EP3409636A1 - Procédé permettant d'amortir des vibrations de torsion d'un élément de réception de charge d'un dispositif de levage - Google Patents

Procédé permettant d'amortir des vibrations de torsion d'un élément de réception de charge d'un dispositif de levage Download PDF

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Publication number
EP3409636A1
EP3409636A1 EP18172846.0A EP18172846A EP3409636A1 EP 3409636 A1 EP3409636 A1 EP 3409636A1 EP 18172846 A EP18172846 A EP 18172846A EP 3409636 A1 EP3409636 A1 EP 3409636A1
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EP
European Patent Office
Prior art keywords
load
actuator
controller
damping
receiving element
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
EP18172846.0A
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German (de)
English (en)
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EP3409636B1 (fr
Inventor
Martin Staudecker
Thomas J. Frauscher
Ralf Skotschek
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B&R Industrial Automation GmbH
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B&R Industrial Automation GmbH
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Publication of EP3409636A1 publication Critical patent/EP3409636A1/fr
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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
    • 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
    • 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
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • 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
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical
    • 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
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • 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
    • B66C13/46—Position indicators for suspended loads or for crane elements

Definitions

  • the subject invention relates to a method for damping a torsional vibration about a vertical axis of a load-receiving element of a lifting device with a damping controller with at least one controller parameter, wherein the load-receiving element is connected to at least three holding elements with a support member of the lifting device and the length of at least one holding element between the load-receiving element and the support element an actuator acting on the at least one holding element is adjusted by the damping controller.
  • Hoisting devices in particular cranes, are available in many different embodiments and are used in many different fields of application.
  • tower cranes which are mainly used for civil engineering
  • mobile cranes eg for the installation of wind turbines.
  • Bridge cranes are used, for example, as overhead cranes in factory halls and gantry cranes eg for the manipulation of transport containers at transhipment locations for intermodal cargo handling, such as in ports for handling ships on the railroad or truck or on freight yards for handling from the railroad to the truck or vice versa
  • the goods are stored for transport in standardized containers, so-called ISO containers, which are equally suitable for transport in the three modes of transport road, rail, water.
  • the structure and operation of a gantry crane is well known and is eg in the US 2007/0289931 A1 described using a "ship-to-shore crane".
  • the crane has a supporting structure or a portal on which a boom is arranged.
  • the portal with wheels for example, is arranged movably on a track and can be moved in one direction.
  • the boom is firmly connected to the portal and the boom in turn a movable along the boom trolley is arranged.
  • the trolley is connected by means of four cables with a load-receiving element, a so-called spreader.
  • the spreader can be raised or lowered by means of winches, here by means of two winches for two ropes.
  • the spreader can also be adapted to different sized containers.
  • a very rapid cargo handling is required, ie, for example, very fast loading and unloading operations of cargo ships and correspondingly fast movement of the load-bearing elements and the gantry cranes as a whole.
  • rapid movement processes can lead to build up unwanted vibrations of the load-bearing element, which in turn delay the manipulation process, since the container is not precise on the intended Place can be placed.
  • torsional vibrations of the load-bearing element that is to say vibrations about the vertical axis, are disturbing, since they are difficult to compensate for with conventional cranes by the crane operator.
  • Such torsional vibrations can additionally be caused or even intensified by, for example, uneven loading of the container or by wind influences.
  • the US 2007/0289931 A1 mentions, among other things, the problem of oscillations around the vertical axis (skew), but does not propose a satisfactory solution.
  • a target object consisting of light-emitting elements is provided on the load-receiving element and a corresponding CCD camera is provided on the trolley.
  • Angle deviations around the vertical axis (skew), the longitudinal axis (list) and the transverse axis (trim) can thus be determined.
  • an actuator is provided per tether, with which the length of the tether can be changed.
  • the actuators are controlled in different ways, so that the individual tethers are shortened or lengthened and the corresponding error is compensated.
  • the disadvantage here is that the method proposes only a compensation of angular errors, without taking into account the dynamics of a torsional vibration. Thus, no torsional vibrations can be compensated.
  • the DE 102010054502 A1 proposes to compensate for torsional vibrations of the load-receiving element to arrange a slewing gear between the load-bearing element and tethers.
  • this is very complex and therefore expensive, in addition, the payload is reduced by the weight of the slewing gear.
  • the input-shaping process is a type of feedforward control with which it is possible to adjust the angle of rotation of the load-bearing element. A damping of an existing torsional vibration is therefore not possible.
  • Another disadvantage is that the mathematical model used in the input-shaping method must be very accurate, since there is no way to compensate for parameter deviations.
  • the object is achieved in that the at least one controller parameter is determined on the basis of a torsional vibration model of the load-bearing element as a function of the lifting height and that for damping the torsional vibration of the load-receiving element at any stroke height, the at least one controller parameter is adapted to this lifting height.
  • This simple method makes it possible to damp a torsional vibration of a load-bearing element at any lifting height without having to manually set the control parameter or parameters of the damping controller.
  • the operation of the lifting device or a rapid movement and accurate positioning of a load is considerably simplified, which leads to a time savings and thus to an increase in productivity.
  • the load-bearing element is excited to a torsional vibration at a certain lifting height of the load-receiving element, wherein at least one actual rotation angle of the load-receiving element about the vertical axis and an actual actuator position are detected and thus model parameters of the torsional vibration model of the load-bearing element at the given lifting height are identified by an identification method.
  • unknown model parameters of a selected torsional vibration model can be determined by means of a suitable identification method, whereby an unknown vibration behavior of the load-bearing element can be determined and used to dampen the torsional vibration.
  • the at least one actuator is actuated hydraulically or electrically, whereby standard components such as e.g. Hydraulic cylinders or electric motors can be used and an existing power supply system can be used.
  • standard components such as e.g. Hydraulic cylinders or electric motors can be used and an existing power supply system can be used.
  • At least two actuators are provided, in particular an actuator per holding element.
  • a redundancy of the torsional vibration damping can be realized, whereby the reliability can be increased.
  • smaller actuators of lesser inertia can be used, whereby the response time of the damping control can be lowered and the control quality can be increased.
  • the lifting height is measured by means of a camera system arranged on the carrying element or on the load receiving element or by means of a lifting drive of the lifting device.
  • the angle of rotation of the load-bearing element is preferably measured by means of a camera system arranged on the support element or on the load-receiving element. With this simple method, the angle of rotation of the load-bearing element can be determined very accurately.
  • a camera system is also relatively easy to retrofit to an existing lifting device.
  • the torsional vibration model is a differential equation of the second order with at least three model parameters, in particular with a dynamics parameter ⁇ , a damping parameter ⁇ and a path gain parameter i ⁇ .
  • the identification method is a mathematical method, in particular an online least-square method.
  • model parameters can be determined easily and with sufficient accuracy.
  • a state controller with preferably five controller parameters K I , K 1 , K 2 , K FF , K P is used as a damping controller.
  • an integrated feedforward control controller parameter K FF
  • the leadership behavior can be improved and by an integrator (controller parameter K I ) to achieve stationary accuracy or model uncertainties can be compensated.
  • a desired rotational angle of the load-receiving element is specified to the damping controller and the damping controller adjusts this desired rotational angle in a predetermined angular range, in particular in an angular range of -10 ° ⁇ ⁇ soll ⁇ + 10 °.
  • a desired rotation of the load-receiving element can be achieved whereby loads such as containers can also be positioned on targets that are not precisely aligned, such as, for example, inclined trucks.
  • an anti-wind-up protection is integrated in the damping controller, wherein the damping controller actuator limitations of the at least one actuator are specified, in particular a maximum / minimum permissible actuator position s zul , a maximum / minimum allowable actuator speed v zul and a maximum / minimum allowable actuator acceleration a zul of the actuator.
  • Fig.1 shows a lifting device 1 by way of example with reference to a schematic container crane 2, which is used for example for loading and unloading of ships in a port.
  • a container crane 2 has a supporting structure 3, which is either fixed or movable on the ground.
  • the supporting structure 3 can for example be arranged movably on rails in the Y-direction, as shown schematically in FIG Fig.1 is shown. By this degree of freedom in the Y direction of the container crane 2 is used locally flexible.
  • the supporting structure 3 has a boom 4 which is fixedly connected to the supporting structure 3.
  • a support member 5 is usually arranged, which is movable in the longitudinal direction of the arm 4, that is in the illustrated example in the X direction, for example, a support member 5 may be mounted by means of rollers in guides.
  • the support element 5 is usually connected by means of holding elements 6 with a load-receiving element 7 for receiving a load 8.
  • the load 8 is usually a container 9, in most cases an ISO container having a length of 20, 40 or 45 feet and a width of 8 feet. But there are also load-bearing elements 7, which are suitable to simultaneously accommodate two containers 9 side by side (so-called dual spreader).
  • the type and design of the load-bearing element 7 is not further relevant; any desired embodiments of the load-bearing element 7 can be used.
  • the holding elements 6 are usually designed as ropes, four retaining elements 6 are arranged on the support member 5 in most cases, but it can also be more or less holding elements 6 may be provided, but at least three holding elements 6.
  • a load 8 such as a Containers 9
  • the lifting height I H is usually adjusted by means of one or more winches 10a, 10b as shown schematically in FIG Figure 3 is shown.
  • the lifting device 1 or the container crane 2 can thus be moved in the direction of three axes. Due to rapid movements, uneven loading of the container 9 or wind influences, it may happen that on the holding elements 6 arranged load-receiving element 7 is excited with the container 9 arranged thereon to vibrate, as described below with reference to FIG 2a and 2b is shown.
  • 2a schematically shows a support member 5, on which a load-receiving element 7 incl.
  • Load 8 is arranged by means of four retaining elements 6.
  • the coordinate system shows the degrees of freedom of the load-receiving element 7.
  • the straight double arrows symbolize the possible directions of movement of the load-bearing element 7, wherein the movement in the Y-direction in the example shown by a movement of the entire lifting device 1, the movement in the X direction by movement of the support member. 5 on the boom 4 (lifting device 1 and boom 4 in Fig.1 a not shown) and the movement in the Z direction by changing the lifting height I H by means of the holding elements 6 and a lifting drive 10 (not shown).
  • the curved double arrows symbolize the possible rotations of the load-bearing element 7 about the respective axis.
  • Twists about the X-axis and the Y-axis can be relatively easily compensated by the user of the lifting device 1 and the container crane 2 and are not described in more detail here.
  • a twist around the Z-axis ie around the vertical axis
  • it is very disturbing, since, in particular, a torsional vibration of the load-bearing element 7 around the Z-axis would make it difficult or delay the positioning of a load 8 at a specific location, such as on the loading area of a truck or railway wagon.
  • a method is provided with which such a torsional vibration of a load-bearing element 7 around the vertical axis can be easily and quickly damped, so that rapid movement of the load-receiving element 7 with load 8 arranged thereon are made possible, which should contribute to an increase in efficiency of goods manipulation.
  • a detailed description of the method is described below with reference to Figure 3 and Figure 4 described.
  • the described embodiment of the lifting device 1 as a container crane 2 according to the Fig.1-Fig.3 only to be understood as an example.
  • the lifting device 1 may also be designed differently for the application of the method according to the invention, for example as a hall crane, tower crane, mobile crane, etc. Important is only the basic function of the lifting device 1 and that the lifting device 1 has the essential components for carrying out the damping method according to the invention, as described below.
  • Fig. 3 the essential components of a lifting device 1 are shown, here on the basis of the components of a container crane 2.
  • the essential parts of the invention are shown.
  • the structure and operation of such cranes have been described, are well known and therefore need not be specified.
  • According to a preferred embodiment of the invention are between support member 5 (in Figure 3 shown schematically by dashed lines) and load receiving element 7 four holding elements 6a, 6b, 6c, 6d arranged, for example, as high-strength ropes, in particular as steel cables, may be formed.
  • a lifting drive 10 is provided for lifting and lowering of the load-receiving element 7 in the Z direction, ie for adjusting the lifting height I H .
  • the lifting drive 10 is performed by winches 10a and 10b, wherein on each winch 10a, 10b two holding elements 6a, 6c and 6b, 6d are wound.
  • at least one actuator 11a, 11b, 11c, 11d for changing the length of the holding element 6 is provided on at least one holding element 6a, 6b, 6c, 6d.
  • an actuator 11a, 11b, 11c, 11d is provided on each holding element 6a, 6b, 6c, 6d.
  • four retaining elements 6a, 6b, 6c, 6d, each with an actuator 11a, 11b, 11c, 11d are arranged on the lifting device 1.
  • a linear actuator 10 as in Figure 3
  • the holding elements 6a, 6b, 6c, 6d are shown guided over deflecting rollers, which are arranged on the load-receiving element 7.
  • the respective free end of the holding elements 6a, 6b, 6c, 6d is fixed to a stationary holding point, for example on the support element 5.
  • An actuator 11a, 11b, 11c, 11d in this embodiment is preferably fixed to a stationary holding point, for example on the support element 5, and the free end of the holding elements 6a, 6b, 6c, 6d on the actuator 11a, 11b, 11c, 11d.
  • This can be adjusted by adjusting the actuator 11a, 11b, 11c, 11d, the length of a holding element 6a, 6b, 6c, 6d, whereby the distance between the support member 5 and the load-receiving element 7 is adjusted.
  • An actuator 11a, 11b, 11c, 11d can be controlled by a damping controller 12 for changing the length of the corresponding holding element 6a, 6b, 6c, 6d between the carrying element 5 and the load receiving element 7, preferably the actuator 11a, 11b, 11c, 11d at least one desired actuator position s soll or a desired actuator speed v soll should be specified. At least one actual actuator position s ist of the at least one actuator 11a, 11b, 11c, 11d can be detected by the damping controller 12 for the damping control 12 (damping controller 12 in FIG Figure 3 not shown).
  • the damping controller 12 may be embodied, for example, as a separate component in the form of hardware and / or software, or else implemented in an existing crane control system.
  • the at least one actuator 11a, 11b, 11c, 11d be controlled by the damping controller 12 so that by changing the actuator position and / or actuator speed on the one hand the load receiving element 7 is excited to a torsional vibration (as in Figure 3 symbolized by the double arrow) or on the other hand be controlled so that a torsional vibration of the load-bearing member 7 is attenuated.
  • the lengths of two diagonally opposite holding elements 6a, 6b between support element 5 and load receiving element 7 by means of the corresponding actuators 11a, 11b are preferably increased to excite or for damping a torsional vibration and the lengths of the two other diagonally opposite holding elements 6c, 6d reduced by means of the corresponding actuators 11c, 11d or vice versa.
  • the corresponding actuators 11c, 11d are preferably increased to excite or for damping a torsional vibration and the lengths of the two other diagonally opposite holding elements 6c, 6d reduced by means of the corresponding actuators 11c, 11d or vice versa.
  • only three holding elements 6 between support element 5 and load receiving element 7 could be arranged and only one actuator 11 for changing the length of one of the three holding elements 6.
  • the length of at least one retaining element 6a, 6b, 6c, 6d between support member 5 and load-receiving element 7 is variable, so that a torsional vibration of the load-bearing member 7 about the vertical axis, in Figure 3 around the Z-axis, can be excited or damped.
  • An actuator 11a, 11b, 11c, 11d may be arbitrary, preferably a hydraulic or electrical embodiment is used, which allows a longitudinal adjustment. If, as in Figure 3 shown, actuators 11a, 11b, 11c, 11d are used in the form of hydraulic cylinders, for example, the energy for actuating the actuators 11a, 11b, 11c, 11d can be obtained from an existing hydraulic system. An actuator 11a, 11b, 11c, 11d, however, can also be designed, for example, as a cable winch and electrically controlled, wherein the actuating energy can be obtained from an existing power supply.
  • an actuator 11a, 11b, 11c, 11d is also conceivable which are suitable for changing the length of a holding element 6 between the carrying element 5 and the load receiving element 7.
  • an actuator 11a, 11b, 11c, 11d must control the expected forces during the lifting and lowering of a load 8.
  • an actuator 11a, 11b, 11c, 11d may, for example, also have an additional transmission gear.
  • a measuring device 14 may be provided in the form of a camera system, wherein the support element 5 a Camera 14a and the load receiving element 7, a cooperating with the camera 14a measuring element 14b is arranged, or vice versa.
  • the actual rotational angle ⁇ is important by means of a gyro-sensor, that a measuring signal for the actual rotational angle ⁇ is present, which can be fed to the attenuator 12th
  • the lifting height I H between the support member 5 and the load-receiving element. 7 can be detected.
  • the lifting height I H can be detected via the lifting drive 10, for example in the form of a position signal of a cable winch 10a, 10b available in the crane control.
  • the lifting height I H could also be obtained from the crane control.
  • the lifting height I H can also be detected by means of the measuring device 14, for example, but can detect, for example, by means of a camera system which is ⁇ both the lifting height H I and the actual rotational angle.
  • Such measuring devices 14 are known in the prior art, which is why will not be discussed in detail here.
  • FIG 4 shows a block diagram of a possible embodiment of the control structure according to the invention with a damping controller 12, which can be implemented as already explained either as a separate component or preferably in the control of the lifting device 1, and a controlled system 15, which is controlled by the damping controller 12.
  • the damping controller 12 is designed as a state controller 13 in the embodiment shown. But it is basically any other suitable controller used.
  • the controlled system 15 provides the basis Figure 3
  • the reference variable of the damping controller 12 is a desired rotational angle ⁇ soll of the load-bearing element 7 and the manipulated variable is preferably a desired actuator position s soll of the at least one actuator 11a, 11b, 11c, 11d.
  • the actual rotational angle ⁇ can be with a measuring device 14, for example, detected by means of a camera system as already described. As feedback, at least the detected actual rotational angle ⁇ ist of the load receiving element 7 is supplied to the damping controller 12 (and in the case of the use of the nominal actuator speed v soll as the manipulated variable also the detected actual actuator position s is ). It would also be conceivable, in addition, an actual angular velocity is ⁇ and fed into the variable attenuator 12, whereby the damping control could be further improved. From the detected actual rotation angle ⁇ is, of course, can be used when needed, an actual angular velocity is ⁇ or an actual angular acceleration ⁇ is derived, for example by derivation with respect to time.
  • the actual variables required can either be measured directly or can be estimated, at least partially, also in an observer.
  • An advantage of the use of the estimated means of an observer actual values such as an actual turning angle is ⁇ is that wherein A possibly existing and undesirable for the damping control measurement noise of measured values of a measuring device can be avoided fourteenth That's the Main reason why in a preferred embodiment according to Fig. 3 the actual rotational angle ⁇ is measured with a measuring device 14, but an estimated actual rotational angle ⁇ is nevertheless used for the damping control (in addition, an estimated actual angular velocity ⁇ ist could also be used; Fig. 5 ).
  • any suitable and well-known observers such as a Kalman filter, can be used, which determines estimated values of the required actual variables. In the following, estimated values are marked with ⁇ if necessary.
  • controller structure for the damping method according to the invention is secondary and in principle any suitable controller could be used.
  • the required actual variables can then be supplied as measured values or estimated values to the damping controller 12.
  • the damping controller 12 has at least one controller parameter, preferably five controller parameters.
  • the characteristic of the regulation can be adjusted, e.g. Responsiveness, dynamics, overshoot, damping, etc., whereby one of the properties can be adjusted by means of a controller parameter. If several properties are to be influenced, a corresponding number of controller parameters is required. As a result, the system behavior of the controlled system can be adapted.
  • the torsional vibration behavior of the load-bearing element 7 is mapped around the Z-axis with a torsional vibration model, for example with a 2nd-order differential equation in the mold
  • the spring constant c ⁇ is modeled depending on the lifting height I H.
  • this torsional vibration model is to be understood as exemplary only and other torsional vibration models could be used which are able to approximate the real torsional vibration.
  • the model parameters of the torsional vibration model may be known, but are generally unknown. Therefore, in a first step, the model parameters can be identified with an identification method.
  • identification methods are well known, for example from Isermann, R.Identtechnisch dynamic systems, 2nd edition, Springer-Verlag, 1992 or Ljung, L .: System Identification: Theory for the User, 2nd edition, Prentice Hall, 2009, so here will not be discussed further.
  • Common to the identification methods is that the system to be identified is excited with an input function (eg a jump function) and the output variable is detected and compared with an output variable of the model. The model parameters are then varied to minimize the error between the measured output and the output calculated with the model.
  • the damping controller 12 may be used to excite the load-receiving element 7 arranged thereon load 8 in a certain lifting height I H to a torsional vibration about the Z-axis.
  • a separate excitation controller may be implemented in the attenuation controller 12, for example in the form of a two-point controller. With the two-position controller, the at least one actuator 11a, 11b, 11c, 11d is actuated, for example, as a function of the actual rotational angle ⁇ ist of the load receiving element 7 with the maximum possible nominal actuator speed v soll .
  • the excitation advantageously takes place counteracting, for example by activating the actuators 11a, 11b with the maximum possible positive actuator speed v and the actuators 11c, 11d be driven with the maximum possible negative actuator speed v or vice versa.
  • the excitation of the torsional vibration can take place in any but fixed lifting height I H of the load-receiving element 7.
  • the model parameters of the implemented torsional vibration model the predetermined lifting height I H.
  • an identification method For example, according to one embodiment of the invention, a mathematical online least-square method is used for identifying the model parameters, but it would also be conceivable to use other methods, for example offline least-squares methods or optimization-based methods.
  • a damping controller 12 can now be designed for the torsional vibration model.
  • a suitable controller structure is selected, for example a PID controller or a state controller.
  • each controller structure has a number of controller parameters K k , k ⁇ 1, which must be adjusted by means of a controller design method so that a desired control behavior results.
  • controller design methods are also well known and therefore will not be described in detail. Examples include the frequency characteristic method, the root locus method, the controller design by Polvorgabe and the Riccati method, which of course there are a wealth of other methods.
  • the desired control behavior of course, taking into account stability criteria and other boundary conditions, can be chosen substantially arbitrarily for the invention.
  • the controller parameters are determined depending on the lifting height I H. This can also be done in various ways.
  • controller parameters K k must be set only for a lifting height I H and can then be easily converted to other heights I H. From the formulaic relationship, however, the controller parameters K k for different lifting heights I H can also be calculated offline and from this a characteristic curve or a characteristic field can be created, which is then used in a further sequence.
  • the controller parameters K k in each time step of the control adapted to the current lifting height I H , for example by reading from a map or by calculation.
  • the damping controller 12 determines with the adjusted controller parameters K k the manipulated variable which is set with the at least one actuator 11 a, 11 b, 11 c, 11 d in the respective time step.
  • the controller parameters K k are thus at the current Lifting height I H adapted to damp torsional vibrations of the load-bearing element 7 at any stroke height I H optimally
  • the inventive method will be explained below with reference to a concrete embodiment. It is from a torsional vibration model in the form as described above.
  • the model parameters of the torsional vibration model eg ⁇ , ⁇ and i ⁇ can be identified as described for a specific lifting height I H.
  • a state controller 13 is used because of its high control quality or control performance, as in Fig. 4 shown.
  • five parameters K I , K P , K 1 , K 2 , K FF are provided as controller parameters K k .
  • the actuator position s, the rotation angle ⁇ , the angular velocity and a deviation e ⁇ between target rotation angle ⁇ soll and actual rotation angle ⁇ is used.
  • d 0 is a damping constant of the closed loop, ie the almost undamped system is converted by means of the damping controller 12 in a muted.
  • the parameters ⁇ i determine the dynamics and the response behavior of the control loop and are bound to the system properties of the torsional vibration model to be identified (the index i ⁇ 0 stands for the number of parameters of the damping controller, in the example given these are the parameters ⁇ 0 , ⁇ 1 , ⁇ 2 ).
  • the damping constant d 0 and the parameters ⁇ i are preferred pre-parameterized or predetermined, but can be adapted by the user if required.
  • K p 2 d 0 ⁇ 0 + ⁇ 1 + ⁇ 2
  • K 1 1 i ⁇ K P 2 d 0 ⁇ 0 ⁇ 1 ⁇ 2 - ⁇ 1 + ⁇ 2 ⁇ 0 2 ⁇ -
  • the controller parameters of the state controller 13 are then calculated on the basis of the current lifting height I H in each time step of the control and based on the control. So that the torsional vibration of the load receiving element 7 can be effectively damped during a lifting operation, because the SAS 12 automatically to the current lift height I H adapts.
  • the damping controller 12 can determine an actuator position s soll to be set or an actuator speed v soll for the at least one actuator 11a, 11b, 11c, 11d and output it at an interface 16. To this end receives the damping controller 12 via an interface 17, the required actual values, for example the actual position s of the at least one actuator 11a, 11b, 11c, 11d and the actual rotational angle ⁇ of the load receiving element 7. The time derivative of the actual rotational angle ⁇ is can be detected in the attenuator 12 or is also measured.
  • a state estimator 20 (FIG. Figure 5 ), Be provided in the form of hardware and / or software that ⁇ is the load receiving member 7 from measured actual values, for example of the actual rotation angle determined estimated values of the required input of the variable attenuator 12, here for example-an estimated actual rotational angle ⁇ is and an estimated actual angular velocity
  • the state estimator 20 may be implemented, for example, as a well-known Kalman filter.
  • the torsional vibration model can also be used in the state estimation unit 20 for this purpose.
  • a load 8 such as a container 9 are rotated in a predetermined angular range and thereby eg unloaded on a loading area of an inaccurately positioned truck.
  • a rotational angle ⁇ of the load-receiving element 7 in a range of, for example ⁇ 10 °.
  • an anti-wind-up protection is integrated in the damping controller (12), the damping controller 12 being given actuator limitations of the at least one actuator 11, in particular a maximum / minimum allowable actuator position s zul , a maximum / minimum allowable actuator speed v zul and a maximum / minimum allowable actuator acceleration a zul of the actuator 11.
  • This integrated anti-wind-up protection of the damping controller 12 can be adapted to the type of or the available actuators 11 of the lifting device 1.
  • the damping controller 12 calculates, as described, a manipulated variable of the at least one actuator 11, for example the desired actuator speed v soll .
  • this desired actuator speed v soll exceeds a maximum permissible actuator limit, for example the actuator speed v zul
  • the setpoint actuator speed v soll is limited to this maximum permissible actuator speed v zul .
  • the damping controller 12 calculates too high a nominal actuator speed v soll that the at least one actuator 11 could not follow because of its design. This would lead to a control error and the damping controller 12, in particular the integrated in the damping controller 12 integrator would try to compensate for this control error by the manipulated variable, for example, the target actuator speed v soll , would be further increased.
  • the target actuator speed v soll can also be used to calculate a desired actuator acceleration a soll and to compare it with a maximum / minimum allowable actuator acceleration a zul of the corresponding actuator 11a, 11b, 11c, 11d. If this maximum / minimum allowable actuator acceleration a zul is exceeded, this can also be taken into account with a limitation of the desired actuator speed v soll .
  • This allows different embodiments and sizes of Actuators 11a, 11b, 11c, 11d are taken into account in the damping controller, whereby the method is very flexible applicable to a variety of lifting devices 1.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)
  • Vibration Prevention Devices (AREA)
EP18172846.0A 2017-05-29 2018-05-17 Procédé permettant d'amortir des vibrations de torsion d'un élément de réception de charge d'un dispositif de levage Active EP3409636B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ATA50448/2017A AT520008B1 (de) 2017-05-29 2017-05-29 Verfahren zum Dämpfen von Drehschwingungen eines Lastaufnahmeelements einer Hebeeinrichtung

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EP3409636A1 true EP3409636A1 (fr) 2018-12-05
EP3409636B1 EP3409636B1 (fr) 2020-07-08

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EP (1) EP3409636B1 (fr)
JP (1) JP2019019001A (fr)
KR (1) KR20180130461A (fr)
CN (1) CN108928739B (fr)
AT (1) AT520008B1 (fr)
BR (1) BR102018010641A2 (fr)
CA (1) CA3006453A1 (fr)
SG (1) SG10201804565TA (fr)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3453669A1 (fr) * 2017-09-08 2019-03-13 Siemens Aktiengesellschaft Dispositif de commande pour un engin de levage et son procédé de fonctionnement
EP3653562A1 (fr) * 2018-11-19 2020-05-20 B&R Industrial Automation GmbH Procédé et régulateur d'oscillation permettant de réguler les oscillations d'un système technique oscillant
CN110342400B (zh) * 2019-06-25 2021-02-19 河南科技大学 一种基于负载能量耦合的桥式起重机定位消摆控制方法
EP4017825A4 (fr) * 2019-08-23 2023-10-11 Oceaneering International, Inc. Dispositif d'arrêt et d'amortissement de mouvement
DE102021117938A1 (de) 2021-07-12 2023-01-12 Amova Gmbh Regalbediengerät für ein Hochregallager
CN113536571B (zh) * 2021-07-16 2022-12-23 重庆大学 矿井多绳缠绕式提升机动力学建模方法及系统、存储介质
US11608252B1 (en) * 2022-02-15 2023-03-21 Innovative Minds, LLC Damper systems for suspended loads

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EP2878566A1 (fr) * 2013-11-28 2015-06-03 Siemens Aktiengesellschaft Procédé d'influence d'un mouvement d'une charge logée au niveau d'une grue

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US4531647A (en) * 1976-01-14 1985-07-30 Hitachi, Ltd. Device for stopping the swinging movement of a load hung by a crane
JP2633830B2 (ja) * 1986-03-12 1997-07-23 株式会社日立製作所 吊具の姿勢制御装置
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FI109990B (fi) * 2001-03-23 2002-11-15 Kci Kone Cranes Int Oy Järjestely nosturin koneistojen sijoittamiseksi
DE10245868B4 (de) * 2002-09-30 2019-10-10 Siemens Aktiengesellschaft Verfahren und Vorrichtung zur Positionierung einer Last
FI117969B (fi) * 2004-09-01 2007-05-15 Kalmar Ind Oy Ab Laitteisto ja menetelmä kontin kiertoheilahdusliikkeen pysäyttämiseksi
WO2007000256A1 (fr) 2005-06-28 2007-01-04 Abb Ab Dispositif de controle de charge pour une grue
ES2401439T3 (es) * 2006-08-29 2013-04-19 Abb Ab Dispositivo de control de carga para una grúa
DE102010054502A1 (de) 2010-12-14 2012-06-14 Wolfgang Wichner Verfahren und Vorrichtung zur Positionierung einer an einer Seilaufhängung einer Krananlage hängenden Kranlast in Rotationsrichtung um deren vertikale Achse

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US5769250A (en) * 1995-08-30 1998-06-23 Kci Konecranes International Corporation Method and apparatus for controlling the loading element and load of a crane
EP2878566A1 (fr) * 2013-11-28 2015-06-03 Siemens Aktiengesellschaft Procédé d'influence d'un mouvement d'une charge logée au niveau d'une grue

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AT520008B1 (de) 2020-02-15
US20180339888A1 (en) 2018-11-29
CN108928739A (zh) 2018-12-04
CN108928739B (zh) 2021-10-19
AT520008A1 (de) 2018-12-15
BR102018010641A2 (pt) 2019-03-12
US10676327B2 (en) 2020-06-09
EP3409636B1 (fr) 2020-07-08
SG10201804565TA (en) 2018-12-28
JP2019019001A (ja) 2019-02-07
KR20180130461A (ko) 2018-12-07
CA3006453A1 (fr) 2018-11-29

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