EP2977343A1 - Grue avec amortissement actif des mouvements d'oscillation de la charge - Google Patents

Grue avec amortissement actif des mouvements d'oscillation de la charge Download PDF

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Publication number
EP2977343A1
EP2977343A1 EP14178330.8A EP14178330A EP2977343A1 EP 2977343 A1 EP2977343 A1 EP 2977343A1 EP 14178330 A EP14178330 A EP 14178330A EP 2977343 A1 EP2977343 A1 EP 2977343A1
Authority
EP
European Patent Office
Prior art keywords
crane
control device
pendulum
load
length setpoint
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
EP14178330.8A
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German (de)
English (en)
Other versions
EP2977343B1 (fr
Inventor
Carsten Hamm
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.)
Siemens AG
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Siemens AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Priority to EP14178330.8A priority Critical patent/EP2977343B1/fr
Publication of EP2977343A1 publication Critical patent/EP2977343A1/fr
Application granted granted Critical
Publication of EP2977343B1 publication Critical patent/EP2977343B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • 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

  • the present invention is further based on a computer program, the computer program comprising machine code which can be processed by a control device for a crane, 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 is further based on a control device for a crane, wherein the control device is programmed with such a computer program.
  • Cranes often have a substantially horizontally oriented boom on which a trolley is linearly movable.
  • the trolley in this case corresponds to the load suspension point of the present invention.
  • the crane as a whole can also be moved.
  • the direction of travel of the crane as a whole in this case usually also runs horizontally, but orthogonally to the direction of travel of the trolley.
  • Such cranes can be designed in particular as container bridges.
  • pendulum movements of the load can continue to occur which run orthogonally to the direction of travel of the trolley.
  • Such a pendulum motion can be excited, for example, by crosswind or by a movement of the crane as a whole.
  • This pendulum movement is referred to in professional circles as a side sway. An attenuation of such oscillations is not possible by means of the procedures known in the prior art.
  • a pendulum movement has a negative effect on the handling capacity, which can be achieved by means of the crane, regardless of their pendulum level.
  • the pendulum movement must be damped, for example by manual intervention of the crane operator in manual control mode.
  • the object of the present invention is to provide ways by which - regardless of how a pendulum motion has been stimulated - in a simple and reliable way an automated damping of a pendulum movement of the load is possible.
  • the present invention is thus based on the same principle by means of which a child swings on a swing.
  • the child shifts (without being aware of the physical events as such) his weight in at least one of the end points of the swing process (usually at the end of the swing back) down and in the middle of the rocking motion (zero crossing) again up.
  • the swinging motion energy is supplied, so that the swinging motion alszier or at least frictional forces are compensated.
  • the present invention uses the same principle, but takes the inverse approach, so that the pendulum motion is deprived of energy as a result. The pendulum motion must therefore decay.
  • the load suspension point by means of a trolley of the crane in a direction of travel is movable.
  • the vertical plane to which the pendulum motion is related may alternatively be parallel or orthogonal to the travel direction of the trolley.
  • the basic length setpoint is kept constant during the pendulum motion.
  • the control device varies the base length setpoint during the pendulum motion.
  • the procedure according to the invention can thus also take place during the lifting or lowering of the load.
  • the varying of the base length setpoint is preferably done during at least one period of the constant speed oscillation.
  • the constant velocity is tuned to the variation of the additional length setpoint such that during the at least one period of the pendulum motion a change in the resulting length setpoint is strictly monotone.
  • the cable system comprises four cables which run from a respective upper corner point arranged in the region of the load suspension point to a respective lower corner point arranged in the region of the load.
  • Such a configuration of the cable system is particularly often found in container cranes for the suspension of the so-called spreader.
  • the control device individually act on each one of the four cables acting adjusting elements each with the additional length setpoint, but not with the basic length setpoint.
  • the control device preferably acts on a hoist of the crane acting in a similar manner on all four cables with the basic length setpoint, but not with the additional length setpoint.
  • the object is further achieved by a computer program having the features of claim 5.
  • 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.
  • control device with the features of claim 6.
  • the control device is programmed with a computer program according to the invention.
  • a crane of the type mentioned is configured in that its control device is designed according to the invention.
  • a crane 1 has a load suspension point 2.
  • the load suspension point 2 for example, as shown in the 1 and 2 be arranged on a trolley 3, which is movable on a boom 4 of the crane 1 in a traversing x.
  • a cable system 5 runs to a load 6.
  • the load 6 is suspended via the cable system 5 at the load suspension point 2.
  • an effective rope length L of the cable system 5 the load 6 can be raised and lowered.
  • the crane 1 is in accordance with 1 and 2 designed as a so-called container bridge. Accordingly, the load 6 according to the 1 and 2 designed as a spreader with container. If no container is currently being transported, the spreader alone represents the load 6 in the sense of the present invention.
  • the present invention will be explained below in connection with an embodiment of the crane 1 as a container bridge. However, it is not limited to gantry cranes or other container cranes.
  • the load 6 may also be designed as (empty or full) gripper for bulk material. Other embodiments are possible.
  • the crane 1 is controlled by a control device 7.
  • the control device 7 is generally designed as a software programmable control device.
  • the design of the control device 7 is effected in this case by a computer program 8, with which the control device 7 is programmed.
  • the computer program 8 comprises machine code 9, which can be processed by the control device 7.
  • the execution of the machine code 9 by the control device 7 causes the control device 7 operates the crane 1.
  • the processing of the machine code 9 by the control device 7 initially causes the normal handling of the load 6 or the normal operation of the crane 1, as in the prior art also. Furthermore, the processing of the machine code 9 causes in addition, by the control device 7, however, that the control device 7 operates the crane 1 during the turning of the load 6 according to a method for influencing a pendulum movement of the load 6, which will be explained in more detail below.
  • the computer program 8 can be supplied to the control device 7 in any desired manner. As shown in the 1 and 2 the supply of the computer program 8 via a data carrier 10, on which the computer program 8 in machine-readable form - for example, in electronic form - is deposited.
  • the data carrier 10 can as shown in the 1 and 2 be designed for example as a USB memory stick. However, other embodiments are possible as well.
  • the load 6 suspended via the cable system 5 at the load suspension point 2 performs a pendulum movement about the load suspension point 2.
  • the pendulum movement is related to a vertical plane 11.
  • the vertical plane 11 contains the load suspension point 2.
  • the pendulum movement can be described by a deflection angle ⁇ of the cable system 5 from the vertical about the load suspension point 2, wherein the deflection angle ⁇ according to FIG. 3 varies with time t.
  • the pendulum movement takes place with a pendulum frequency f1.
  • Such a pendulum motion should be attenuated or suppressed according to the invention.
  • the crane 1 has a detection device 12.
  • data D can be detected, which are characteristic of the deflection angle ⁇ of the cable system 5 and / or at least a time derivative of the deflection angle ⁇ - for example, the angular velocity or the angular acceleration.
  • FIGS 1 and 2 By means of cameras, which are arranged fixedly on the crane 1, images are acquired, by the evaluation of which the deflection angle ⁇ and / or its time derivative can be determined.
  • the data D detected by the detection means 12 are read according to the 1 and 2 fed to the control device 7.
  • the control device 7 takes the data D according to FIG. 4 in a step S1 opposite.
  • the control device 7 uses the data D to determine the deflection angle ⁇ and, if appropriate with the aid of at least one previous deflection angle ⁇ , at least its first time derivative, ie the angular velocity ⁇ '.
  • the control device 7 determines an additional length setpoint L2 *.
  • the control device 7 determines according to the illustration in FIG. 3 the additional length setpoint value L2 * such that the additional length setpoint value L2 * changes with a modulation frequency f2.
  • the modulation frequency f2 is as is FIG. 3 equal to twice the pendulum frequency f1.
  • a phase angle of the additional length setpoint L2 * is determined such that the additional length setpoint L2 * in the reversal points of the pendulum motion (when the deflection angle ⁇ is thus maximum or minimum and thus the angular velocity ⁇ 'is zero) is minimal and in the zero crossing of the pendulum motion (if the deflection angle ⁇ is therefore zero and the corresponding amount of angular velocity is maximal).
  • the additional length setpoint L2 * oscillates sinusoidally.
  • this is not mandatory.
  • a sawtooth shape, a triangular shape or a rectangular shape could be realized.
  • Other functional processes are possible.
  • the extent to which the additional length setpoint L2 * oscillates determines the damping of the pendulum motion. It can be determined as needed. However, it must - of course - the usual technical constraints are met, such as the distance to obstacles and maximum possible forces and moments of drive means by which the effective rope length L is set. It is possible that the additional length setpoint value L2 * of the control device 7 is fixed or specified as such, for example by an operator of the crane 1. Alternatively, it is possible that the control device 7, a damping is fixed or fixed by the operator of the crane. 1 is given. In this case, the Control 7 determine the corresponding additional length setpoint L2 * based on the predetermined attenuation.
  • control device 7 adds the additional length setpoint value L2 * to a basic length setpoint value L1 * and thereby determines a resulting length setpoint value L *.
  • a step S5 the control device 7 sets the effective cable length L of the cable system 5 according to the resulting length setpoint L *. This is done by appropriate control of acting on the effective rope length L actuators 13, 14th
  • the basic length setpoint L1 * can be determined as needed if and as long as it does not influence the damping of the pendulum movement of the load 6 by the additional length setpoint L2 * or at least only insignificantly.
  • the control device 7 thus varies the basic length setpoint L1 * during the pendulum movement.
  • the variation of the basic length setpoint L1 * takes place according to FIG. 5 but at a constant speed.
  • the constant speed can be determined as needed.
  • the constant speed is according to FIG.
  • the cable system 5 comprises, as shown in FIG. 7 often four ropes 15.
  • each one of the ropes 15 runs from a respective arranged in the region of the load suspension point 2 upper corner point 16 to a respective arranged in the region of the load 6 lower corner point 17.
  • the ropes 15, the upper corner points 16 and the lower corner points 17 are in FIG. 7 supplemented by a respective letter a to d.
  • the upper corner points 16 an upper rectangle.
  • the lower corner points 17 define a lower rectangle.
  • the upper rectangle is larger than the lower rectangle.
  • the ropes 15 are often assigned control elements 13, which act individually on each one of the four cables 15.
  • it may be individual hoists, by means of which the ropes 15 can be adjusted individually to a considerable extent.
  • the adjusting elements 13 may be formed as a hydraulic cylinder. If by means of the adjusting elements 13 only a relatively small length adjustment of the respective cable 15 is possible, in addition to the adjusting elements 13, a lifting mechanism 14 is provided which acts on all four ropes 15 similar.
  • the adjusting elements 13 are designed as individual hoists and no further, on all four ropes 15 identically acting hoist 14 is present, the adjusting elements 13 are always acted upon by the resulting length setpoint L *.
  • the lifting mechanism 14 is present, preferably applied according to the representation in FIG. 7 the control device 7, the adjusting elements 13 each with the additional length setpoint L2 *, but not with the basic length setpoint L1 *.
  • the control device 7 acts in this case, the hoist 14 with the basic length setpoint L1 *, but not with the additional length setpoint L2 *.
  • the respective action on the control elements 13 and the hoist 14 is therefore exclusive.
  • the present invention thus relates to the following facts:
  • a load 6 is suspended via a cable system 5 of a crane 1 at a load suspension point 2 of the crane 1.
  • a control device 7 of the crane 1 takes a control device 7 of the crane 1 during the pendulum motion data D, which for a deflection angle ⁇ of the pendulum motion and / or a time derivative ⁇ 'of the deflection angle ⁇ of the pendulum motion are characteristic.
  • the control device 7 sets an effective cable length L of the cable system 5 during the pendulum movement in accordance with a resulting length setpoint L *.
  • the control device 7 determines the resulting length setpoint value L * based on the sum of a basic length setpoint value L1 * and an additional length setpoint value L2 *.
  • the control device 7 determines the additional length setpoint value L2 * such that the additional length setpoint value L2 * changes with a modulation frequency f2 equal to twice the oscillation frequency f1, and that the additional length setpoint value L2 * is minimal in the reversal points of the oscillating movement and maximal in the zero crossing of the pendulum movement ,
  • the procedure according to the invention can be implemented with any crane 1, since a length adjustment of the cable system 5 is always present.
  • the procedure according to the invention can be implemented independently of the orientation of the vertical plane 11, ie both in a pendulum motion parallel to the travel direction x of the trolley 3 and in a pendulum motion transverse to the travel direction x of the trolley 3 as well as in a pendulum motion in which the vertical plane 11 lies between these two orientations.
  • Another advantage is that the method of the trolley 3 is not affected by the procedure according to the invention. In particular, the actual movement of the trolley 3 as such can be carried out thereby optimally.
  • Another advantage is that the procedure according to the invention can also be combined with a length adjustment of the cable system 5.
  • a further advantage is that the procedure according to the invention for damping a pendulum movement orthogonal to the travel direction x of the trolley 3 can be used and at the same time the trolley 3 can be used for damping a pendulum movement parallel to the travel direction x of the trolley 3. Because in this case, two independent and also decoupled options are available to dampen the two oscillations independently of each other.
  • the method according to the invention is preferably carried out in the middle region of the movement of the load 6 from an initial location to a destination. At the beginning of the movement (ie at the initial location and in its vicinity) and at the end of the movement (ie at the destination and in its vicinity), the inventive method is preferably suppressed.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
EP14178330.8A 2014-07-24 2014-07-24 Grue avec amortissement actif des mouvements d'oscillation de la charge Active EP2977343B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP14178330.8A EP2977343B1 (fr) 2014-07-24 2014-07-24 Grue avec amortissement actif des mouvements d'oscillation de la charge

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP14178330.8A EP2977343B1 (fr) 2014-07-24 2014-07-24 Grue avec amortissement actif des mouvements d'oscillation de la charge

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EP2977343A1 true EP2977343A1 (fr) 2016-01-27
EP2977343B1 EP2977343B1 (fr) 2016-11-30

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3513007A1 (de) * 1984-04-11 1985-12-19 Hitachi, Ltd., Tokio/Tokyo Verfahren und anordnung zur automatischen steuerung eines krans
DE4325946A1 (de) * 1993-08-02 1995-02-09 Fraunhofer Ges Forschung Dämpfungs- und Positioniereinrichtung zur aktiven Dämpfung der Pendelung von an Kranen aufgehängten Lasten

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3513007A1 (de) * 1984-04-11 1985-12-19 Hitachi, Ltd., Tokio/Tokyo Verfahren und anordnung zur automatischen steuerung eines krans
DE4325946A1 (de) * 1993-08-02 1995-02-09 Fraunhofer Ges Forschung Dämpfungs- und Positioniereinrichtung zur aktiven Dämpfung der Pendelung von an Kranen aufgehängten Lasten

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