EP3305710B1 - Verfahren zum steuern eines krans mit pendelaussteuerung mit einem filter dritter ordnung - Google Patents

Verfahren zum steuern eines krans mit pendelaussteuerung mit einem filter dritter ordnung Download PDF

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Publication number
EP3305710B1
EP3305710B1 EP17190875.9A EP17190875A EP3305710B1 EP 3305710 B1 EP3305710 B1 EP 3305710B1 EP 17190875 A EP17190875 A EP 17190875A EP 3305710 B1 EP3305710 B1 EP 3305710B1
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Prior art keywords
max
load
setpoint
trol
pulsation
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English (en)
French (fr)
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EP3305710A1 (de
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Xavier Claeys
Silvère BONNABEL
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Manitowoc Crane Group France SAS
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Manitowoc Crane Group France SAS
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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
    • 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
    • B66C23/16—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 with jibs supported by columns, e.g. towers having their lower end mounted for slewing movements

Definitions

  • the present invention relates to the general field of lifting gear, of the crane type, and more particularly of the type tower cranes, which comprise a mobile attachment point, of the trolley type, which can be suspended a load to move, called " suspended load ", and which are equipped with a control system for carrying out the movement and control of the displacement of said suspended load.
  • the present invention relates more particularly to control methods for managing the steering system of such lifting gear.
  • control methods which are intended to provide assistance in the control of the machine, comprise a step of acquiring a control instruction, during which the speed instruction is collected which is expressed by the driver of the lifting machine and which corresponds to the speed that said driver wishes to give to the suspended load, then a processing step during which is developed from said driving instruction, a performance instruction which is applied to the drive motor (s) that move said suspended load.
  • the known control methods generally seek to control, and more particularly to limit, the amplitude of the oscillatory oscillations, or "swinging", to which the suspended load may be subject to carriage movement.
  • the piloting assistance thus offered may tend to excessively dampen the responses (reactions) of the hoist to the instructions of the driver (or "crane operator"), thereby distorting the intuitive perception of the behavior of the machine that can have said driver, and in particular by giving the driver the unpleasant impression that the machine lacks responsiveness and does not faithfully implement his instructions.
  • a method according to the preamble of claim 1 is known from FR 3 016 872 A1 .
  • the objects assigned to the invention therefore seek to overcome the aforementioned drawbacks and to propose a new method for controlling the movement of a suspended load which ensures a fast and gentle displacement of the suspended load, with effective control of the dangling, which gives the driver a loyal feeling allowing a very free, responsive and relatively intuitive control, and which is, despite these performances, particularly simple and economical to implement.
  • the objects assigned to the invention are achieved by means of a method of controlling the movement of a load suspended at a point of attachment of a hoist, said method comprising a step (a) of acquisition of instructions in the course of which is acquired a setpoint called “steering set” which is representative of a speed of movement that the driver of the hoist wishes to give to the suspended load, and then a step (b) of treatment during which a so-called “execution instruction” instruction, which is intended to be applied to at least one drive motor, is developed from said driving instruction in order to move the suspended load, the method being characterized in that the processing step (b) comprises a regulation sub-step (b4) C 3 during which the driving instruction is processed in such a way as to confer on said steering instruction drifting properties third unit with respect to time and continuity with respect to time, in order to generate, from said control setpoint, a so-called "filtered control setpoint” which is of class C 3 , then the execution instruction is defined from said filtered control setpoint.
  • the regulation sub-step (b4) C 3 may consist of a sub-step (a4) of third-order filtering during which a third-order filter is applied to the control setpoint in order to generate a setpoint filtered pilot which is class C 3 .
  • the regulation C 3 of the control setpoint (speed setpoint for the suspended load), and more particularly the use for this purpose of a third-order filter applied to said control setpoint, makes it possible to ensure that the filtered control setpoint, which will then be effectively used to define the execution setpoint applied to the drive motors, is class C 3 .
  • a filtered control setpoint thus regularized C 3 , has exceptional regularity conditions (in that it is here three times differentiable, and that its first, second and third time derivatives are continuous), and consequently mathematical properties of continuity and boundary that does not generally have the raw control setpoint, as defined and modified in real time by the driver of the machine.
  • control setpoint (which here takes the form of a speed reference for the suspended load) can therefore vary from one hand to another when the driver of the machine decides to change the direction of the movement (left / right, distance / approximation), and secondly in amplitude (intensity), when the driver goes from a movement that he wishes fast to a slower movement ( deceleration), or conversely (acceleration).
  • control setpoint changes can vary considerably, depending on the frequency and speed with which the driver of the machine actuates the commands to make changes or corrections of trajectory.
  • the gross piloting instruction can therefore present in practice some abrupt variations of ladder type that can be mathematically assimilated to discontinuities.
  • the time derivatives (typically of order one and of order two) of the control setpoint which will preferably be used in the modeling of the behavior of the suspended load and in the elaboration of the execution instruction, could present punctually, if they were calculated directly, without appropriate regularization (filtering), certain divergences or discontinuities, so that the resulting instruction of execution would be likely to cause jerky or unstable reactions of the suspended charge.
  • the method according to the invention advantageously smooths the control setpoint before it is actually applied to the (x) drive motor (s), which eliminates the control signal (instruction d). execution) instabilities, discontinuities and other divergences that would be likely to cause jolts and the appearance (or maintenance) of a ballant.
  • the regularity C 3 conferred on the control setpoint furthermore makes it possible to subsequently define the execution instruction, from said control instruction, by means of a simplified mathematical model. which not only is simple and quick to execute, but which, above all, produces an execution instruction which is inherently non-generating dangling, that is to say a performance instruction which, when it is applied to the engines actuation, does not cause (can not cause of itself) the appearance of a ballant.
  • the method according to the invention notably allows a free and precise adjustment of the coefficients, as well as the pulsation, of the third-order filter which is applied to the control setpoint, which makes it possible to maintain rapid convergence in all circumstances.
  • the method provides a dynamic and responsive control.
  • the method according to the invention advantageously makes it possible to optimize the use of the drive motor or motors, in that it makes it possible to derive the best possible performance from said motor or said motors, in particular by terms of speed or acceleration conferred to the point of attachment and the load, while respecting at all times the material limits of said engine (s).
  • the execution instruction being by definition calculated precisely to obtain (theoretically) a movement (desired movement) regular and without dangling, it will be understood that if, in practice, the drive motor does not execute correctly said instruction d ' execution, then the control system will not behave as desired, and that may result in the appearance of a ballant and some loss of control of the movements of the point of attachment and load.
  • the regularization C 3 it is possible to parameterize the regularization C 3 , and more particularly it is possible to parameterize the filtering of the third order, and if necessary to modify this parameterization of the regularization C 3 (or filtering, respectively) over time , so that the execution instruction, while promoting rapid response of the control system, does not exceed the actual capacity of the drive motors in terms of maximum speed and maximum acceleration.
  • the gross control setpoint (suspended load speed setpoint) expressed by the driver of the machine is advantageously carried out a planning of the profile of the speed reference that we will apply to the drive motors, that is to say that we plan the evolution over time (and more particularly the rate of change per unit of time) of the value of the instruction of execution (trolley speed reference value), according to an evolution profile which best reflects the desired control setpoint but which is also and above all compatible with the ability of the motors to provide a response that is at each moment up to said performance instruction.
  • the execution instruction is in practice always “realizable”, that is to say that said execution instruction is intrinsically such that said real control system is still capable of “realizing” (to achieve ) actually said performance instruction that is applied to him, and therefore to provide a real response that is consistent with the behavior expected of said steering system, and more particularly consistent with the behavior expected of the truck (such as said expected behavior is defined by the execution instruction).
  • the proposed third-order filter simplifies the implementation of appropriate saturations, during the processing of the control setpoint, and thus the implementation of "intelligent" dynamic limits of the execution instruction, which make it possible to draw the best of the drive motors while ensuring a permanent, precise and reliable control of the movements of the point of attachment and the suspended load.
  • control method according to the invention advantageously makes it possible to control the hoist by an open-loop servocontrol, simply by applying the execution instruction (speed reference) to the drive motor concerned, without Require no measurement of the effective dangling (that is, without the need for feedback on the actual angle of the balloon), which limits the number of sensors and the computing power necessary to control, and therefore reduces the complexity, congestion, and energy consumption of the steering system.
  • the present invention relates to a method for controlling the movement of a load 1 suspended at a point of attachment H of a hoist 2.
  • the hoist 2 is designed so as to be able to move the point of attachment H, and consequently the suspended load 1, according to a component of yaw rotation ⁇ about a first vertical axis (ZZ '), called “ axis of orientation ", and / or according to a radial component R, corresponding to a movement called" distribution ", here in translation along a second axis (DD ') said” distribution axis "intersecting said axis of orientation (ZZ '), as illustrated in the Figures 1 and 2 .
  • the hoist 2 may in particular form a tower crane, whose mast 3 materializes the axis of orientation (ZZ '), and whose arrow 4 materializes the axis of distribution (DD'), as it is illustrated on the figure 1 .
  • such a tower crane configuration will be considered in the following, and more particularly a configuration of a tower crane with horizontal boom 4, it being understood that it is perfectly possible to apply the principle of invention to other lifting gear, and in particular to mobile cranes or luffing jib cranes.
  • the point of attachment H is preferably formed by a carriage 5, which can advantageously be guided in translation along the distribution axis (DD '), along the arrow 4.
  • the orientation movement ⁇ , and, respectively, the dispensing movement R , and more particularly the drive movement of the carriage 5 in translation R along the arrow 4, can be provided by any drive motor 7, 8 suitable, preferably electric, and more particularly by at least one (electric) motor 8 and, respectively, a motor (electric) distribution 7.
  • the load 1 is suspended at the point of attachment H by a suspension device 6, such as a suspension cable.
  • a suspension device such as a suspension cable.
  • said suspension device will be assimilated to such a suspension cable 6, for convenience.
  • the suspended load 1 may also preferably be moved in a vertical component, called "lifting", so as to vary the height at which the suspended load 1 relative to the ground.
  • the length L of the suspension cable 6 typically by means of a winch driven by a motor (preferably electric) lifting, so as to change the distance of the suspended load 1 at the point of attachment H, and thus either raise the load 1 by shortening the length L (by winding the suspension cable 6), or on the contrary lower said load 1 by an elongation of said length L ( by unwinding the cable 6).
  • a winch driven by a motor (preferably electric) lifting
  • the term "steering system” may be used to designate the movement and the control of the displacement of the suspended load 1, said assembly typically comprising the module or modules (calculators) 10, 12, 13 , 14, 15, 16, 17 for carrying out the method according to the invention, as well as the driving motor or motors 7, 8 (Actuators), and if necessary the moving parts (effectors) of the machine driven by said drive motors 7, 8; said movable members here correspond on the one hand to the mast 3 and to the arrow 4, yawable according to the orientation movement ⁇ , and on the other hand to the carriage 5 providing the dispensing movement R along the arrow 4.
  • the method comprises a control instruction acquisition step (a) during which a setpoint known as a "control setpoint" V u is acquired that is representative of a traveling speed V load that the driver of the hoist 2 wishes to confer on the suspended load 1.
  • the method according to the invention then comprises a step (b) of processing during which is developed, from said control setpoint V u , here by means of a processing module 10, an instruction called "instruction d ' V trol , which is intended to be applied to at least one drive motor 7, 8 to move the suspended load 1, and, more particularly, to move the carriage 5 to which said load 1 is suspended.
  • the method makes it possible to control the speed, rather than the trajectory, and more particularly to control the speed of the carriage 5, from a speed reference V u which corresponds to the desired speed. for suspended load 1.
  • the execution instruction V trol will preferably express the speed setpoint that must reach the point of attachment H (that is to say, the speed setpoint that must reach the carriage 5).
  • the method preferably comprises a step (a) during which the driver defines (freely) and expresses (voluntarily) a driving instruction in the form of a speed instruction he wishes or even followed by the suspended load 1, then a processing step (b) during which said control setpoint (setpoint in suspended load speed) is processed, here more particularly filtered by a third order filter, to be converted into a corresponding instruction the speed of the carriage 5, forming the instruction of execution (in speed) V trol which is applied to the drive motor 7, 8 adequate.
  • the method offers the operator of the machine a great freedom of maneuver, since said driver can fix freely, at any moment, and according to the amplitude that he chooses, the control setpoint (speed setpoint) V u it wants to be executed by the load 1, and this without being forced, for example, to respect a predetermined fixed trajectory.
  • the method according to the invention is valid both for controlling the orientation movement ⁇ and for controlling the dispensing movement R, or for controlling any combination of these two movements simultaneously.
  • each mobile member considered a Frenet coordinate system making it possible to express the radial component V r (according to the distribution movement R ) and the orthoradial component V ⁇ (according to the tangent to the orientation movement ⁇ ) of the speed of the movable member in question, as shown in particular in FIG. figure 5 .
  • V load r and V load ⁇ represent the radial and respectively orthoradial components of the velocity vector V load of the load 1 suspended (that is to say in practice the radial and orthoradial components of the speed control setpoint V u )
  • V trol r and V trol ⁇ represent the radial and respectively orthoradial components of the velocity vector V trol of the carriage 5 (that is to say the radial and orthoradial components of the speed execution instruction V trol , which are respectively applied to the distribution motor 7 and the orientation motor 8).
  • the driving setpoint V u can be provided by the driver of the machine by means of any appropriate control member 11.
  • Said control member 11 may in particular take the form of a joystick, or a set of joysticks, which will allow the driver to express the orientation speed reference (yaw rate, orthoradial) V load ⁇ and the delivery speed setpoint (radial speed) V load r it wishes to print to the suspended load 1.
  • the driving instruction V u brute as expressed by the driver of the machine at the control member 11, that is to say the signal provided by the joystick at the input of the control system, will preferably refer to V JOY in the aforementioned figures.
  • the carriage 5 necessarily has a finite (bounded) acceleration.
  • V ⁇ load d 2 dt 2 V load the speed of the suspended load (driving speed) V load .
  • the treatment step (b) advantageously comprises a regulation sub-step (b4) C 3 during which the driving instruction V u is processed so as to confer on said control setpoint V u of the properties of differentiability third with respect to time and of continuity with respect to time, in order to generate, from said control setpoint V u , a filtered control setpoint V f which is of class C 3 , then the execution setpoint V trol is set from said filtered control setpoint V f .
  • the regularization C 3 can be carried out using interpolation polynomials.
  • control setpoint V u is interpolated, and more particularly several or all of the values considered among the succession of different values taken by the control setpoint V u during a given time interval, by means of a polynomial.
  • Said polynomial intrinsically possesses a class of regularity (at least) C 3 , and thus provides an accurate and class-specific approximation C 3 of the control setpoint, in the form of a filtered control setpoint V f of polynomial type.
  • Such a polynomial thus provides a class C 3 planning of the control set.
  • control setpoint V u is applied to regulate C 3 said control setpoint, a third order filter F3 in order to generate the filtered control setpoint V f which is of class C 3 .
  • the sub-step (b4) preferably constitutes a third-order filter sub-step in the course of which a third-order filter F3 is applied to the control setpoint V u in order to generate an instruction of filtered control V f which is three times differentiable (and more exactly regularity class C 3 ).
  • the regularization C3, and more particularly the third-order filtering is performed by means of a third-order filtering module 12, formed by a computer or electronic computer.
  • the filtered control setpoint V f is intrinsically defined, and more generally "planned", so as to gradually converge towards the control setpoint V u , without ever being too stiff.
  • This conversion formula simple and fast to execute, has the advantage of being intrinsically an anti-dangling function.
  • the above conversion formula comes from a simplified model of pendulum, in which it is considered that the swing angle ⁇ is almost zero, that is to say that the suspended load 1 is not balanced not (or almost no) with respect to the carriage 5.
  • V trol execution instruction developed from this model is such that, if said execution instruction is actually faithfully executed by the drive motors 7, 8, and therefore by the carriage 5, said V trol performance instruction can not, in itself, cause dangling.
  • the figure 7 shows a V trol execution instruction thus obtained by applying the conversion formula to a filtered control setpoint V f resulting from a control setpoint V u of the step type.
  • the conversion of the filtered setpoint V f to the execution setpoint V trol can be performed by any appropriate conversion module (computer) 13 of the electronic circuit type or computer programmed module.
  • the determination of the V trol execution instruction according to the invention can advantageously be carried out without it being necessary to know, and even more so without it being necessary to measure, the mass M of the load. suspended 1, insofar as this parameter (the mass M of the load 1) does not intervene in the formulas used during step (b) of treatment, and in particular does not intervene in the definition of the third order filter F3 or in the aforementioned conversion formula.
  • the anti-dangling effects intrinsically provided on the one hand by the C 3 regularization itself, and on the other hand by the use of a non-dangling conversion formula, will combine to offer optimized servocontrol of the movement of the suspended load 1, totally devoid of dangling.
  • the method according to the invention remains perfectly compatible, as an alternative embodiment, with a closed-loop servocontrol, according to which the execution instruction V trol is first determined in accordance with the invention, in particular by making intervening third-order filtering, then said V trol execution instruction is then applied to the drive motors 7, 8 while providing a closed-loop servocontrol (as described above) for actively reducing a possible dangling, to a case where such a ballant would appear despite being caused by disturbances external to the control system, such as gusts of wind, for example.
  • the determination of the execution instruction V trol according to the invention with regularization C 3 on the one hand and use of the anti-dangling conversion formula mentioned above on the other hand, however, it will be possible to generate an execution instruction (trolley speed reference) V trol already optimized, not generating a dangling (intrinsically), so that the dancer compensation task assigned to the closed loop of the servo will be greatly simplified. (since this will only reduce possible dangling caused by the only disturbances external to the control system).
  • drive motors 7, 8 have, by their nature, limited (finite) speed, acceleration, and torque capabilities.
  • V trol execution instruction is compatible with these capabilities, so that the motors 7, 8 can actually execute said V trol execution instruction , and thus generate, as a result of the application of said V trol performance instruction to said motors 7, 8, movements of the carriage 5 and the suspended load 1 without dangling, which are consistent with the movements that are expected with respect to said performance instruction.
  • V trol execution instruction which is feasible, that is to say coherent and compatible with the actual hardware capacities of the drive motors 7, 8, so not to seek to solicit the control system beyond its capabilities, and so as to avoid any situation in which a failure of a motor 7, 8 would lead the actual motion to differ from the expected ideal motion, and would cause, for example, the appearance or accentuation of a dangling.
  • the regularization C 3 makes it possible to satisfy the constraint n ° 1 (three-fold differentiable setpoint, and more particularly of class C 3 ).
  • said parameter chosen as representative of the maximum acceleration MAX admissible by the drive motor 7, 8 may be the pulsation ⁇ of the third order filter F3, in the form of a so-called "calculated pulsation" pulse ⁇ 0 which will be determined in particular according to said maximum acceleration value permissible at MAX .
  • the inventors have indeed established that there is a link between pulsation and maximum acceleration.
  • the processing step (b) may therefore preferably comprise a sub-step (b1) for adjusting the pulsation of the third-order filter F3, during which the pulsation ⁇ , ⁇ 0 of said filter of the filter is calculated.
  • third order F3 from a value a MAX which is representative of the maximum acceleration that the driving motor 7, 8 can give to the point of attachment H to which the load 1 is suspended.
  • the step (b) processing will preferably comprise a sub-step (b1) for adjusting the pulsation ⁇ of the third order filter F3, during which the third order filter's pulsation ⁇ is adjusted, and more particularly the calculated pulsation ⁇ 0 , depending on the value of the control setpoint V u , V JOY applied by the driver of the hoist at time t considered.
  • the value of the pulsation ⁇ of the third order filter F3 is modified according to whether the control set point V u , V JOY is lower or on the contrary higher than a reference speed V thresh which is defined from the value of maximum speed V MAX that the driving motor 7, 8 can give to the point of attachment H to which the load 1 is suspended.
  • the pulsation ⁇ will be varied so as to increase said pulsation ⁇ and thus use a pulsation considered as high, called "high value" ⁇ high , and therefore a more reactive filter F3, when the absolute value of the pilot setpoint (that is to say the amplitude of the speed reference) V u , V JOY is low compared to the maximum permissible speed V MAX , and decreasing on the contrary said pulsation ⁇ in favor of a lower pulsation so-called "low value” ⁇ low , when the absolute value of the driving setpoint V u , V JOY will increase to approach the maximum permissible speed V MAX .
  • the dual purpose of this adaptation (in real time) of the pulsation ⁇ is to optimize the reactivity of the third order filter 3 (constraint No. 2) by increasing said pulsation ⁇ when possible, because the response time of the filter F3 is inversely proportional to said pulsation ⁇ (with the coefficients c 1 , c 2 chosen as indicated above, the response time at 5% is of the order of 4 / ⁇ ), while respecting the constraint No. 3 related not exceeding the maximum acceleration capacity of the drive motor 7, 8, which sets an allowable upper limit for said pulsation ⁇ .
  • the adjustment of the pulsation ⁇ of the third order filter F3 can be achieved by any appropriate pulsation adjustment module 14, forming a computer comprising for example an electronic circuit or a suitable computer program.
  • the inventors have empirically found that, in order to avoid destabilizing the third order filter F3, especially during transitions between the high value ⁇ high and the low value ⁇ low , the (calculated) pulse ⁇ , ⁇ 0 should be two once differentiable (in relation to time).
  • the inventors have found that it was desirable to smooth the (calculated) pulsation ⁇ , ⁇ 0 , in particular to ensure that its evolutions over time, and in particular the high value transitions ⁇ high / low value ⁇ low mentioned above, be continuous and twice differentiable.
  • the filter of the third order F3 uses as pulsation ⁇ a filtered calculated pulse ⁇ F.
  • V u 0 m / s.
  • the pulse ⁇ , ⁇ F of the third order filter F3 is then close to, or equal to, its high value ⁇ high .
  • V u V MAX .
  • V u V MAX .
  • ⁇ F of the third order filter F3 to the new setpoint V u pilot can therefore temporarily be in a situation where coexist a steering setpoint close to its high value (V u being substantially equal to V MAX ) and a pulse ⁇ , ⁇ F also close to its high value ⁇ high because said pulsation "delays" to decrease to reach its low value ⁇ low .
  • the treatment step (b) preferably comprises, according to a feature which may constitute a complete invention, a sub-step (b2) of preliminary saturation, during which the driving instruction V u , V is applied to JOY a first saturation law SAT1 which is calculated as a function of the pulsation ⁇ , ⁇ F of the third order filter F3 (that is to say as a function of the instantaneous value taken by the pulsation ⁇ , ⁇ F of the filter of the third order at the moment considered).
  • this first saturation law SAT1 can be implemented by a suitable first saturation module 15, forming a computer comprising, for example, an electronic circuit or a suitable computer program.
  • the first saturation law SAT1 is applied to the raw setpoint (in speed) V JOY , before the third order filtering F3, so as to form (at the output of the first saturation module 15) the control setpoint V u which is then sent to the third order filter F3.
  • the solution proposed by the inventors consists in limiting the execution setpoint V trol when it reaches a predefined allowable limit (typically +/- V MAX ), by suitably saturating the driving setpoint V u .
  • the principle is to recalculate the control setpoint V u when the execution instruction (and therefore the speed of the carriage 5) V trol reaches the maximum permissible speed V MAX , so that the absolute value of said execution instruction
  • the processing step (b) preferably comprises a sub-step (b3) of secondary saturation, which is intended to keep the execution instruction (ie the setpoint of speed of the point of attachment H ) V trol when said performance instruction V trol reaches substantially the maximum speed V MAX that the drive motor 7, 8 can give to the point of attachment H (that is to say say in practice to the carriage 5).
  • V trol performance set constant As indicated above, it is sought to keep the constant V trol performance set constant or to decrease it when it reaches the maximum permissible speed V max .
  • V u the driving setpoint
  • this second saturation law SAT2 may be implemented by a suitable second saturation module 16, forming a computer comprising, for example, an electronic circuit or a suitable computer program.
  • the second saturation law SAT2 being initially inactive, it will be activated when the execution instruction V trol will reach and exceed a threshold of engagement, slightly higher than V MAX , and for example set at 1.04 * V MAX (which reinforces the interest of choosing V MAX slightly below the true physical speed limit of the driving motor 7, 8 concerned, typically between 95% and 98% of said physical limit), and being of again deactivated when the execution setpoint V trol falls below an extinction threshold strictly below the switch-on threshold, and equal for example 1.01 * V MAX .
  • V trol performance instruction which does not respect the material limits, in particular the acceleration capacity, of the drive motors 7, 8, could lead to the execution of a motion not in accordance with the expected movement, and consequently the appearance of a dangling.
  • the step (b) of treatment preferably comprises, according to a characteristic which can constitute an invention in its own right. but which will preferably be implemented in addition to the first saturation law SAT1, a substep (b5) of saturation of the third derivative of the filtered control setpoint during which the third (temporal) derivative is applied V ⁇ f the filtered control set V f a third saturation law SAT3 whose saturation thresholds depend on the maximum acceleration a MAX (typically as defined above) that the drive motor 7, 8 can confer at the point of hook H on which the load is suspended 1.
  • a MAX typically as defined above
  • this third saturation law SAT3 may advantageously add an additional precaution to that provided by the first saturation law SAT1, in order to optimize the security of the open-loop control according to the invention.
  • the third saturation law SAT3 may be implemented by a third appropriate saturation module 17, forming a computer comprising for example an electronic circuit or a suitable computer program.
  • the method according to the invention is particularly versatile since it can be applied to any type of hoist 2, whatever the configuration of said hoist 2, insofar as said method advantageously allows in any case, to calculate the execution instruction V trol in a simple way in a cartesian coordinate system, regardless of the coordinate system (Cartesian, cylindrical or spherical) specific to the hoist 2, in which is first expressed the driving instruction V u , V JOY when it is fixed by the driver of the machine, then in which the instruction V trol must be expressed so that said execution instruction can be properly applied to driving motors 7, 8 concerned.
  • the most appropriate coordinate system of the machine 2 will be a cylindrical coordinate system in which the position of the considered object is marked by a radius r (along the arrow) and an azimuth angle ⁇ (angle of lace around the axis of orientation), as shown on the figures 1 and 5 .
  • the control of the crane is carried out - in a fairly intuitive way for the driver - in distribution (modification of the radius r) and in orientation (modification of the azimuth ⁇ ), the driving setpoint V u , V JOY , as well as the execution instruction V trol , will each comprise a distribution component, intended for the engine 7 distribution (which allows to act on the spoke) and an orientation component, for the motor 8 orientation (which allows to to act on the azimuth).
  • the first conversion (of the control setpoint V u , V JOY ) from the cylindrical system to the Cartesian system can be performed by means of a rotation matrix R ⁇
  • the second conversion (of the execution instruction V trol ) from the Cartesian system to the cylindrical system can be operated by means of an inverse rotation matrix R- ⁇ .
  • the most appropriate coordinate system will be the spherical coordinate system, in which the position of the carriage 5 is located (and driven) by its azimuth (orientation of the luffing arrow in yaw), its declination (orientation of the luffing arrow in pitch) and its radius (distance from the carriage relative to the articulated base of the luffing jib).
  • the cylindrical coordinates of the carriage 5 can be easily known (in real time), for example by means of a part of an angular position sensor which provides information on the angular position in yaw of the arrow 4 with respect to the mast 3, that is to say on the angular position yaw ⁇ trol of the carriage 5, and secondly by means of a position sensor, for example associated with the engine d distribution drive 7, which makes it possible to know the position of the carriage 5 (in translation) along the arrow 4, and consequently the radial distance r trol at which said carriage 5 is located on the vertical axis of rotation (ZZ ').
  • the length L of the suspension cable 6 can be known in real time by means of a sensor measuring the absolute rotation of the winch or the hoisting motor which generates the winding of said suspension cable 6.
  • the angular position in yaw ⁇ load of the suspended load 1, as well as the (radial) distance r load of said suspended load with respect to the vertical axis of gyration (ZZ ') can be estimated by integration (over time) of the components of the filtered control setpoint V f , since said components respectively correspond to the filtered load radial velocity V load rf and the filtered load angular velocity V load ⁇ f .
  • r load (0) r trol (0), where "0" corresponds to an initial moment when the system is at rest .
  • the regularization C 3 and more particularly the third-order filtering F3, can be applied to a (single) characteristic movement of the hoist 2 (typically the gyration movement in orientation or the translation movement in distribution in the preferred example illustrated on the figures 1 and 6 ), that is to say to only one of the components of the control set V u , V JOY , or to several of said characteristic movements (that is to say to several of said components), or, preferably , all of said characteristic movements (that is to say all the components of the control set).
  • a (single) characteristic movement of the hoist 2 typically the gyration movement in orientation or the translation movement in distribution in the preferred example illustrated on the figures 1 and 6
  • a characteristic movement of the hoist 2 typically the gyration movement in orientation or the translation movement in distribution in the preferred example illustrated on the figures 1 and 6
  • the regularization C 3 can be applied to a (single) characteristic movement of the hoist 2 (typically the gyration movement in orientation or the translation movement in distribution in the
  • the invention furthermore relates, of course, as such to the use of a C 3 regularization, and more particularly to the use of a third order filter F 3 , and where appropriate, the use of one and / or the other saturation laws SAT1, SAT2, SAT3, in the determination of a V trol execution setpoint intended to be applied to a drive motor 7, 8 to move a load suspended 1 to a hoist 2, according to one or the other of the methods described in the foregoing.
  • the invention as such relates to the implementation of a regularization C 3 , and more particularly to the implementation of the third order filter F 3 , respectively of all or some of the laws of saturation, regardless of the type of calculation used to determine the components of the V trol execution instruction .

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Control Of Electric Motors In General (AREA)

Claims (14)

  1. Verfahren zum Steuern der Verlagerung einer Last (1), die an einem Anhängpunkt (H) eines Hubgeräts (2) angehängt ist, wobei das Verfahren einen Schritt (a) des Erfassens eines Steuersollwerts umfasst, in dessen Verlauf ein so genannter "Steuersollwert" (Vu) erfasst wird, der für eine Verlagerungsgeschwindigkeit (Vload) repräsentativ ist, die der Führer des Hubgeräts der angehängten Last (1) zu verleihen wünscht, dann einen Schritt (b) der Verarbeitung, in dessen Verlauf ausgehend von dem Steuersollwert (Vu) ein so genannter "Ausführungssollwert" (Vtrol) ermittelt wird, der dazu bestimmt ist, an mindestens einen Antriebsmotor (7, 8) angelegt zu werden, um die angehängte Last (1) zu verlagern, wobei das Verfahren dadurch gekennzeichnet ist, dass der Verarbeitungsschritt (b) einen Unterschritt (b4) zum C3-Regulieren umfasst, in dessen Verlauf der Steuersollwert (Vu) derart verarbeitet wird, dass dem Steuersollwert (Vu) Eigenschaften dritter Ableitung bezüglich der Zeit und Kontinuität bezüglich der Zeit verliehen werden, um ausgehend von dem Steuersollwert (Vu) einen gefilterten Steuersollwert (Vf) zu erzeugen, der zu der Klasse C3 gehört, wonach der Ausführungssollwert (Vtrol) ausgehend von dem gefilterten Steuersollwert (Vf) definiert wird.
  2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass der Ausführungssollwert (Vtrol) den Geschwindigkeitssollwert ausdrückt, den der Anhängpunkt (H) erreichen soll, und der wie folgt definiert ist: V trol = V f + L g V ¨ f
    Figure imgb0072
     wobei:
    Vf der gefilterte Steuersollwert ist,
    L die Länge des Anhängkabels (6) ist, das die angehängte Last (1) mit dem Anhängpunkt (H) verbindet,
    g die Schwerkraft ist.
  3. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass man bei dem Unterschritt (b4) zur C3-Regulierung zum Erzeugen des gefilterten Steuersollwerts (Vf) einen Parameter (ω, ω0) eingreifen lässt, der für die maximale Beschleunigung (aMAX) repräsentativ ist, die der Antriebsmotor (7, 8) dem Anhängpunkt (H), an dem die Last (1) angehängt ist, verleihen kann, damit der Ausführungssollwert (Vtrol), der aus dem gefilterten Steuersollwert (Vf) hervorgeht, von der maximalen Beschleunigung derart abhängt, dass er von dem Antriebsmotor (7, 8) umsetzbar ist.
  4. Verfahren nach einem der vorstehenden Ansprüche, dadurch gekennzeichnet, dass bei dem Unterschritt (b4) zur C3-Regulierung an den Steuersollwert (Vu) ein Filter dritten Rangs (F3) angelegt wird, um den gefilterten Steuersollwert (Vf), der zu der Klasse C3 gehört, zu erzeugen.
  5. Verfahren nach den Ansprüchen 3 und 4, dadurch gekennzeichnet, dass der Verarbeitungsschritt (b) einen Unterschritt (b1) zum Regulieren der Pulsation des Filters dritten Rangs (F3) umfasst, in dessen Verlauf die Pulsation (ω, ω0) des Filters dritten Rangs (F3) ausgehend von einem Wert (aMAX), der für die maximale Beschleunigung repräsentativ ist, die der Antriebsmotor (7, 8) dem Anhängpunkt (H) an dem die Last (1) angehängt ist, verleihen kann, berechnet.
  6. Verfahren nach Anspruch 4 oder 5, dadurch gekennzeichnet, dass der Schritt (b) der Verarbeitung einen Unterschritt (b1) zum Regulieren der Pulsation (ω, ω0, ωF) des Filters des dritten Rangs (F3) umfasst, in dessen Verlauf die Pulsation (ω, ω0, ωF) des Filters des dritten Rangs (F3) in Abhängigkeit von dem Steuersollwert (Vu), der von dem Fahrer des Hubgeräts in dem betrachteten Augenblick angelegt wird, angepasst wird, und bevorzugt der Wert der Pulsation (ω, ω0, ωF) des Filters des dritten Rangs (F3) je nachdem geändert wird, ob der Steuersollwert (Vu) kleiner oder im Gegenteil größer ist als eine Bezugsgeschwindigkeit (Vthresh), die ausgehend von dem maximalen Geschwindigkeitswert (VMAX) definiert wird, den der Antriebsmotor (7, 8) dem Anhängpunkt (H), an dem die Last (1) angehängt ist, verleihen kann.
  7. Verfahren nach einem der Ansprüche 4 bis 6, dadurch gekennzeichnet, dass der Verarbeitungsschritt (b) einen Unterschritt (b1) des Regulierens der Pulsation des Filters des dritten Rangs umfasst, in dessen Verlauf die Pulsation (ω) des Filters des dritten Rangs (F3) ausgehend von einer berechneten Pulsation (ω0) berechnet wird, die wie folgt bestimmt wird:
    Vthresh = k*VMAX wird mit 0 < k < 1 ausgewählt, zum Beispiel k = 0,5;
    falls Vu ≤ Vthresh, wird die berechnete Pulsation (ω0) mit einem hohen Wert definiert, der ω 0 = ω high = a MAX × g V thresh × L 1 3
    Figure imgb0073
     entspricht,
    falls Vu > Vthresh, wird die berechnete Pulsation (ω0) auf einen niedrigen Wert definiert, der ω 0 = ω low = a MAX × g V MAX × L 1 3
    Figure imgb0074
     entspricht,
    wobei:
    Vu der Steuersollwert ist,
    L die Länge des Anhängkabels (6) ist, das die angehängte Last (1) mit dem Anhängpunkt (H) verbindet,
    g die Schwerkraft ist
    VMAX ein Wert ist, der für die maximale Geschwindigkeit repräsentativ ist, die der Antriebsmotor (7, 8) dem Anhängpunkt (H), an dem die Last (1) angehängt ist, verleihen kann, und
    aMAX ein Wert ist, der für die maximale Beschleunigung repräsentativ ist, die der Antriebsmotor (7, 8) dem Anhängpunkt (H), an dem die Last (1) angehängt ist, verleihen kann.
  8. Verfahren nach Anspruch 7, dadurch gekennzeichnet, dass bei dem Unterschritt (b1) zum Regulieren der Pulsation des Filters dritten Rangs (F3) an die berechnete Pulsation (ω, ω0) ein Filter zweiten Rangs (F2) derart angewandt wird, dass das Filter des dritten Rangs eine berechnete gefilterte Pulsation (ωF) verwendet, wobei die berechnete gefilterte Pulsation (ωF) daher bevorzugt definiert ist als: ω F p = 1 1 + 2 ⁢ m p ω X + p 2 ω X 2 ω 0 p
    Figure imgb0075
     wobei:
    ω0 die berechnete Pulsation vor dem Filtern des zweiten Rangs (F2) ist,
    ωx die Eigenpulsation des Filters des zweiten Rangs (F2) ist, die zum Beispiel gleich 4 rad/s ist,
    m der Dämpfungskoeffizient des Filters des zweiten Rangs (F2) ist, bevorzugt gleich 0, 7.
  9. Verfahren nach einem der Ansprüche 4 bis 8, dadurch gekennzeichnet, dass der Schritt (b) der Verarbeitung einen Unterschritt (b2) von Vorabsättigung umfasst, in dessen Verlauf an den Steuersollwert (Vu) ein erstes Sättigungsgesetz (SAT1) angewandt wird, das in Abhängigkeit von der Pulsation (ω, ωF) des Filters des dritten Rangs (F3) berechnet wird.
  10. Verfahren nach Anspruch 9, dadurch gekennzeichnet, dass das erste Sättigungsgesetz (SAT1) ausgedrückt ist durch: SAT 1 V u = V u falls − g Lω F 3 a MAX ≤ V u ≤ g Lω F 3 a MAX
    Figure imgb0076
     SAT 1 V u = − g Lω F 3 a MA X falls V u < − g Lω F 3 a MAX
    Figure imgb0077
     SAT 1 V u = + g Lω F 3 a MA X falls V u > g Lω F 3 a MAX
    Figure imgb0078
     wobei
    Vu der Steuersollwert ist,
    ωF die Pulsation des Filters des dritten Rangs (F3) ist,
    L die Länge des Anhängkabels (6) ist, das die angehängte Last (1) mit dem Anhängpunkt (H) verbindet,
    g die Schwerkraft ist, und
    aMAX ein Wert ist, der für die maximale Beschleunigung repräsentativ ist, die der Antriebsmotor (7, 8) dem Anhängpunkt (H), an dem die Last (1) angehängt ist, verleihen kann.
  11. Verfahren nach einem der vorstehenden Ansprüche, dadurch gekennzeichnet, dass der Schritt (b) der Verarbeitung einen Unterschritt (b3) der Sekundärsättigung umfasst, der dazu bestimmt ist, den Ausführungssollwert (Vtrol) konstant zu halten oder sinken zu lassen, falls der Ausführungssollwert im Wesentlichen die maximale Geschwindigkeit (VMAX) erreicht, die der Antriebsmotor (7, 8) dem Anhängpunkt (H) verleihen kann.
  12. Verfahren nach einem der Ansprüche 11 und 4, dadurch gekennzeichnet, dass im Laufe des Unterschritts (b3) der Sekundärsättigung an den Steuersollwert (Vu) ein zweites Sättigungsgesetz (SAT2) angewandt wird, das ausgedrückt wird durch: SAT 2 V u = MIN E t , V u falls V trol > 0
    Figure imgb0079
     und SAT 2 V u = MAX E t , V u falls V trol < 0 ,
    Figure imgb0080
     wobei
    Vu der Steuersollwert ist,
    Vtrol der Ausführungssollwert ist, geschätzt durch: V trol = V f + L g V ¨ f
    Figure imgb0081
     Vf der gefilterte Steuersollwert ist, der aus dem Filter des dritten Rangs (F3) hervorgeht,
    und E t = V f + c 1 ω F V ˙ f + c 2 ω F 2 V ¨ f − g Lω F 3 V ˙ f
    Figure imgb0082
     ist, wobei
    c1, c2 die Koeffizienten jeweils des ersten Rangs und des zweiten Rangs sind, die von dem Filter des dritten Rangs (F3) verwendet werden,
    ωF die Pulsation des Filters des dritten Rangs (F3) ist,
    L die Länge des Anhängkabels (6) ist, das die angehängte Last (1) mit dem Anhängpunkt (H) verbindet,
    g die Schwerkraft ist.
  13. Verfahren nach einem der vorstehenden Ansprüche, dadurch gekennzeichnet, dass der Schritt (b) der Verarbeitung einen Unterschritt (b5) der Sättigung der dritten Ableitung des gefilterten Steuersollwerts ist, in dessen Verlauf an die dritte Ableitung V ⃛ f
    Figure imgb0083
     des gefilterten Steuersollwerts (Vf) ein drittes Sättigungsgesetz (SAT3) angewandt wird, dessen Sättigungsschwellen von der maximalen Beschleunigung (aMAx) abhängen, die der Antriebsmotor (7, 8) dem Anhängpunkt (H) der angehängten Last (1) verleihen kann.
  14. Verfahren nach den Ansprüchen 13 und 4, dadurch gekennzeichnet, dass das dritte Sättigungsgesetz (SAT3) ausgedrückt wird durch: SAT 3 V ⃛ f = ω F 3 × V u − V f − c 1 ω F V ˙ f − c 2 ω F 2 V ¨ f
    Figure imgb0084
     falls g L − V ˙ f − a MAX ≤ V ⃛ f ≤ g L − V ˙ f + a MAX ,
    Figure imgb0085
     SAT 3 V ⃛ f = g L − V ˙ f − a MAX falls V ⃛ f < g L − V ˙ f − a MAX
    Figure imgb0086
     und SAT 3 V ⃛ F = g L − V ˙ f + a MAX falls V ⃛ f > g L − V ˙ f + a MAX
    Figure imgb0087
     wobei
    Vf der gefilterte Steuersollwert ist, der aus dem Filter des dritten Rangs (F3) hervorgeht,
    ωF die Pulsation des Filters dritten Rangs (F3) ist,
    c1, c2 die Koeffizienten jeweils des ersten Rangs und des zweiten Rangs sind, die von dem Filter des dritten Rangs (F3) verwendet werden,
    L die Länge des Anhängkabels (6) ist, das die angehängte Last (1) mit dem Anhängpunkt (H) verbindet,
    g die Schwerkraft ist und
    aMAX ein Wert ist, der für die maximale Beschleunigung repräsentativ ist, die der Antriebsmotor (7, 8) dem Anhängpunkt (H), an dem die Last (1) angehängt ist, verleihen kann.
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FR3071240B1 (fr) * 2017-09-21 2019-09-06 Manitowoc Crane Group France Optimisation dynamique d’une courbe de charge de grue
CN108303883A (zh) * 2018-01-22 2018-07-20 五邑大学 基于一阶动态滑模变结构的桥吊防摆方法
EP3653562A1 (de) 2018-11-19 2020-05-20 B&R Industrial Automation GmbH Verfahren und schwingungsregler zum ausregeln von schwingungen eines schwingfähigen technischen systems
CN110342405B (zh) * 2019-07-25 2020-10-02 上海振华重工(集团)股份有限公司 一种集装箱跨运车起升机构精确定位的控制方法
WO2021070971A1 (ja) * 2019-10-11 2021-04-15 株式会社タダノ 制御システムおよびクレーン
CN112456361A (zh) * 2020-11-25 2021-03-09 西北工业大学 一种减小吊放声纳液压绞车水下分机摆动幅度的控制方法
TWI804983B (zh) * 2021-01-18 2023-06-11 台達電子工業股份有限公司 基於變頻器架構之橋式天車系統全時程防搖擺的控制方法
FR3120620B1 (fr) * 2021-03-09 2024-02-09 Manitowoc Crane Group France Procédé d’assistance de maintenance d’un câble métallique d’un appareil de levage ou de transport
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