EP3649072A1 - Grue et procédé pour commander ladite grue - Google Patents

Grue et procédé pour commander ladite grue

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Publication number
EP3649072A1
EP3649072A1 EP18740502.2A EP18740502A EP3649072A1 EP 3649072 A1 EP3649072 A1 EP 3649072A1 EP 18740502 A EP18740502 A EP 18740502A EP 3649072 A1 EP3649072 A1 EP 3649072A1
Authority
EP
European Patent Office
Prior art keywords
crane
pendulum
sensor
dynamics
receiving means
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
EP18740502.2A
Other languages
German (de)
English (en)
Other versions
EP3649072B1 (fr
Inventor
Florentin Rauscher
Oliver Sawodny
Michael PALBERG
Patrick Schlott
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Liebherr Werk Biberach GmbH
Original Assignee
Liebherr Components Biberach GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Liebherr Components Biberach GmbH filed Critical Liebherr Components Biberach GmbH
Publication of EP3649072A1 publication Critical patent/EP3649072A1/fr
Application granted granted Critical
Publication of EP3649072B1 publication Critical patent/EP3649072B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
    • 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
    • B66C13/066—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads for minimising vibration of a boom
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/03—Cranes with arms or jibs; Multiple cranes
    • B66C2700/0385—Cranes with trolleys movable along adjustable or slewable arms

Definitions

  • the present invention relates to a crane, in particular a tower crane, with a hoisting rope, which runs from a boom and carries a load receiving means, drive means for moving a plurality of crane elements and methods of lifting device, a control device for controlling the drive means such that the load receiving means moves along a travel path , and a pendulum damping device for damping oscillations of the load receiving means, said pendulum damping means a pendulum sensor for detecting oscillations of the hoisting rope and / or the load receiving means and a controller block with a closed loop for influencing the control of the drive means in response to pendulum signals from the pendulum sensors indicate detected oscillations and be returned to the control loop has.
  • the invention further relates to a method for controlling a crane, in which the control of the drive means is influenced by a pendulum damping device as a function of pendulum-relevant parameters.
  • various drive devices In order to be able to move the load hook of a crane along a travel path or between two target points, various drive devices usually have to be used. operated and controlled.
  • a tower crane in which the hoist rope runs off a trolley, which is movable on the boom of the crane, usually the slewing, by means of which the tower with the boom provided thereon or the boom are rotated relative to the tower about an upright axis of rotation and the cat drive, by means of which the trolley can be moved along the boom, and the hoist, by means of which the hoist rope adjusted and thus the load hook can be raised and lowered, respectively operated and controlled.
  • the said drive means are hereby usually actuated and controlled by the crane operator via appropriate controls, for example in the form of joysticks, toggle switches, knobs and sliders and the like, which experience has required a lot of feeling and experience to approach the target points quickly and yet smoothly without major pendulum movements of the load hook. While driving between the target points as quickly as possible in order to achieve a high performance, should be stopped gently at the respective target point, without the load hook nachpendelt with the load on it.
  • Such pendulum damping devices for cranes are known in various designs, for example by controlling the slewing, rocker and trolley drives in response to certain sensor signals, such as inclination and / or gyroscope signals.
  • sensor signals such as inclination and / or gyroscope signals.
  • the documents DE 20 2008 018 260 U1 or DE 10 2009 032 270 A1 show known load pendulum damping on cranes, to the object of which in this respect, that is to say with regard to the principles of the pendulum damping device, is expressly referred to.
  • the cable angle is measured relative to the vertical and its change in the form of the cable angular velocity by means of a gyroscope unit, in order to automatically intervene in the control when a limit value for the cable angular velocity with respect to the vertical is exceeded.
  • Cycoptronic a load oscillation damping system for maritime cranes, which calculates load movements and influences such as wind in advance and automatically initiates compensatory movements on the basis of this prediction, in order to avoid a swinging of the load detected in this system by means of gyroscopes, the cable angle relative to the vertical and its changes to intervene in dependence of the gyroscope signals in the control.
  • dynamic effects in the structural parts can lead to delays in the transmission to the hoisting rope and the load hook when drives are operated in a pendulum-damping manner.
  • the dynamic effects mentioned can also have excessive or even counterproductive effects on a load pendulum. If, for example, a load initially oscillates too quickly by actuating the trolley drive backwards towards the tower and counteracts the pendulum damping device by delaying the trolley drive, the boom may tilt as the tower deforms correspondingly, thereby impairing the desired pendulum damping effect can be.
  • the present invention has the object to provide an improved crane and an improved method for its control, avoid the disadvantages of the prior art and further develop the latter in an advantageous manner.
  • Preferably should be achieved to move the payload according to the setpoints of the crane operator and thereby actively dampen unwanted oscillations via a control, while not stimulating undesirable movements of the structural dynamics, but also be damped by the regulation in order to achieve an increase in security, ease of use and automation.
  • an improved pendulum damping in tower cranes to be achieved which takes better account of the manifold influences of the crane structure.
  • said object is achieved by a crane according to claim 1 and a method according to claim 22.
  • Preferred embodiments of the invention are the subject of the dependent claims.
  • the pendulum damper regards the crane as a soft structure exhibiting elasticity and compliance in accelerations in its structural members such as the tower grid and cantilever and in its drive trains, and takes into account this dynamics of the structural members of the crane in the pendulum damping effect Control of the drive devices.
  • both the pendulum dynamics and the structural dynamics are actively damped by means of a closed loop.
  • the entire system dynamics is actively controlled as coupling of the pendulum, drive and structural dynamics of the tower crane to move the payload according to the target specifications.
  • Sensors are used on the one hand to measure system variables of pendulum dynamics and on the other hand to measure system variables of structural dynamics, whereby non-measurable system variables in a model-based observer can be estimated as system states.
  • the control signals for the drives are calculated by a model-based control as a state feedback of the system states, whereby a control loop is closed and results in a changed system dynamics.
  • the control is designed such that the system dynamics of the closed loop is stable and control errors are compensated quickly.
  • a closed control loop is provided on the crane, in particular tower crane, with structural dynamics by the feedback of measurements not only of the pendulum dynamics but also of the structural dynamics.
  • the pendulum damping device comprises in addition to the pendulum sensor for detecting Hubseil- and / or lifting device movements also a structural dynamics sensor for detecting dynamic deformations and movements of the crane structure or at least structural components thereof, wherein the controller block of the pendulum damping device, which influences the driving of the drive means pendeldämpfend , Is designed to take into account when influencing the control of the drive means both the detected by the pendulum sensor pendulum movements as well as the detected by the structural dynamics sensors dynamic deformations of the structural components of the crane.
  • the closed loop is fed back both the pendulum sensor signals and the structural dynamics sensor signals.
  • the pendulum damping device thus does not consider the crane or machine structure as a rigid, so to speak infinitely stiff structure, but is based on an elastically deformable and / or resilient and / or relatively soft structure, which - in addition to the Stellchisachsen the machine such as the Auslegerwippachse or the tower axis of rotation - allows movements and / or position changes by deformations of the structural components.
  • the vibration dynamics of the structural components is reduced by the control behavior of the control device.
  • the vibration is actively dampened by the driving behavior or not excited by the control behavior.
  • the influence of the driving behavior can be defined by this method.
  • the aforementioned elastic deformations and movements of the structural components and drive trains and the resulting self-motions can basically be determined in various ways.
  • the structural dynamics sensor system provided for this purpose can be designed to detect elastic deformations and movements of structural components under dynamic loads.
  • a structural dynamic sensor system may comprise, for example, deformation sensors, such as strain gauges on the steel structure of the crane, for example the grid frameworks of the tower and / or the cantilever.
  • yaw rate sensors in particular in the form of gyroscopes, gyro sensors and / or gyrometers, and / or acceleration and / or speed sensors may be provided in order to detect certain movements of structural components, such as pitching movements of the jib tip and / or rotational dynamic effects on the jib and / or torsion. and / or bending movements of the tower to capture.
  • tilt sensors may be provided to detect inclinations of the boom and / or inclinations of the tower, in particular deflections of the boom from the horizontal and / or deflections of the tower from the vertical.
  • the structural dynamics sensors can work with different types of sensors, and in particular combine different sensor types.
  • strain gauges and / or gauging sensors and / or yaw rate sensors in particular in the form of gyroscopes, gyro sensors and / or gyrometers, can be used to detect the deformations and / or dynamic internal movements of structural components of the crane, wherein the acceleration sensors and / or Rotation rate sensors are preferably designed to detect three axes.
  • Such structural dynamics sensors may be provided on the boom and / or on the tower, in particular on its upper portion on which the boom is mounted, be provided to detect the dynamics of the tower. For example, jerky strokes lead to pitching movements of the boom, which are accompanied by bending movements of the tower, wherein a ringing of the tower in turn leads to pitching oscillations of the boom, which is associated with corresponding load hook movements.
  • an angle sensor for determining the differential rotational angle between an upper Turmendab mustard and the boom may be provided, for example, at the upper Turmendab mustard and on the boom each an angle sensor may be mounted, the signals can indicate the said differential rotation angle in a differential consideration.
  • a yaw rate sensor for determining the rotational speed of the jib and / or of the upper tower end section can advantageously also be provided in order to be able to determine the influence of the tower torsional movement in conjunction with the aforementioned differential rotational angle. From this, on the one hand, a more accurate load position estimation, but on the other hand also an active damping of the tower torsion during operation can be achieved.
  • two- or three-axis rotation rate sensors and / or acceleration sensors can be attached to the jib tip and / or to the jib in the region of the upright crane rotation axis in order to be able to determine structural dynamic movements of the jib.
  • motion and / or acceleration sensors can also be assigned to the drive trains in order to be able to detect the dynamics of the drive trains.
  • the pulleys of the trolley for the hoist rope and / or pulleys for a guy rope of a luffing jib to be assigned rotary encoder to capture the actual rope speed at the relevant point can.
  • the drive devices themselves are assigned suitable motion and / or speed and / or acceleration sensors in order to detect the drive movements of the drive devices and set them in the drive trains in conjunction with the estimated and / or detected deformations of the structural components or of the steel structure and pliability to be able to.
  • the motion and / or acceleration component on a structural part can be determined which depends on dynamic deformation or acceleration Torsion of the crane structure goes back and in addition to the actual crane movement, as induced by the drive movement and also occurred in a completely rigid, rigid crane.
  • the slewing mechanism of a tower crane is adjusted by 10 °, but only one turn of 9 ° is detected at the cantilever tip, a torsion of the tower and / or a bending deformation of the cantilever can be deduced, which at the same time in turn, for example, with the twisting signal at the Spike mounted rotation rate sensor can be adjusted to differentiate between tower twist and cantilever bending can. If the load hook lifted by one hoist by the hoist, but at the same time a pitching downwards determined by, for example, 1 ° on the boom, the actual load hook movement can be concluded taking into account the unloading of the trolley.
  • the structural dynamics sensor system can detect different directions of movement of the structural deformations.
  • the structural dynamics sensor system can have at least one radial dynamic sensor for detecting dynamic movements of the crane structure in an upright plane parallel to the crane boom, and at least one pivoting dynamics sensor for detecting dynamic movements of the crane structure about an upright crane rotation axis, in particular tower axis.
  • the controller module of the pendulum damping device can be designed to control the drive devices, in particular a cat drive and slewing drive, depending on the detected dynamic movements of the crane structure in the upright, cantilever parallel plane, in particular parallel to the boom longitudinal direction, and the detected dynamic movements of the crane structure to the to influence upright crane rotation axis.
  • the structural dynamics sensor system can have at least one stroke dynamic sensor for detecting vertical dynamic deformations of the crane jib and the control module of the pendulum damping device can be designed to influence the control of the drive devices, in particular a hoist drive, as a function of the detected vertical dynamic deformations of the crane jib.
  • the structural dynamics sensor is designed to detect all eigenmodes of the dynamic torsions of the crane jib and / or the crane tower whose natural frequencies lie in a predetermined frequency range.
  • the structural dynamics sensor system at least one, preferably a plurality of tower sensor (s), which is spaced from a node of a tower oscillation, for detecting Turmverwindungen and at least one, preferably a plurality of cantilever sensor (s), the / spaced from a node a boom own vibration is arranged to detect Auslegerverwind12.
  • a plurality of sensors for detecting a structure movement can be placed so that an observability of all eigenmodes is ensured whose natural frequencies lie in the relevant frequency range.
  • one sensor per pendulum movement direction can suffice, but in practice the use of several sensors is recommended.
  • placing a single sensor in a node of the measure of a structure eigenmode eg, position of the trolley at a rotation node of the first cantilever eigenmode
  • results in the loss of observability which can be avoided by adding a sensor at another position
  • the use of three-axis rotation rate sensors or acceleration sensors on the jib tip as well as on the boom near the slewing gear is recommended.
  • the structural dynamics sensor technology can basically work with different types of sensors for detecting the eigenmodes, in particular also different sensor types. combine pen.
  • the previously mentioned strain gauges and / or gauging sensors and / or yaw rate sensors in particular in the form of gyroscopes, gyro sensors and / or gyrometers, can be used to detect the deformations and / or dynamic internal movements of structural components of the crane, the acceleration sensors and / or rotation rate sensors are preferably designed to detect three-axis.
  • the structural dynamics sensor system can have at least one yaw rate and / or acceleration sensor and / or strain gauges for detecting dynamic tower deformations and at least one yaw rate and / or acceleration sensor and / or strain gauges for detecting dynamic boom deformations.
  • yaw rate and / or acceleration sensors can be provided at different tower sections, in particular at least at the tower tip and at the articulation point of the jib and possibly in a tower middle section below the jib.
  • yaw rate and / or acceleration sensors may be provided on different sections of the boom, in particular at least on the jib tip and / or the trolley and / or the jib foot on which the boom is articulated, and / or on a boom section in the hoist.
  • the said sensors are arranged on the respective structural component in such a way that they can detect the eigenmodes of its elastic twists.
  • the pendulum damping device may also comprise an estimation device, the deformations and movements of the machine structure under dynamic loads, depending on the control commands entered control commands and / or in response to certain driving actions of the drive means and / or depending on certain speed and / or acceleration profiles of the drive devices, estimated taking into account conditions characterizing the crane structure.
  • an estimation device the deformations and movements of the machine structure under dynamic loads, depending on the control commands entered control commands and / or in response to certain driving actions of the drive means and / or depending on certain speed and / or acceleration profiles of the drive devices, estimated taking into account conditions characterizing the crane structure.
  • System sizes of the structural dynamics possibly also the pendulum dynamics are estimated, which can not or only with difficulty be detected by sensors.
  • Such an estimation device can, for example, access a data model in which structural variables of the crane such as tower height, boom length, stiffness, area moment of inertia and the like are stored and / or linked together, and then based on a specific load situation, ie weight of the load recorded on the load hook and instantaneous overhang to estimate what dynamic effects, ie deformations in the steel structure and in the drive trains for a specific operation of a drive device result.
  • the pendulum damping device can then intervene in the control of the drive means and influence the manipulated variables of the drive controller of the drive means to avoid or reduce oscillations of the load hook and the hoisting rope.
  • the determination device for determining such structural deformations can have a calculation unit which calculates these structural deformations and resulting structural part movements on the basis of a stored calculation model as a function of the control commands entered at the control station.
  • a model can be constructed similar to a finite element model or be a finite element model, but advantageously a model that is significantly simplified compared to a finite element model is used, for example empirically by detecting structural deformations under certain control commands and / or load conditions on the real crane or the real machine can be determined.
  • Such a calculation model can, for example, work with tables in which specific deformations are assigned to specific control commands, wherein intermediate values of the control commands can be converted into corresponding deformations by means of an interpolation device.
  • the controller module in the closed loop may include a filter device or an observer, on the one hand, the structural dynamic crane reactions and the Hubseilg. Load hook pendulum movements observed as they are detected by the structural dynamics sensor and the pendulum sensor and set at certain variables of the drive controller, so that the observer or filter device taking into account predetermined regularities of a dynamic model of the crane, which can be designed basically different and by analysis and simulation of the steel structure can be obtained, based on the observed Kran Vietnamese- and pendulum reactions can influence the manipulated variables of the controller.
  • Such a filter or observer device can be designed in particular in the form of a so-called Kalman filter, to which the manipulated variables of the drive controllers of the crane as an input variable and, on the other hand, both the pendulum signals of the pendulum sensor system and the structural dynamic signals which are returned to the control loop, the deformations and / or dynamic insufficiency.
  • Kalman filter to which the manipulated variables of the drive controllers of the crane as an input variable and, on the other hand, both the pendulum signals of the pendulum sensor system and the structural dynamic signals which are returned to the control loop, the deformations and / or dynamic insufficiency.
  • Kalman filter Specify movements of the structural components, supplied and influenced from these input variables by means of Kalman equations that model the dynamics system of the crane structure, in particular its steel components and drive trains, the manipulated variables of the drive controller accordingly to achieve the desired pendulum damping effect.
  • detected and / or estimated and / or calculated and / or simulated functions that characterize the dynamics of the structural components of the crane are implemented in the Kalman filter.
  • the detection device for the position detection of the load hook can advantageously be an imaging Sensors include, for example, a camera that looks from the suspension point of the hoist, for example, the trolley, substantially vertically downwards.
  • An image evaluation device can identify the crane hook in the image provided by the imaging sensor and determine its eccentricity or its displacement out of the image center, which is a measure of the deflection of the crane hook relative to the vertical and thus characterizes the load oscillation.
  • a gyroscopic sensor can detect the haul rope extraction angle from the boom and / or from the vertical and feed it to the Kalman filter.
  • the pendulum sensor system can also work with an Intertialerfas- sungs adopted attached to the load hook or the load receiving means and accelerating and rotation rate signals provides that represent translational accelerations and rotation rates of the load hook.
  • Such an inertial measuring device which is sometimes also designated as IMU, may have acceleration and rotation rate sensor means for providing acceleration and yaw rate signals which indicate, on the one hand, translational accelerations along different spatial axes and, on the other hand, yaw rates or gyroscopic signals with respect to different spatial axes, include.
  • Accelational speeds but in principle also rotational accelerations or both, can be provided as rotation rates.
  • the inertial measuring device can detect accelerations in three spatial axes and rotation rates about at least two spatial axes.
  • the acceleration sensor means may be triaxial and the gyroscope sensor means may be biaxial.
  • the inertial measuring device attached to the load hook can advantageously wire its acceleration and rotation rate signals and / or signals derived therefrom. transmit to a control and / or evaluation, which may be attached to a structural part of the crane or arranged separately in close proximity to the crane.
  • the transmission may be to a receiver which may be attached to the trolley and / or to the suspension from which the hoist rope runs.
  • the transmission can take place, for example, via a WLAN connection.
  • the deflection of the load hook or the hoisting rope relative to the vertical can advantageously be determined in a two-stage process, the deflection of the load hook or the hoisting rope relative to the vertical.
  • the tilt of the load hook is determined, since this does not have to coincide with the deflection of the load hook relative to the trolley or the suspension point and the deflection of the hoisting rope relative to the vertical, then the desired deflection of the load hook or from the tilting of the load hook and its acceleration of the hoisting rope relative to the vertical. Since the inertial measuring device is attached to the load hook, the acceleration and rotation rate signals are influenced both by the pendulum movements of the hoisting rope as well as by the dynamics of the load hook tilting relative to the hoisting rope.
  • the three calculation steps may include in particular the following steps:
  • a determination of the hook tipping for example by a complementary filter, the high-frequency components of the gyroscope signals and low-frequency Antei- determine le from the direction of the gravitational vector and combine them in addition to the determination of the HAkenkippung;
  • the tilting of the load hook from the signals of the inertial measuring device is initially determined with the aid of a complementary filter, which makes use of the different features of the translational acceleration signals and the gyroscopic signals of the inertial measuring device, alternatively or additionally also a Kalman filter for determining the tilting of the load hook from the acceleration and yaw rate signals can be used.
  • From the determined tilting of the load receiving means can then by means of a Kalman filter and / or by means of static calculation of horizontal Inertialbe- acceleration and gravitational acceleration the desired deflection of the load hook relative to the trolley or against the suspension point of the hoisting rope and / or the deflection of the hoisting rope relative to the Vertical be determined.
  • the pendulum sensor system may comprise first determining means for determining and / or estimating a tilting of the load receiving means from the acceleration and rotation rate signals of the inertial measuring device and second determining means for determining the deflection of the hoisting rope and / or the load receiving means relative to the vertical from the determined tilting of the load receiving means and an inertial -Acceleration of the lifting device have.
  • the aforementioned first determination means may in particular comprise a complementary filter with a high-pass filter for the rotation rate signal of the inertial measuring device. and a low-pass filter for the acceleration signal of the inertial measuring device or a signal derived therefrom, said complementary filter may be configured, a rotational rate-based estimation of the tilt of the lifting device based on the high-pass filtered yaw rate signal, and an acceleration-based estimate of the tilt of the lifting device, which is based on the low-pass filtered acceleration signal to link together and to determine the desired tilting of the lifting device from the associated rate of rotation and acceleration-based estimates of the tilting of the lifting device.
  • the rotational rate-based estimation of the tilting of the load receiving means may include an integration of the high-pass-filtered yaw rate signal.
  • the acceleration-based estimation of the lifting of the lifting device can be based on the quotient of a measured horizontal acceleration component and a measured vertical acceleration component from which the acceleration-based estimation of the tilting is based on the relationship
  • the second determination means for determining the deflection of the load hook or the hoist rope relative to the vertical on the basis of the determined tilting of the load hook may comprise a filter and / or observer device which takes into account the determined tilting of the load receiving means as an input variable and the deflection of the load suspension means from an inertial acceleration on the load receiving means Hubseils and / or the lifting device relative to the vertical determined.
  • the named filter and / or observer device may in particular comprise a Kalman filter, in particular an extended Kalman filter.
  • the second determination means may also comprise a calculation device for calculating the excursions. kung of the hoisting rope and / or the lifting device relative to the vertical from a static relationship of the accelerations, in particular from the quotient of a horizontal inertial acceleration and the gravitational acceleration have.
  • a two-degree-of-freedom control structure is used in the pendulum damping, by which the above-described state feedback (feedback) is supplemented by a feedforward control.
  • the state feedback serves to ensure the stability and to quickly compensate for control errors, the pilot control, however, a good leadership behavior by ideally no rule errors occur.
  • the precontrol can advantageously be determined via the per se known method of differential flatness.
  • the structural dynamics can be neglected to determine the feedforward control, whereby the crane, in particular tower crane can be represented as a flat system with the load coordinates as flat outputs.
  • the feedforward control and the calculation of the reference states of the two-degree structure is calculated in contrast to the feedback control of the closed loop neglecting the structural dynamics, ie the crane is for the purposes of feedforward as a rigid or sozu- say infinitely stiff structure adopted. Due to the small deflections of the elastic structure, which are very small in comparison to the crane movements to be carried out by the drives, this only leads to very small and therefore negligible deviations of the precontrol.
  • the description of - for the purposes of feedforward control as rigidly assumed tower crane, in particular tower crane as a flat system allows, which is easily invertible.
  • the coordinates of the load position are flat outputs of the system. From the shallow outputs and their time derivatives, the required setpoint course of the manipulated variables as well as the system states can be calculated exactly algebraically (inverse system) - without simulation or optimization. This allows the load to be brought to a target position without overshooting.
  • the load position and its derivatives required for the flatness-based feedforward control can advantageously be calculated by a trajectory planning module and / or by a setpoint filtering. If a desired course for the load position and its first four time derivatives are determined via a trajectory planning or a setpoint filtering, the exact course of the necessary actuating signals for controlling the drives and the exact course of the corresponding system states can be calculated in the feedforward control via algebraic equations become.
  • the model underlying the scheme can basically be designed differently.
  • a compact representation of the entire system dynamics is used as a coupled pendulum, drive and structural dynamics, which is suitable as a basis for the observer and the control.
  • the crane control model is determined by a modeling method in which the entire Krandynamik in largely independent pending parts is split, advantageously for a tower crane in a part of all movements that are essentially excited by a slewing drive (pivoting dynamics), a part of all movements that are essentially stimulated by a Katztechnik drive (radial dynamics) and the dynamics in the direction of the hoist rope, which is excited by a winch drive.
  • the drive dynamics are advantageously modeled as a delay element 1st order or as a static amplification factor, the drives as a manipulated variable, a torque, a rotational speed, a force or a speed can be specified. Due to the subordinate control in the frequency converter of the respective drive this manipulated variable is adjusted.
  • the pendulum dynamics can be modeled as an idealized single / double filament pendulum with one / two point load masses and one / two simple ropes, which are either considered massless, or as bulked with modal order reduction on the most important eigenmodes of ropes.
  • the structural dynamics can be derived by approximating the steel structure in the form of continuous beams as a distributed parametric model, which can be discretized by known methods and reduced in system order, thereby taking a compact form, can be calculated quickly, and simplifies the observer and control design.
  • Said pendulum damping device can monitor the input commands of the crane operator by manual operation of the crane by operating appropriate controls such as joysticks and override if necessary, especially in the sense that the crane operator, for example, too much predetermined accelerations are reduced or countermovements are automatically initiated when a crane movement predetermined by the crane operator has led or would lead to a swinging of the load hook.
  • the controller module advantageously attempts to remain as close as possible to the movements and movement profiles desired by the crane operator in order to give the crane driver a sense of control, and only overrides the manually entered control signals as far as necessary in order to minimize the desired crane movement. and perform vibration-free.
  • the pendulum damping device can also be used in an automated operation of the crane, in which the control device of the crane in the sense of an autopilot, the load-carrying means of the crane automatically moves between at least two target points along a travel path.
  • the control device of the crane in the sense of an autopilot, the load-carrying means of the crane automatically moves between at least two target points along a travel path.
  • the pendulum damping device in engage the control of the drive controller by said Verfahrêtmodul to move the crane hook pendulum-free or to dampen oscillations.
  • FIG. 1 is a schematic representation of a tower crane, in which the hook position and a cable angle relative to the vertical is detected by an imaging sensor, and in which a pendulum damping device affects the control of the drive means to prevent oscillations of the load hook and its hoisting rope,
  • FIG. 2 is a schematic representation of a two-degree-of-freedom control structure of the pendulum damping device and the influencing of the manipulated variables of the drive controller by the latter,
  • Fig. 3 a schematic representation of deformations and vibration modes of a tower crane under load and their damping or avoidance by a Hägzugregelung
  • the partial view a.) Shows a pitch deformation of the Turmdehkrans under load and an associated diagonal pull of the hoisting rope
  • the partial views b. ) and c.) show a transverse deformation of the tower crane in a perspective view and in plan view from above
  • the partial views d.) and e.) show an associated with such transverse deformations oblique pull of the hoisting rope
  • FIG. 5 is a schematic representation of a cantilever as a continuous beam with clamping in the tower, taking into account tower bending and tower torsion,
  • FIG. 6 is a schematic representation of an elastic tower and a spring-mass replacement model of the tower bend transverse to the boom,
  • Tower crane 9 is a schematic representation of the pendulum dynamics in the radial direction of the crane and its modeling by means of several coupled rigid bodies,
  • FIG. 10 shows a schematic representation of a swinging hoist rope with load hook, to which an inertial measuring device is attached, which transmits its measuring signals wirelessly to a receiver on the trolley from which the hoist rope runs,
  • 11 is a schematic representation of various load hooks to illustrate the possible tilting of the load hook relative to the hoisting rope
  • FIG. 12 a schematic two-dimensional model of the pendeidynanamics of FIG.
  • FIG. 14 shows a block diagram of a complementary filter with high-pass and low-pass filters for determining the tilting of the load hook from the acceleration and rotation rate signals of the inertial measurement device
  • FIG. 15 shows a comparative illustration of the pendulum angle profiles determined by means of an extended Kaman filter and by means of static estimation in comparison to the pendulum angle profile measured on a cardan joint
  • Fig. 16 a schematic representation of a control or regulation structure with two degrees of freedom for automatically influencing the drives to avoid pendulum vibrations.
  • the crane may be formed as a tower crane.
  • the tower crane shown in Fig. 1, for example, in a conventional manner have a tower 201 which carries a boom 202 which is balanced by a counter-jib 203, on which a counterweight 204 is provided.
  • Said boom 202 can be rotated together with the counter-arm 203 about an upright pivot axis 205, which may be coaxial with the tower axis, by a slewing gear.
  • a trolley 206 can be moved by a cat drive, wherein from the trolley 206, a hoist rope 207 runs, to which a load hook 208 is attached.
  • the crane 2 can have an electronic control device 3 which, for example, can comprise a control computer arranged on the crane itself.
  • Said control device 3 can in this case control various actuators, hydraulic circuits, electric motors, drive devices and other working units on the respective construction machine. This can, for example, in the crane shown its hoist, the slewing gear, the cat drive, whose -ggf. existing - boom rocker drive or the like.
  • Said electronic control device 3 can in this case communicate with a terminal 4, which can be arranged on the control station or in the driver's cab and, for example, in the form of a tablet with touch screen and / or joysticks, knobs, sliding switches and similar controls may have, so on the one hand different Information from the control computer 3 displayed on the terminal 4 and vice versa control commands via the terminal 4 in the control device 3 can be entered.
  • a terminal 4 can be arranged on the control station or in the driver's cab and, for example, in the form of a tablet with touch screen and / or joysticks, knobs, sliding switches and similar controls may have, so on the one hand different Information from the control computer 3 displayed on the terminal 4 and vice versa control commands via the terminal 4 in the control device 3 can be entered.
  • the said control device 3 of the crane 1 can in particular be designed to actuate the said drive devices of the hoisting gear, the trolley and the slewing gear even if a pendulum damping device 340 detects pendulum-relevant movement parameters.
  • the crane 1 may comprise a pendulum sensor or detection device 60, which detects a diagonal pull of the hoist rope 207 and / or deflections of the load hook 208 relative to a vertical 61 passing through the suspension point of the load hook 208, ie the trolley 206.
  • the cable angle ⁇ against the gravity line, ie the vertical 62 can be detected, see. Fig. 1.
  • the intended determination means 62 of the pendulum sensor 60 optically operate to determine said deflection.
  • a camera 63 or another imaging sensor can be attached to the trolley 206, which looks downwards vertically from the trolley 206, so that when the load hook 208 is undeflected, its image reproduction lies in the center of the image provided by the camera 63. If, however, the load hook 208 is deflected relative to the vertical 61, for example due to jerky starting of the trolley 206 or abrupt braking of the slewing gear, the image reproduction of the load hook 208 moves out of the center of the camera image, which can be determined by an image evaluation device 64.
  • the diagonal pull of the hoisting cable or the deflection of the load hook relative to the vertical can also take place by means of an inertial measuring device IMU, which is attached to the load hook 208 and can transmit its measuring signals preferably wirelessly to a receiver on the trolley 206, see. FIG. 10.
  • IMU inertial measuring device
  • the inertial measuring device IMU and the evaluation of its acceleration and yaw rate signals will be explained in more detail later.
  • the control device 3 can control the slew drive and the trolley drive with the aid of the pendulum damping device 340 to bring the trolley 206 more or less precisely over the load hook 208 again and compensate for oscillations, or to reduce or not even let occur.
  • the pendulum damping device 340 comprises a structural dynamics sensor 344 for determining dynamic deformations of structural components, wherein the controller module 341 of the pendulum damping device 340, which influences the driving of the drive means pendelock damping, is designed to influence the control of the drive means, the specific dynamic deformations of the structural components to consider the crane.
  • an estimation device 343 may also be provided, which determines the deformations and movements of the machine structure under dynamic loads, which depend on control commands entered in the control station and / or in dependence on specific drive actions of the drive devices and / or in dependence on certain speed and / or or acceleration profiles of the drive devices, estimated taking into account conditions characterizing the crane structure.
  • a calculation unit 348 can calculate the structural deformations and resulting structural part movements on the basis of a stored calculation model as a function of the control commands entered at the control station.
  • the pendulum damping device 340 detects such elastic deformations and movements of structural components under dynamic loads by means of the structural dynamics sensor system 344.
  • a sensor 344 may include, for example deformation sensors such as strain gauges on the steel structure of the crane, for example, the grid frameworks of the tower 201 or the boom 202.
  • acceleration and / or velocity sensors and / or yaw rate sensors may be provided to detect certain movements of structural components, such as cantilever pitch pitch motions or rotational dynamics effects on the boom 202.
  • such structural dynamics sensors can also be provided on the tower 201, in particular on its upper section on which the boom is mounted, in order to detect the dynamics of the tower 201.
  • the drive trains may also be provided with motion and / or acceleration be assigned sensors to detect the dynamics of the drive trains can.
  • the pulleys of the trolley 206 for the hoist rope and / or pulleys for a guy rope of a luffing jib can be assigned rotary encoder to detect the actual rope speed at the relevant point can.
  • the signals y (t) of the structural dynamics sensors 344 and the pendulum sensor 60 are fed back to the controller module 341, so that a closed control loop is realized.
  • Said controller module 341 influences the control signals u (t) for controlling the crane drives, in particular the slewing gear, the hoist and the trolley drive, as a function of the returned structural dynamics and pendulum sensor signals.
  • the controller structure further has a filter device or an observer 345, which observes the returned sensor signals or the crane reactions, which adjust at certain manipulated variables of the drive controller and, taking into account predetermined regularities of a dynamics model of the crane, the fundamentally different can be obtained by analysis and simulation of the steel structure, influenced by the observed crane reactions the manipulated variables of the controller.
  • a filter device or an observer 345 which observes the returned sensor signals or the crane reactions, which adjust at certain manipulated variables of the drive controller and, taking into account predetermined regularities of a dynamics model of the crane, the fundamentally different can be obtained by analysis and simulation of the steel structure, influenced by the observed crane reactions the manipulated variables of the controller.
  • Such a filter or observer device 345b can be designed in particular in the form of a so-called Kalman filter 346, to which the manipulated variables u (t) of the drive controller 347 of the crane and the returned sensor signals y (t), ie the detected crane movements, in particular the cable pull angle, are input variables ⁇ relative to the vertical 62 and / or its temporal change or the angular velocity of the said skew, as well as the structural dynamic tangles of the cantilever 202 and the tower 201 are fed and from these inputs on the basis of Kalman equations, the dynamic system of the crane structure , in particular its steel components and drive trains, model, the manipulated variables of the drive controller 347 influenced accordingly to achieve the desired pendulum damping effect.
  • Kalman filter 346 to which the manipulated variables u (t) of the drive controller 347 of the crane and the returned sensor signals y (t), ie the detected crane movements, in particular the cable pull angle, are input variables ⁇ relative to the vertical 62 and
  • the partial views b.) And c.) Of FIG. 3 exemplarily show in a schematic manner a transverse deformation of the tower crane in a perspective view as well as in a plan view from above with the occurring deformations of the tower 201 and the boom 202.
  • FIG. 3 shows, in its partial views d.) And e.), An oblique pull of the hoist cable associated with such transverse deformations.
  • the controller structure is designed in the form of a two-degree of freedom control and, in addition to the closed-loop control with feedback of the pendulum sensor and structural-dynamics sensor signals, comprises a feed-forward control stage 350 , which tries by the best possible leadership behavior to let occur in the ideal case, no rule errors.
  • Said feedforward control 350 is advantageously formed flatness-based and determined by the so-called differential flatness method, as already mentioned.
  • the structural dynamic signals and oscillation signals are neglected for the determination of the precontrol signals Ud (t) and Xd (t). that is, the signals y (t) of the pendulum and structural dynamics sensors 60 and 344 are not returned to the pilot module 350.
  • setpoint values for the load receiving means 208 are fed to the pilot control module 350, wherein these setpoint values may be position indications and / or speed specifications and / or path parameters for the mentioned load receiving means 208 and define the desired movement.
  • the desired values for the desired load position and their time derivatives can advantageously be supplied to a trajectory planning module 351 and / or a setpoint filter 352, by means of which a desired course for the load position and its first four time derivatives can be determined, resulting in the Pre-control module 350 algebraic equations the exact course of the necessary control signals u ⁇ j (t) for driving the drives and the exact course Ud (t) of the corresponding system states can be calculated.
  • a notch filter device 353 can advantageously be connected upstream of the pilot control module 350 in order to correspondingly filter the input variables supplied to the pilot control module 350, such a notch filter device 353 in particular between said trajectory planning module 351 and the setpoint filter module 352 on the one hand and
  • the pilot module 350 may be provided.
  • Said notching means 353 can be designed, in particular, to eliminate the excited natural frequencies of the structural dynamics from the desired value signals supplied to the precontrol.
  • the pendulum damping device 340 can be designed to correct the slewing gear and the trolley and possibly also the hoist such that the rope is always in the vertical perpendicular to the load, too when the crane tilts more and more forward due to the increasing load torque.
  • the pitching motion of the crane due to its deformation under the load may be taken into account and the trolley can be tracked, taking into account the detected load position, or positioned under foresighted estimation of pitch deflection such that the hoist rope is subject to the resulting crane deformation in vertical perpendicular above the load. The largest static deformation occurs at the point where the load leaves the ground.
  • the slewing gear can also be traced under consideration of the detected load position and / or be positioned under forward-looking estimation of a transverse deformation so that the hoist rope is in vertical perpendicular above the load during the resulting crane deformation.
  • the model underlying the pendulum-damping control can basically be designed differently.
  • the slewing dynamics are stimulated and controlled by the slewing gear drive, while the dynamics in the tower-boom level are stimulated and regulated by the crab and hoist drive.
  • the load oscillates in two directions - on the one hand transversely to the boom (pivoting direction), on the other hand in boom longitudinal direction (radial).
  • the vertical load movement largely corresponds to the vertical boom movement due to the low hoist rope elasticity, which is small in tower cranes compared to the load deflections due to the pendulum motion.
  • the pivoting dynamics include in particular steel structure movements such as tower torsion, boom transverse deflection about the vertical axis and the tower bend transverse to the boom longitudinal direction, and the pendulum dynamics transverse to the boom and the slewing drive dynamics.
  • the radial dynamics includes the tower bending in the boom direction, the pendulum dynamics in the boom direction and, depending on the perspective, the boom deflection in the vertical direction.
  • the dynamic dynamics of the dynamics of the Katztechnik and possibly the hoist is attributed.
  • a linear design method is sought, which is based on the linearization of the nonlinear mechanical model equations around a rest position.
  • Such a linearization eliminates all couplings between pan and radial dynamics. This also means that no couplings are considered for the design of a linear control, even if the model was first derived coupled. Both directions from the beginning can be considered as decoupled, as this significantly simplifies the mechanical modeling.
  • a clear model in a compact form is achieved for the pivoting dynamics, which can be evaluated quickly, which on the one hand saves computing power and on the other hand accelerates the development process of the control design.
  • the cantilever can be considered as an Euler-Bernoulli beam and thus initially as a distributed mass (distributed parametric) system. Furthermore, the retroactive effect of the stroke dynamics on the pivoting dynamics can also be neglected, which is a justified assumption for small pendulum angles due to the vanishing horizontal force component. When large pendulum angles occur, the effect of the winch on the swing dynamics can be taken into account as a disturbance variable.
  • the boom is modeled as a beam in a moving reference system which rotates through the slew drive at the yaw rate ⁇ as shown in FIG.
  • the boom Due to the small cross-sectional area of the boom and small shear deformations, the boom can be considered as an Euler-Bernoulli beam. Thus, the rotational kinetic energy of the beam rotation about the vertical axis is neglected. It is assumed that the mechanical parameters such as mass and moment of inertia of the Euler-Bernoulli approximation of the cantilever elements are known and can be used for the calculation.
  • ⁇ ( ⁇ ) is the mass coating
  • I (x) is the area moment of inertia at location ⁇
  • E is the modulus of elasticity
  • q (x, t) is the applied distributed force on the cantilever.
  • the zero point of the location coordinate x lies at the end of the derivation for this derivation
  • FIG. 1 A sketch of the cantilever is shown in FIG.
  • the spring stiffnesses c t and c b represent the torsional stiffness or bending stiffness of the tower and are explained below.
  • the tower torsion and the tower bending transverse to the boom direction are advantageously taken into account. Due to its geometry, the tower can initially be assumed to be a homogeneous Euler-Bernoulli beam. For ease of modeling, the tower is represented at this point by a rigid body replacement model. Only one eigenmode for the tower bend and one for the tower torsion are considered. Since essentially only the movement at the tower tip is relevant for the pivoting dynamics, the tower dynamics can be used by a respective spring-mass system with matching natural frequency as a replacement system for bending or torsion. In the case of a higher elasticity of the tower, the spring-mass systems at this point can be easily supplemented by further eigenmodes by adding a corresponding number of masses and springs, cf.
  • the parameters of the replacement model can be used
  • the slender object approximation may be used, which implies that a slender bar segment of length
  • Length of b increased by the constant value - ⁇ -.
  • the payload can still be modeled as a concentrated mass point.
  • the rope mass can be neglected.
  • the payload is slightly more influenced by Euler, Coriolis and centrifugal forces.
  • the centrifugal acceleration acts only in cantilever direction, so it is not relevant at this point, the Coriollsbevantung results with the distance x L of the load to the tower
  • a Euler, L ü Euler ( 6 ) implies that the Euler acceleration acts on the load and the trolley in much the same way due to the rotation of the reference system.
  • the acceleration on the load is shown in FIG.
  • the pendulum dynamics can be easily derived from the Lagrange formalism. This is first the potential energy
  • the distributed parametric model (5) of cantilever dynamics describes infinitely many eigenmodes of the cantilever and is not yet suitable in form for a regulatory design. Since only a few of the lowest frequency eigenmodes are relevant for observer and closed-loop control, a modal transformation with subsequent modal order reduction can be applied to these few eigenmodes. However, an analytical modal transformation of equation (5) is rather difficult. Instead, it makes sense to locally discretize equation (5) using finite differences or the finite element method, thus obtaining an ordinary differential equation.
  • the bar When discretized using the finite differences, the bar becomes N equidistantly distributed mass points at the cantilever positions
  • equation (35) at the edges depends on the values and I N + , which in practice depends on the values
  • the vector of boom deflections is called
  • the mass matrix of the mass coating (unit kgm) becomes a diagonal matrix
  • T - c (46) which can be approximated by, for example, two equal forces acting equally far away from the tower (lever arm). The value of these two forces is
  • (50) is a linear, parameter-variant differential equation whose specific expression can only be determined online at runtime. This must be taken into account in the future observer and control design.
  • the number of discretization points N should be chosen large enough to provide a precise description of the beam deformation and dynamics.
  • (50) becomes a large differential equation system.
  • (50) offers a modal order reduction in order to reduce the plurality of system states to a lower number.
  • the modal order reduction is one of the most commonly used reduction methods.
  • the basic idea is to first perform a modal transformation, that is, to specify the dynamics of the system based on the eigenmodes (shapes) and the eigenfrequencies. Then be then only the relevant eigenmodes (usually the lowest frequency) are selected and all higher frequency modes neglected.
  • the number of eigenmodes considered is referred to below as ⁇ .
  • V [v, v 2 ...] (55) written.
  • the modal transformation can then be carried out via the calculation
  • the second eigenmode shown has a clear tower bend, while in the third of the boom bends significantly. All eigenmodes whose natural frequencies can be excited by the slewing drive should be taken into account.
  • the dynamics of the slewing gear drive is advantageously approximated as a PT1 link that provides the dynamics
  • the system (59) can add an output vector y
  • the output vector y describes exactly the rotation rates, expansions or accelerations, which are measured by the sensors on the crane.
  • equations (60) and (61) describe a parameter-variable system
  • the solution P of equation (63) is always valid only for the corresponding parameter set ⁇ x tr , l, m L ⁇ .
  • Riccati equations are, however, quite computationally intensive.
  • the solution P for a finely resolved map in the parameters x lr , l, m L can be precalculated offline.
  • the value is then selected from the map whose parameter set ⁇ x lr , l, m L ⁇ is closest to the current parameters.
  • control can be in the form of state feedback
  • the observer dynamics (62) can be simulated on a control unit at runtime.
  • control signals are used.
  • the control signals are in turn calculated from the feedback gain and the estimated state vector according to (62).
  • the radial dynamics can also be represented by a linear model of the form (60) - (61), the control of the radial dynamics analogous to the pivoting dynamics can be used. Both regulations then act independently of one another on the crane and stabilize the pendulum dynamics in the radial direction as well as transversely to the boom, in each case taking into account the drive and structural dynamics.
  • the tower can be divided into two rigid bodies, wherein another rigid body can represent the boom, cf. Fig. 9.
  • a y, and ß y describe the angle between the rigid bodies and ⁇ ⁇ the radial angle of the load pendulum.
  • P describes the positions of the centroids, with the index c , for the counterjib, J for the boom, TR for the trolley and r for the tower (in this case the upper one) Rigid body of the tower) stands. The positions depend at least in part on the variables x TR and / provided by the drives.
  • the dynamics can be derived from the well-known Lagrange formalism. Here are the three degrees of freedom in the vector
  • the dynamics of the drives of the creaser as well as the hoist can usually be well approximated by the PT1 dynamics of the first order
  • the deflection of the hoist rope relative to the vertical 62 can not only be determined by an imaging sensor on the trolley, but also by an inertial measuring device on the load hook.
  • Such an inertial measuring device IMU can in particular comprise acceleration and rotation rate sensor means for providing acceleration and yaw rate signals, which on the one hand indicate translational accelerations along different spatial axes and, on the other hand, yaw rates or gyroscopic signals with respect to different spatial axes.
  • Accelational speeds but in principle also rotational accelerations or both, can be provided as rotation rates.
  • the inertial measuring device IMU can detect accelerations in three spatial axes and rotation rates about at least two spatial axes.
  • the acceleration sensor means may be triaxial and the gyroscope sensor means may be biaxial.
  • the inertial measuring device IMU attached to the load hook can advantageously transmit its acceleration and rotation rate signals and / or signals derived therefrom wirelessly to the control and / or evaluation device 3 or its pendulum transmit damping device 340, which may be attached to a structural part of the crane or arranged separately in close proximity to the crane.
  • the transmission may take place to a receiver REC, which may be attached to the trolley 206 and / or to the suspension from which the hoist cable runs.
  • the transmission can be carried out, for example, via a WLAN connection, cf. Fig. 10.
  • the load hook 208 can tilt with respect to the hoist rope 207 depending on the connection in different directions and in various ways.
  • the diagonal pull angle ⁇ of the hoist rope 207 need not be identical to the orientation of the load hook.
  • the tilt angle ⁇ ß describes the tilting or rotation of the load hook 207 relative to the oblique tension ⁇ of the hoist rope 2017 or the rotation between inertial coordinates and load hook coordinates.
  • the two pendulum directions in the direction of travel of the trolley i. in the longitudinal direction of the boom on the one hand and in the direction of rotation or arc around the tower axis, i. in the direction transverse to the longitudinal direction of the boom, to be considered separately, since these two oscillations hardly influence each other.
  • Each pendulum direction can therefore be modeled two-dimensionally.
  • the pendulum dynamics can be described using the Lagrangian equations.
  • Time t is defined, whereby in the following, for the sake of simplicity and for better readability, the time dependence is no longer specified specifically by the term (t).
  • the kinetic energy is determined by
  • the acceleration s x of the trolley or of a gantry crane runner is considered as a known system input variable. This can sometimes be measured directly or estimated based on the measured trolley speed. Alternatively or additionally, the Katzbeuggung can be measured with a separate the trolley Accelerometer or estimated when the drive dynamics is known.
  • the dynamic behavior of electric crane drives can be determined by the load behavior of the first order Estimated, wherein the input signal u x corresponds to the desired speed and T x is the time constant. With sufficient accuracy, no further measurement of the acceleration is needed.
  • the tilt direction of the load hook is described by the tilt angle ⁇ ⁇ , cf. Fig. 13.
  • the IMU measures all signals in the co-moving, co-rotating body-fixed coordinate system of the load hook, which is marked with the preceding index K, while vectors in inertial coordinates with / are marked or remain without any index. Once ⁇ ⁇ is estimated, the measured
  • the inertial acceleration may then be based on estimating the pendulum angle
  • Assessing the rope angle ⁇ requires an accurate estimation of the tilting of the load hook ⁇ ⁇ .
  • an absolute reference value is needed because the gyroscope is limited in accuracy and an output value is unknown.
  • the gyroscopic measurement is regularly superimposed by an approximately constant deviation, which is inherent to the measurement principle.
  • ⁇ ⁇ generally oscillates around zero. Therefore, the acceleration sensor is used to to provide such reference value by the gravitational acceleration constant (which occurs in the low frequency signal)
  • K a K r -K & ( 1 3 )
  • the negative sign of K g results from the fact that the
  • Gravitational acceleration due to the sensor principle is measured as a fictitious upward acceleration.
  • a continuous-time Kalman Bucy filter which can be adjusted by varying the process parameters and noise measurement.
  • a complementary filter as shown in Fig. 14 is used, which can be adjusted in terms of its frequency characteristic by selecting the high-pass and low-pass transfer functions.
  • the complementary filter can be designed to estimate the direction of the load hook tilt ⁇ ⁇ .
  • Gyroscope signal co ß with G hpl (s) gives the offset-free yaw rate ⁇ and after Integration of a first tilt angle estimation ⁇ ⁇ ⁇ .
  • Frequencies of ⁇ ⁇ ⁇ are weighted more heavily by using the high-pass filter and the lower frequencies of ⁇ ⁇ ⁇ are weighted more heavily by the use of the low-pass filter, since (1 15) is a good estimate for low frequencies.
  • the transfer functions can be selected as simple filters of the first order, namely
  • the inertial acceleration, a, of the load hook can be determined from the measurement of K S using (1 10), which allows for the design of an oscillator-based observer (107), and rotated acceleration measurement
  • the pendulum angle corresponds to that by means of an extended Kalman filter
  • EKF Error Force
  • Fig. 15 shows that the results obtained are as accurate as those of the Kalman filter.
  • the linearized dynamic system gigs (127) can be "increased" by integration, with the result that
  • the new status vector x [Jff ß ⁇ .
  • the dynamics obviously remain the same, whereas the physical meaning and the input change.
  • the obtained feedback can be determined as a linear-quadratic (LQR) controller, which can represent a linear-quadratic Gaussian-type controller (LQG) along with the Kalman-Bucy filter.
  • LQR linear-quadratic
  • LQG linear-quadratic Gaussian-type controller
  • Both the feedback and the Kalman adjustment factor can be adapted to the rope length /, for example by using control factor diagrams.
  • a two-degree-of-freedom structure as shown in FIG. 6 may be used in conjunction with a trajectory planner providing a C 3 differentiable reference trajectory for the load hook position.
  • the cat position can be added to the dynamics system according to (130), which gives the system
  • the regulator structure provided with two degrees of freedom can have a
  • Trajectory planner TP have a gentle trajectory ze C 3 for the flat

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Abstract

La présente invention concerne une grue, en particulier une grue à tour, pourvue d'un câble de levage (207), qui se déroule d'une flèche (202) et qui porte un moyen de réception de charge (208), de systèmes d'entraînement destinés à déplacer plusieurs éléments de grue et à déplacer le moyen de réception de charge (208), d'un dispositif de commande (3) destiné à commander les systèmes d'entraînement de telle sorte que le moyen de réception de charge (208) se déplace le long d'une voie de déplacement, ainsi que d'un système d'amortissement d'oscillations (340) destiné à amortir les oscillations du moyen de réception de charge (208) et/ou du câble de levage (207). Le système d'amortissement d'oscillations (340) comprend un système de détection (60) d'oscillations destiné à détecter les oscillations du câble de levage (207) et/ou du moyen de réception de charge (208) ainsi qu'un module régulateur (341) pourvu d'un circuit de régulation fermé destiné à réguler la commande des systèmes d'entraînement en fonction d'un signal d'oscillation du système de détection (60) d'oscillations renvoyé au circuit de régulation. L'invention est caractérisée en ce que le système d'amortissement d'oscillations (340) présente un système de détection de dynamique structurale (342) destiné à détecter des déformations et/ou des mouvements intérieurs dynamiques des éléments structuraux de la grue et le module régulateur (341) du système d'amortissement d'oscillation (340) est conçu pour prendre en compte aussi bien le signal d'oscillation du système de détection (60) d'oscillations que les signaux de dynamique structurale renvoyés au circuit de régulation, les déformations et/ou mouvements intérieurs dynamiques des éléments structuraux, lors d'une intervention sur la commande des systèmes d'entraînement. La présente invention concerne également un procédé associé pour commander une grue, en particulier une grue à tour, dont le moyen de réception de charge (208) monté sur un câble de levage (207) est déplacé par des système d'entraînement, lesquels systèmes d'entraînement sont commandés par un dispositif de commande (3) de la grue, un système d'amortissement d'oscillations (340) comportant un module régulateur (341) pourvu d'un circuit de régulation fermé intervenant sur la commande des systèmes d'entraînement en fonction de paramètres afférents aux oscillations.
EP18740502.2A 2017-07-03 2018-06-26 Grue et procédé de commande d'une telle grue Active EP3649072B1 (fr)

Applications Claiming Priority (2)

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DE102017114789.6A DE102017114789A1 (de) 2017-07-03 2017-07-03 Kran und Verfahren zum Steuern eines solchen Krans
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JP2020525373A (ja) 2020-08-27
US11447372B2 (en) 2022-09-20
AU2018296142A1 (en) 2020-01-30
US20200148510A1 (en) 2020-05-14
CN111295354A (zh) 2020-06-16
AU2024201066A1 (en) 2024-03-07
EP3649072B1 (fr) 2022-05-04
CN111295354B (zh) 2021-12-24
ES2924332T3 (es) 2022-10-06
DE102017114789A1 (de) 2019-01-03
JP7224330B2 (ja) 2023-02-17
BR112019027928A2 (pt) 2020-07-14
AU2018296142B2 (en) 2023-11-23

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