds to the effective moment of inertia of the load 2 around the upper load suspension point 3. m is the mass of the load 2, g is the gravitational acceleration. J _β corresponds to the effective moment of inertia of the load 2 around the lower load suspension point 7. In the case of a container having a height H in the vertical direction and a longitudinal extent L in the horizontal direction of the pendulum motion under consideration, the two moment of inertia J _φ and J _β result $$J_{\phi }=m\cdot l\left(l+{}_{}{}^H{/}_2\right)\mathrm{and}$$

and $$J_{\beta }=m\cdot \left(\left(\frac{{\mathrm{<figure-callout\; id="2"\; label="H"\; filenames="imgf0001.png,imgf0002.png"\; state="\{\{state\}\}">H</figure-callout>}}^2}{3}+\frac{{\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="imgf0001.png,imgf0002.png"\; state="\{\{state\}\}">L</figure-callout>}}^2}{12}\right)+l{}_{}{}^H{/}_2\right)$$

It was assumed that the lower load suspension point 7 is located centrally on the top of the container.

Equation 1 can be reshaped to $$\ddot{\phi }+\frac{J_{\beta }}{J_{\phi }}\ddot{\beta }+\frac{\mathit{mgh}}{J_{\phi }}\beta +\frac{\mathit{mgl}}{J_{\phi }}\phi =0$$

A damped vibration of the load 2 around the upper load suspension point 3 generally has the shape $$\ddot{\phi }+2{\mathit{dw}}_{\phi }\dot{\phi }+{\omega }_{\phi }^2\phi =0$$

In Equation 5, D represents a freely selectable attenuation. In the above formula, the first time derivative is also referred to in the usual way with a dot. ω _φ is the natural frequency of the vibration.

By comparing the two equations 4 and 5, the natural frequency ω _{φ of} the oscillation thus results _firstly $${\mathit{\omega }}_{\phi }=\sqrt{\frac{\mathit{mgh}}{J_{\phi }}}$$

Specifically in the case of a container arises $${\mathit{\omega }}_{\phi }=\sqrt{\frac{2G}{2l+H}}$$

miteinander gekoppelt. In dieser Gleichung sind - ebenso wie in den übrigen Gleichungen - mit Ausnahme der Dämpfung D, des Auslenkwinkels ϕ der Last 2 um den oberen Lastaufhängepunkt 3, deren zeitlichen Ableitungen, der Auslenkung β der Last 2 um den unteren Lastaufhängepunkt 7 und deren zeitlichen Ableitungen alle Größen bekannt.On the other hand, the damping D of the pendulum movement of the load 2 around the upper load suspension point 3 and the vibration of the load 2 around the lower load suspension point 7 by the relationship $$2{\mathit{dw}}_{\phi }\dot{\phi }=\frac{J_{\beta }}{J_{\phi }}\ddot{\beta }+\frac{\mathit{mgh}}{J_{\phi }}\beta$$

coupled together. In this equation, as well as in the other equations, with the exception of the damping D, the deflection angle φ of the load 2 about the upper load suspension point 3, their time derivatives, the deflection β of the load 2 about the lower load suspension point 7 and their time derivatives are all Known sizes.

This results in desired attenuation D the law of law $$\ddot{\beta }=\frac{2J_{\phi }}{J_{\beta }}{\mathit{dw}}_{\phi }\dot{\phi }-\frac{\mathit{mgh}}{J_{\phi }}\beta$$

The acceleration of the deflection β is coupled to the required tilting moment M via the moment of inertia J _β : $$M=J_{\beta }\ddot{\beta }=2J_{\phi }{\mathit{dw}}_{\phi }\dot{\phi }-\frac{J_{\beta }}{J_{\phi }}\mathit{mgh\beta }$$

FIG. 7 shows the corresponding structure of the controlled system and the determination of the overturning moment M. In FIG. 7 are designated by the reference numeral 16 integrators, which integrate the respective input quantity supplied to them over time. Reference numeral 17 designates multipliers which multiply the respective input quantity supplied to them by a factor. The factor that is multiplied by is in FIG. 7 indicated in the respective multiplier 17.

By the reference numeral 18 node points are designated, at which the respective node 18 supplied quantities are added or - if a minus sign is noted - are subtracted. The L-shaped part of FIG. 7 describes the controlled system, that is, the pendulum movement performed by the load 2 around the upper load suspension point 3. The rectangular part describes the determination of the overturning moment M or the associated acceleration of the deflection β.

It is possible that the effective rope length 1 is constant over time. However, it is also possible that the effective rope length 1 varies over time. In this case, it is only necessary to consider the factors of the multipliers 17 of FIG FIG. 7 to update continuously. This is easily realizable.

The adjusting device 15, by means of which the tilting moment M is introduced into the load 2, can be configured as needed. In the in FIG. 5 In this case, the adjusting device 15 can be arranged in particular at the lower Lastaufhängepunkt 7 and directly - on site - the overturning moment M in. In this case, the adjusting device 15 can be arranged in particular at the lower Lastaufhängepunkt 7 bring in the load 2. For example, adjusting device 15 in this case as shown in FIG FIG. 5 be designed as a linear drive 20, by means of which a mass 21 is moved linearly.

Often, the cable system 6 as shown in FIG FIG. 6 four cables 19. In this case, one of the cables 19 extends from a respective upper corner point 22 arranged in the region of the upper load suspension point 3 to a respective lower corner point 23 arranged in the region of the lower load suspension point 7. The cables 19, the upper corner points 22 and lower vertices 23 are in FIG. 6 supplemented by a respective letter a to d, in order to be able to differentiate them if necessary. The adjusting device 15 for introducing the tilting moment M in the load 2 causes in this case - ie in the case of an existing four ropes 19 cable system 6 - a length adjustment of the ropes 19 relative to each other. For example, starting from a uniform effective cable length 1 for all ropes 19, the effective cable lengths la, lb can be varied by a change in length δ1 and / or the effective cable lengths lc, 1d can be varied by a change in length -δ1. Preferably, both measures are taken simultaneously. In this case, the adjusting device 15 is driven such that it extends and shortens each of two of the four cables 19.

In general, define as shown in FIG. 8 the upper corner points 22 an upper rectangle with an upper length Lo and an upper width Bo. Analogously, the lower corner points 23 define a lower rectangle with a lower length Lu and a lower width Bu. Preferably, the upper length Lo is larger than the lower length Lu. Alternatively or additionally, the upper width Bo is preferably greater than the lower width Bu.

In order to enable an individual adjustment of the effective cable lengths 1a to 1d, the cables 19a to 19d can be assigned individually controllable hoists by means of which both the lifting movement of the load 2 and the individual length adjustment of the cables 19 are realized. In this case, the hoists in their entirety correspond to the adjusting device 15. Preferably, however, the ropes 19 as shown in FIG FIG. 6 in addition to the adjusting device 15 assigned a hoist 24, by means of which the effective length of the ropes 19 19 is uniformly changed. This embodiment has the advantage that the adjusting device 15 only has to allow a small travel. For example, the adjusting device 15 in the case of the embodiment of FIG. 6 be formed as a group of four hydraulic cylinders, by means of which a relatively short travel of each example 50 cm can be realized. Of course, depending on the location of the case, the travel may be larger or smaller. Alternative to a group of hydraulic cylinders can the adjusting device 15 in the case of the embodiment according to FIG. 5 be formed for example as a group of electrically operated winches.

In summary, the present invention thus relates to the following facts:

A crane 1 for handling a load 2 has a lower load suspension point 7 and an upper load suspension point 3, which are connected to each other via a cable system 6. A center of gravity 8 of a load 2 connected to the lower load suspension point 7 lies below the lower load suspension point 7. By means of a detection device 14, a deflection angle φ of a pendulum motion and / or a time derivative of the deflection angle φ of the pendulum motion is detected, which is the load 2, with respect to a the upper load suspension point 3 containing vertical plane 13 to the upper load suspension point 3 performs. By a control device 9 is determined by an actuating law acting on the load 2 manipulated variable S. An adjusting device 15 of the crane 1 is controlled by the control device 9 according to the determined manipulated variable S, so that by means of the adjusting device 15 within the vertical plane 13, a tilting moment M is introduced to the lower load suspension point 7 in the load 2. The tilting moment M introduced into the load 2 counteracts the pendulum movement of the load 2 about the upper load suspension point 3. The cable system 6 consists of four cables 19 which extend from a respective upper corner point 22 arranged in the region of the upper load suspension point 3 to a respective lower corner point 23 arranged in the region of the lower load suspension point 7. The adjusting device 15 for introducing the tilting moment M into the load 2 causes a length adjustment δ1 of the cables 19 relative to each other.

The present invention has many advantages. In particular, it is possible in a simple manner to dampen pendulum movements of the load 2 around the upper load suspension point 3 both in the travel direction x of the trolley 4 and transversely thereto.

In particular, in the case of a cable system 6 with four cables 19, an active damping of the pendulum movement of the load 2 is possible even without arranged in the region of the lower Lastaufhängepunkts 7 adjusting device. The scheme continues to prove very robust.

While the invention has been further illustrated and described in detail by the preferred embodiment, the invention is not limited by the disclosed examples, and other variations can be derived therefrom by those skilled in the art without departing from the scope of the invention, which is defined by the appended claims. to leave.

Claims (12)

1. Method for influencing a pendular movement of a load (2) handled by means of a crane (1), wherein the load (2) is connected to a lower load suspension point (7) of the crane (1) and the lower load suspension point (7) is connected by way of a cable system (6) of the crane (1) to an upper load suspension point (3) of the crane (1), so that a centre of gravity (8) of the load (2) lies below the lower load suspension point (7), wherein the pendular movement is based on a vertical plane (13) containing the upper load suspension point (3),

   - wherein an angle of deflection (ϕ) of the pendular movement and/or a temporal derivation of the angle of deflection (ϕ) of the pendular movement are detected and are supplied to a control device (9) of the crane (1),

   - wherein a manipulated variable (S) acting on the load (2) is determined by the control device (9) on the basis of a control law,

   - wherein a setting device (15) of the crane (1) is controlled by the control device (9) according to the determined manipulated variable (S), so that a tilting moment (M) about the lower load suspension point (7) is introduced into the load (2) by means of the setting device (15) within the vertical plane (13), said tilting moment counteracting the pendular movement of the load (2) about the upper load suspension point (3),

   - wherein the cable system (6) consists of four cables (19), which run from a respective upper key point (22) arranged in the region of the upper load suspension point (3) to a respective lower key point (23) arranged in the region of the lower load suspension point (7),

   - wherein the lower load suspension point (7) is raised and lowered by setting an effective cable length (1) and

   - wherein the setting device (15) effects a length adjustment (δ1) of the cables (19) relative to one another in order to introduce the tilting moment (M) into the load (2).
2. Method according to claim 1,
   characterised in that,
   the upper load suspension point (3) can be moved in a direction of travel (x) by means of a trolley (4) of the crane (1) and that the vertical plane (13), on which the pendular movement of the load (2) is based, runs orthogonally to the direction of travel (x) of the trolley (4).
3. Method according to claim 1 or 2,
   characterised in that,
   the setting device (15) for introducing the tilting moment (M) into the load (2) is controlled such that it lengthens and shortens two of the four cables (19) in each case.
4. Method according to claim 1, 2 or 3,
   characterised in that,
   in addition to the setting device (15) a hoist (24) of the crane (1) is assigned to the cables (19), by means of which hoist the effective length (1) of the cables (19) can be uniformly changed.
5. Method according to claim 1, 2 or 3,
   characterised in that,
   individually controllable hoists are assigned to the cables (19), by means of which hoists both the lifting movement of the load (2) and also the individual length adjustment of the cables (19) is realised and that the hoists correspond entirely to the setting device (15).
6. Computer program for a control device (9) of a crane (1), wherein the computer program has machine code (11), which can be processed by the control device (9), wherein the processing of the machine code (11) by the control device (9) causes the control device (9) to operate the crane (1) in accordance with a method according to one of the above claims.
7. Control device for a crane (1), wherein the control device is embodied, in particular programmed, such that it operates the crane (1) in accordance with a method according to one of claims 1 to 5.
8. Crane for handling a load (2),

   - wherein the crane has a lower load suspension point (7), an upper load suspension point (3) and a cable system (6) consisting of four cables (19),

   - wherein the cables (19) run from a respective upper key point (22) arranged in the region of the upper load suspension point (3) to a respective lower key point (23) arranged in the region of the lower load suspension point (7),

   - wherein the load (2) can be connected to the lower load suspension point (7), so that a centre of gravity (8) of the load (2) lies below the lower load suspension point (7),

   - wherein the lower load suspension point (7) is connected by way of the cable system (6) to the upper load suspension point (3),

   - wherein the crane has a detection device (14) for detecting an angle of deflection (ϕ) of a pendular movement of the load (2) based on a vertical plane (13) containing the upper load suspension point (3) and/or a temporal derivation of the angle of deflection (ϕ) of the pendular movement,

   - wherein the crane has a setting device (15), by means of which a tilting moment (M) about the lower load suspension point (7) can be introduced into the load (2) within the vertical plane (13),

   - wherein the crane has a control device (9), to which the detected angle of deflection (ϕ) and/or the detected temporal derivation of the angle of deflection (ϕ) are supplied, from which a manipulated variable (S) of the setting device (15) is determined on the basis of a control law and by which the setting device (15) is controlled according to the determined manipulated variable (S),

   - wherein the manipulated variable (S) is determined by the control device (9) such that the tilting moment (M) introduced into the load (2) counteracts the pendular movement of the load (2) about the upper load suspension point (3),

   - wherein the lower load suspension point (7) is raised and lowered by setting an effective cable length (1),

   - wherein the setting device (15) effects a length adjustment (δ1) of the cables (19) relative to one another in order to introduce the tilting moment (M) into the load (2).
9. Crane according to claim 8,
   characterised in that,
   the crane has a trolley (4), by means of which the upper load suspension point (3) can be moved in a direction of travel (x) and that the vertical plane (13), on which the pendular movement of the load (2) is based, runs orthogonally to the direction of travel (x) of the trolley (4).
10. Crane according to claim 8 or 9,
    characterised in that,
    the setting device (15) for introducing the tilting moment (M) into the load (2) is controlled such that it lengthens and shortens two of the four cables (19) in each case.
11. Crane according to claim 8, 9 or 10,
    characterised in that,
    in addition to the setting device (15) a hoist (24) of the crane (1) is assigned to the cables (19), by means of which hoist the effective length (1) of the cables (19) can be uniformly changed.
12. Crane according to claim 8, 9 or 10,
    characterised in that,
    individually controllable hoists are assigned to the cables (19), by means of which hoists both the lifting movement of the load (2) and also the individual length adjustment of the cables (19) is realised and that the hoists correspond entirely to the setting device (15).

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