EP3313770A1 - Kran sowie verfahren zu dessen steuerung - Google Patents
Kran sowie verfahren zu dessen steuerungInfo
- Publication number
- EP3313770A1 EP3313770A1 EP16730692.7A EP16730692A EP3313770A1 EP 3313770 A1 EP3313770 A1 EP 3313770A1 EP 16730692 A EP16730692 A EP 16730692A EP 3313770 A1 EP3313770 A1 EP 3313770A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- actuators
- internal combustion
- combustion engine
- crane
- power requirement
- 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
Links
- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000002485 combustion reaction Methods 0.000 claims abstract description 67
- 230000001133 acceleration Effects 0.000 claims description 24
- 238000012432 intermediate storage Methods 0.000 claims description 2
- 230000004913 activation Effects 0.000 abstract 1
- 230000001276 controlling effect Effects 0.000 description 9
- 239000000446 fuel Substances 0.000 description 6
- 239000000872 buffer Substances 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000004146 energy storage Methods 0.000 description 2
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 230000000454 anti-cipatory effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
- B66C19/007—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries for containers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/01—General aspects of mobile cranes, overhead travelling cranes, gantry cranes, loading bridges, cranes for building ships on slipways, cranes for foundries or cranes for public works
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
Definitions
- the present invention relates to a crane, in particular in the form of a container stack or gantry crane, with electric actuators for lifting and / or moving loads and / or crane elements, a generator for powering the actuators, an internal combustion engine for driving the generator, input means for inputting of control commands for the actuators and a control device for controlling the actuators in response to the input control commands.
- the invention further relates to a method for controlling such a crane.
- crane is to be understood broadly in the context of the present application and in the broadest sense may include floor conveyors such as rack conveyors, forklifts or other lifting equipment such as straddle carriers, in particular container stacker cranes, port gantry cranes, so-called RTG cranes rubber-tired gantry cranes for containers, but also construction cranes in the form of, for example, tower cranes, telescopic cranes or derrick cranes may be meant.
- ie cranes with electric drives which are powered by a generator, which is operated by an internal combustion engine, occurs during idling or part load operation usually above average fuel consumption, since the generator unit usually with a fixed frequency of, for example, 50 / 60 Hertz is operated.
- a reduced crane performance can occur, for example, in that only reduced actuating speeds can be realized or limited loads can be lifted. In the worst case, it can also happen that the internal combustion engine is strangled and the crane must first be restarted before the lifting or setting task can be performed.
- the present invention is therefore based on the object to provide an improved crane and an improved method for controlling such a crane, avoid the disadvantages of the prior art and further develop the latter in an advantageous manner.
- the fuel demand of a provided with electric actuators crane should be reduced as far as possible without affecting the crane performance noticeably.
- the control device has a determination device for determining and / or estimating a future power requirement of the electric actuators on the basis of the actuation of the input device, with which control commands for the actuator and the current operating state of the actuators, as well as an engine control unit for controlling the internal combustion engine as a function of the estimated / determined future power requirement. Because the control device anticipates the power requirement of the actuators before the actuators actually reach the operating point at which this power requirement occurs, the internal combustion engine can be driven in good time into an operating point that is optimal or at least suitable for this power requirement. In particular, the speed and / or the torque of the internal combustion engine can be ramped up to meet a subsequently increasing power requirement of the electric actuators.
- the actuators can be supplied directly and completely with electricity or electrical energy from the generator so that no intermediate storage of the electrical energy generated is necessary.
- appropriate electrical energy storage such as batteries, batteries and the like, and also on appropriate controller modules for feeding and exiting the energy in such buffers can be dispensed with.
- the electric actuators need only be connected directly to the generator with their power supply connections and can be supplied exclusively and completely by the energy which the generator currently provides.
- the actuators are, so to speak, supplied directly online from the generator.
- the control device can perform the adjustment of the engine faster or slower and / or if necessary. Delay the implementation of the control commands to the actuators or delay the actuators to a desired operating point to drive by the engine or the driven thereof Generator always in time to provide the power needed for the actuators.
- the power output of the combustion tion motor and / or the associated power supply of the generator can be increased faster than the power requirement of the actuators increases.
- the power provided by the engine can be reduced more slowly than the power of the actuators actually falls. In other words, as the power requirement increases, the internal combustion engine can be led ahead in terms of speed and / or torque and be tracked with decreasing power requirements.
- control device may include a speed control module for controlling the speed of the internal combustion engine, said speed control module may be configured such that the engine is adjusted with the kieinstschreib, but as large as necessary speed change to the expected power requirements the electrical actuators necessary or desired operating state without major surpluses just to achieve.
- control device may comprise an acceleration control module for controlling the acceleration of the internal combustion engine, wherein said acceleration control module may in particular be designed such that the internal combustion engine is adjusted with the lowest possible but the required acceleration Power requirement necessary or desired operating state just in time to reach.
- acceleration control module may in particular be designed such that the internal combustion engine is adjusted with the lowest possible but the required acceleration Power requirement necessary or desired operating state just in time to reach.
- said acceleration control module can in this case comprise determination means which determine, based on the current operating state of the electric actuators and the actuation of the input means or of the input control commands, the time at which the actuators reach the correct position. have or will have future power requirements. Based on this specific time or a correspondingly determined period of time, which is estimated for reaching the operating point of the actuators or required by the actuators, the acceleration control module can then determine the necessary acceleration of the internal combustion engine to timely for the then occurring Power requirement of the actuators necessary or desired operating range to achieve.
- control device and the engine control unit may be configured such that the future power demand is calculated so quickly and the engine is adjusted so fast that the engine reaches the operating point calculated for the future power demand, shortly before or at the latest when the electric actuators anticipate it to reach final operating point. This makes it possible that the crane can be operated without loss of performance and yet a fuel saving is achieved.
- Said engine control unit may include in a further development of the invention, a speed control device for variably controlling the speed of the internal combustion engine as a function of the future power requirement and in dependence on the current operating state of the actuators.
- the engine control unit may also include a torque control device, by means of which, alternatively or in addition to a speed control, the torque of the internal combustion engine can be controlled as a function of the future power requirement.
- the engine control unit can also manage alone with a speed control device and alone generate a speed control signal, by means of which the engine is driven in advance to the required operating point.
- the determination of the future power requirement, by means of which the internal combustion engine is then controlled, can fundamentally be carried out in various ways or take account of different operating parameters.
- a strength and / or speed and / or direction of the actuation of the input means and / or an accompanying magnitude and / or rate of change of a control command brought about by the input means can be taken into account.
- the internal combustion engine can be adjusted more quickly if the input device is actuated faster, for example in the form of a joystick for controlling the crane positioning movements, since a fast operation leads to a conclusion about a stronger deflection and thus a high positioning speed request.
- a deflection angle or a travel of the joystick or another input means may be taken into account, for example in that a stronger or further deflection is converted into a relatively fast start-up of the speed and / or the torque of the internal combustion engine, since a strong joystick movement expect a greater increase in the power requirement.
- the number of actuators affected by the input control commands may also be taken into account for the determination of the future power requirement. For example, if simultaneously or sequentially a control command for lifting the hoist and a control command for rotating the boom or method of the portal, it can be assumed that a greater increase in power requirements, while in a control command for only one actuator from a smaller future power requirements can be assumed , Accordingly, the engine control unit can provide for a stronger and / or faster adjustment of the operating point of the internal combustion engine and / or provide only a less or only one affected actuator a lower and / or slower adjustment of the operating point of the engine at an input of control commands that affect multiple actuators , Alternatively or additionally, it can also be taken into account for determining the power requirement which or which of the actuators is to be affected by an input control command or adjusted as desired.
- a higher power requirement can be expected when the hoist is operated than when the slewing gear or the bridge drive is actuated.
- the future power requirement can be determined as a function of the identity of the actuating actuator affected by the control commands.
- the requested speed and / or the requested direction of an actuating movement can also be taken into account for the determination of the future power requirement. For example, if a crane operator requests a quick-lift by appropriate operation of the input means, the future power requirement may be estimated higher than in the case where the crane operator requests only a slow-lift.
- control device and / or engine control unit also takes into account the generator speed for optimum voltage supply to the electric actuators.
- the speed and / or the torque of the internal combustion engine can be adapted to the needs of the generator.
- the engine control unit can take into account that the voltage that can be supplied by the generator can depend on its speed. Therefore, for a predetermined power requirement, which is associated with a certain voltage level or voltage requirement, the internal combustion engine can be driven to a speed that would not be necessary for the performance of the internal combustion engine, but takes into account the circumstances of the generator and takes into account.
- the internal combustion engine can be driven to an increased speed, even if the internal combustion engine itself could provide the required power even at a lower speed in order to take into account the conditions of the generator through the aforementioned increased speed and operate it in a frequency range in which it can provide required voltage.
- the electric actuators of the crane can drive the control device advantageously via a frequency converter.
- control device can also take into account the performance level of the internal combustion engine in the control of the electric actuators, in particular such that crane movements are limited in terms of speed and / or acceleration and / or simultaneous execution, so as to limit the required electrical power for the crane movements in that the performance of the internal combustion engine is not reached or exceeded.
- Said power protection for the internal combustion engine by limiting the power consumption of the electric actuators may be useful, for example, if, for example, the internal combustion engine can not meet its rated power, for example as a result of a defective injector, a clogged fuel filter or the like.
- the power limitation for the electric actuators can be realized in various ways, for example by limiting the maximum lifting speed or the maximum travel speed of the respective actuator. Alternatively or additionally, a speed and / or acceleration ramp for regulating the respective actuator can be flattened or limited. If necessary, it may also be sufficient to carry out simultaneously requested actuating movements of two or more actuators one after the other so that the power requirements of the actuators are not to be summed up, but occur one after the other. Other control strategies for observing the performance limits of the internal combustion engine are possible.
- Fig. 1 a schematic representation of a crane in the form of a rubber-tired container stacker crane, the partial views a and b show the crane in front and side views, and
- Fig. 2 a schematic representation of the control device of the crane, which estimates the future power requirements of the electric actuators of the crane of Fig. 1 in advance or determined and depending on the future power requirements of the internal combustion engine of the crane of FIG. 1, the generator for Power the electric drives power controls.
- the crane 1 can be designed as a container stacking crane, which has a portal 2, which can be moved by means of a rubber-tired chassis 4, for example, at a container loading station.
- a portal 2 On the portal 2 can be arranged a transversely movable bridge 3, on which a lifting harness 5, by means of which a container 21 can be gripped, is mounted raised and lowered.
- the mentioned electrical actuators 6, 7 and 8 can be fed by a generator 9 with electrical energy, which can be driven by an internal combustion engine 10, for example in the form of a diesel engine.
- input means 14 are provided for a crane operator, which are arranged in a crane operator's station 22 and, for example, have a joystick 15, input keys, control levers or slide switches and the like. may include.
- control commands can be generated or input, which serve to control said actuators in the form of the lifting drive 6, the bridge drive 7 and the traction drive 8.
- an electric control device 11 can then control the aforementioned actuators, which can advantageously take place via a frequency converter which can convert the frequency generated by the generator 9 in a known manner.
- the control device 11 further adapts the rotational speed and / or the torque of the internal combustion engine 10 to the respective crane operating state, on the one hand to enable crane handling without performance disadvantages and, on the other hand, to achieve the lowest possible fuel consumption.
- the control device 11 may comprise a determination device 12 for this purpose, by means of which, based on the current operating state of the actuators 6, 7 and 8 and the actuation of the input means 14, the future power requirement of the actuators and thus of the internal combustion engine 10 and the generator 9 required power is calculated or determined or estimated.
- the said determination device 12 is supplied with various sensor signals and / or information which can characterize the actuation of the input means, the crane operating state and structural characteristics of the crane.
- the determination device 12 as shown in FIG.
- information about the operation of the joystick 15, information about the operating speed, information about the actual performance of the actuators and / or the internal combustion engine and / or the generator, information about other operating parameters such For example, engine speed, engine torque, driving or adjusting speed of the actuators or other crane elements, and / or information about the actual load to the crane elements and / or other information are supplied.
- the aforementioned determination device 12 of the control device 11 calculates therefrom in the manner described above the future power requirement that occurs when the electric actuators 6, 7 and 8 reach the operating point requested by the input control commands.
- the engine control unit 13 of the control device 11 then calculates the required operating point or operating range, in particular rotational speed and / or torque, of the internal combustion engine 10.
- the engine control unit 13 also takes into consideration the conditions and necessities of the generator 9, in particular which rotational speed the generator actually needs in order to be able to provide the voltage and amount of current necessary for the future power requirement.
- generator characteristic curves can find, for example, voltage output via rotational speed, and the like input.
- framework conditions such as a fixed reference voltage that is needed can be taken into account.
- the engine control unit 13 sets the actual operating point for the internal combustion engine 10 as a result of this calculation process, wherein the engine control unit 13 can also calculate the acceleration with which the internal combustion engine 10 is driven to the new operating point.
- the engine control unit 13 and / or the control device 11 can have an acceleration control module 16, which calculates by time-determining means 17 the time or the time at which the electric actuators 6, 7 and 8 reach the anticipated operating point. where the future need for benefits actually occurs. Acceleration determining means 18 then calculates therefrom the necessary acceleration for the internal combustion engine 10.
- the engine control unit 13 and / or the control device 11 can only manage with an actuating speed command for the engine. It takes not additionally a control signal for the torque are generated, even if this would be possible in principle.
- a speed controller 19 and / or a torque controller 20 of the engine control unit 13 then drive the engine 10 to the desired operating point.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015008038.5A DE102015008038A1 (de) | 2015-06-23 | 2015-06-23 | Kran sowie Verfahren zu dessen Steuerung |
PCT/EP2016/001055 WO2016206800A1 (de) | 2015-06-23 | 2016-06-21 | Kran sowie verfahren zu dessen steuerung |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3313770A1 true EP3313770A1 (de) | 2018-05-02 |
EP3313770B1 EP3313770B1 (de) | 2020-10-07 |
Family
ID=56148346
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP16730692.7A Active EP3313770B1 (de) | 2015-06-23 | 2016-06-21 | Kran sowie verfahren zu dessen steuerung |
Country Status (8)
Country | Link |
---|---|
US (1) | US20190002251A1 (de) |
EP (1) | EP3313770B1 (de) |
CN (1) | CN107848773B (de) |
DE (1) | DE102015008038A1 (de) |
ES (1) | ES2842150T3 (de) |
RU (1) | RU2712735C2 (de) |
WO (1) | WO2016206800A1 (de) |
ZA (1) | ZA201800035B (de) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102017107141A1 (de) * | 2017-04-03 | 2018-10-04 | Konecranes Global Corporation | Verfahren zum positionsgenauen Aufnehmen und Abstellen eines Containers durch einen Portalhubstapler und Portalhubstapler dafür |
CN108083114B (zh) * | 2017-11-29 | 2019-05-21 | 徐州重型机械有限公司 | 一种起重机节能控制方法和系统 |
US11485615B2 (en) * | 2018-10-19 | 2022-11-01 | Paceco Corp. | Battery-powered rubber-tired gantry crane with onboard charging system |
WO2020137520A1 (ja) * | 2018-12-28 | 2020-07-02 | 株式会社三井E&Sマシナリー | クレーンの制御システム及び制御方法 |
DE102020101863A1 (de) * | 2020-01-27 | 2021-07-29 | Kleemann Gmbh | Brechanlage |
DE102021123502A1 (de) * | 2021-09-10 | 2023-03-16 | Liebherr-Werk Biberach Gmbh | Netzgespeiste Materialumschlags- und/oder Baumaschine |
CN116187045B (zh) * | 2023-02-13 | 2023-11-24 | 西南交通大学 | 基于能耗分析确定门式起重机移动速度的方法 |
Family Cites Families (25)
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US5086266A (en) * | 1987-10-21 | 1992-02-04 | Toyo Densan Co., Ltd. | Automobile ac generator system |
US5936375A (en) * | 1997-11-05 | 1999-08-10 | Paceco Corp. | Method for energy storage for load hoisting machinery |
US6700802B2 (en) * | 2000-02-14 | 2004-03-02 | Aura Systems, Inc. | Bi-directional power supply circuit |
US6380639B1 (en) * | 2000-05-11 | 2002-04-30 | Bombardier Inc. | System, method and apparatus for power regulation |
JP3624831B2 (ja) * | 2000-12-28 | 2005-03-02 | 株式会社デンソー | 車両用電源装置及びエンジン駆動規制支援装置 |
JP3997987B2 (ja) * | 2003-12-25 | 2007-10-24 | 株式会社デンソー | 発電制御システム |
US7353959B2 (en) * | 2004-08-03 | 2008-04-08 | Mi-Jack Products, Inc. | Variable-speed load-dependent drive and hoist system |
FR2892574A1 (fr) * | 2005-10-20 | 2007-04-27 | Leroy Somer Moteurs | Dispositif de controle d'un groupe electrogene |
JP4701081B2 (ja) * | 2005-12-19 | 2011-06-15 | 日立オートモティブシステムズ株式会社 | 自動車,自動車の発電機制御装置及び車両駆動装置 |
EP2162812B1 (de) * | 2007-05-31 | 2016-04-27 | Caterpillar Inc. | Generatorsatzsteuersystem mit proaktiver lastverringerung |
US8793002B2 (en) * | 2008-06-20 | 2014-07-29 | Caterpillar Inc. | Torque load control system and method |
JP5215725B2 (ja) * | 2008-05-13 | 2013-06-19 | 株式会社キトー | 走行クレーンの操作制御装置、操作制御方法 |
US8140206B2 (en) * | 2008-09-15 | 2012-03-20 | Caterpillar Inc. | Engine load management for traction vehicles |
US8205594B2 (en) * | 2008-10-29 | 2012-06-26 | Caterpillar Inc. | Genset control system having predictive load management |
US20120049533A1 (en) * | 2009-02-23 | 2012-03-01 | Kelly Patrick D | Buoyant airbarge and spinnaker sail combinations for generating electric power from wind |
CN102460949B (zh) * | 2009-06-16 | 2015-01-21 | 住友重机械工程服务株式会社 | 起重机用混合式电源装置及起重机用混合式电源装置的控制方法 |
JP2011004556A (ja) * | 2009-06-22 | 2011-01-06 | Mitsubishi Electric Corp | 車両用電源装置 |
WO2011031267A2 (en) * | 2009-09-11 | 2011-03-17 | Tm Ge Automation Systems, Llc | Fuel efficient crane system |
DE102009042677A1 (de) * | 2009-09-23 | 2011-03-24 | Pfenning Elektroanlagen Gmbh | Portalhubwagen zum Einsatz in Containerterminals und für allgemeine Transportzwecke |
US8718845B2 (en) * | 2010-10-06 | 2014-05-06 | Caterpillar Global Mining Llc | Energy management system for heavy equipment |
DE102010063911A1 (de) * | 2010-12-22 | 2012-06-28 | Terex Demag Gmbh | Kran |
JP5562272B2 (ja) * | 2011-03-01 | 2014-07-30 | 日立建機株式会社 | ハイブリッド式建設機械 |
US8478470B1 (en) * | 2012-05-31 | 2013-07-02 | Caterpillar Inc. | Drivetrain system having rate-limited feedforward fueling |
US20140175886A1 (en) * | 2012-12-20 | 2014-06-26 | Caterpillar Inc. | Power System Having a Stabilized DC Link Voltage to Handle Transient Events |
CN204714366U (zh) * | 2015-05-07 | 2015-10-21 | 广东保达动力技术有限公司 | 一种起重机用增程式混合电力系统 |
-
2015
- 2015-06-23 DE DE102015008038.5A patent/DE102015008038A1/de not_active Withdrawn
-
2016
- 2016-06-21 WO PCT/EP2016/001055 patent/WO2016206800A1/de active Application Filing
- 2016-06-21 EP EP16730692.7A patent/EP3313770B1/de active Active
- 2016-06-21 RU RU2018101993A patent/RU2712735C2/ru active
- 2016-06-21 CN CN201680046577.3A patent/CN107848773B/zh active Active
- 2016-06-21 ES ES16730692T patent/ES2842150T3/es active Active
- 2016-06-21 US US15/737,770 patent/US20190002251A1/en not_active Abandoned
-
2018
- 2018-01-03 ZA ZA2018/00035A patent/ZA201800035B/en unknown
Also Published As
Publication number | Publication date |
---|---|
WO2016206800A1 (de) | 2016-12-29 |
DE102015008038A1 (de) | 2016-12-29 |
ES2842150T3 (es) | 2021-07-13 |
CN107848773A (zh) | 2018-03-27 |
RU2018101993A (ru) | 2019-07-23 |
ZA201800035B (en) | 2019-04-24 |
US20190002251A1 (en) | 2019-01-03 |
RU2712735C2 (ru) | 2020-01-30 |
RU2018101993A3 (de) | 2019-12-19 |
EP3313770B1 (de) | 2020-10-07 |
CN107848773B (zh) | 2020-03-13 |
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