EP4159660A1 - Fonctionnement d'une grue - Google Patents

Fonctionnement d'une grue Download PDF

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Publication number
EP4159660A1
EP4159660A1 EP21200090.5A EP21200090A EP4159660A1 EP 4159660 A1 EP4159660 A1 EP 4159660A1 EP 21200090 A EP21200090 A EP 21200090A EP 4159660 A1 EP4159660 A1 EP 4159660A1
Authority
EP
European Patent Office
Prior art keywords
crane
drive unit
data
motion control
control data
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.)
Pending
Application number
EP21200090.5A
Other languages
German (de)
English (en)
Inventor
Arne WAHRBURG
Janne Jurvanen
Matias Niemela
Mikael Harry Holmberg
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.)
ABB Schweiz AG
Original Assignee
ABB Schweiz AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ABB Schweiz AG filed Critical ABB Schweiz AG
Priority to EP21200090.5A priority Critical patent/EP4159660A1/fr
Publication of EP4159660A1 publication Critical patent/EP4159660A1/fr
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical

Definitions

  • the present invention relates to a computer-implemented method for operating a crane, to a device for operating a crane, to a system, to a use of an inertial measurement unit in such a method, in such a device or in such a system and to a computer program product configured to carry out the steps of such a method.
  • Cranes are widely used for moving goods in warehouses, plants or ports. Cranes are well known in the state of the art. Cranes are operated manually and automatically. The goods moved with a crane act like a load and may oscillate. This may be a challenge by moving goods.
  • a computer-implemented method for operating a crane comprising the steps of:
  • the angular data may be received from an inertial measurement unit arranged at the structural element of the crane.
  • the motion control data may comprise position data of the drive unit of the crane.
  • the motion control data may comprise speed data of the drive unit of the crane.
  • the motion control data may comprise acceleration data of the drive unit of the crane.
  • the angular data may comprise one or more angular rates of the structural element and/or one or more angles of the structural element.
  • the method may be a closed loop control.
  • the method may be provided, further comprising receiving a first trigger signal configured to start providing the motion control data for the drive unit of the crane to a control of the drive unit and controlling the drive unit of the crane according to the provided motion control data.
  • the method is only activated in the vicinity of a target (i.e. when a position reference profile is close to a programmed target in position control mode or when a shaped speed reference profile is close to zero in speed control mode). This may enable a tailored controller tuning procedure.
  • the method may be provided, further comprising receiving a second trigger signal configured to stop: providing the motion control data for the drive unit of the crane to a control of the drive unit and controlling the drive unit of the crane according to the provided motion control data.
  • the method may further comprise a gain adaption of one or more controlling parameters of the controller of the drive unit for controlling the drive unit after receiving the first trigger signal or the second trigger signal.
  • the method may further comprise an asymmetric rate limiting for starting providing the motion control data for the drive unit of the crane to a control of the drive unit and controlling the drive unit of the crane according to the provided motion control data and/or stopping providing the motion control data for the drive unit of the crane to a control of the drive unit and controlling the drive unit of the crane according to the provided motion control data.
  • the predefined motion control profile may comprise position data and speed data.
  • the drive unit may comprise one or more driving axles.
  • the structural element may be a hook of an overhead crane.
  • the structural element may be a tip of a mast of a stacker crane.
  • a further aspect of the present disclosure relates to a device for operating a crane, comprising:
  • a further aspect of the present disclosure relates to a system, comprising:
  • a further aspect of the present disclosure relates to a use of an inertial measurement unit in a method as described above, in a device as described above, and/or in a system as described above.
  • a last aspect of the present disclosure relates to a computer program element, which when executed by a processor is configured to carry out the method as described above, and/or to control a device as described above, and/or to control a system as described above.
  • angular data has to be understood broadly and particularly relates to angular data of a structural element.
  • the angular data may comprise one or more angles and/or one or more angular rates of the structural element.
  • the angular data may comprise absolute or relative values.
  • the angular data may comprise an angular rate of the structural element.
  • the angular rate is defined by a change of an angle per time. Similar expression for angular rate are angular velocity and rotational velocity.
  • the angular data may be described in a superior coordinate system (e.g. crane coordinate system).
  • the angular data may describe indirectly an angle of a rope of a crane.
  • the term crane has to be understood broadly and relates to any material handling system with a hook and/or crane rope and/or beam.
  • the crane may be an overhead crane, a mast/stacker crane, a trolley or the like.
  • the crane may comprise at least one drive unit.
  • the term structural element has to be understood broadly and in particular relates to a structural element, which is indicative to an oscillating load of a crane, when measuring the angular rate data of the structural element.
  • the structural element may be a hook of a crane.
  • the structural element may be a tip of a mast/stacker of crane.
  • anti-sway control model has to be understood broadly and in particular relates to a model configured to describe a relation between input angular data of a structural element and output motion control data of a drive unit of a crane.
  • the anti-sway control model may comprise a cost function for minimizing an angular data of the structural element.
  • the anti-sway control model may be part of a feedback control.
  • the anti-sway control model may comprise one or more motion equations describing the motion of a crane, wherein the crane may be described as multibody system (e.g. hook, rope, bridge, etc.) with one or more degrees of freedom.
  • the motion equation may comprise a mass of a load, a mass of a trolley, a length of the rope etc.
  • the anti-sway control model may add an offset to the speed reference data (part of speed data) for compensating the load oscillation. This offset may be calculated based on an angular data which may be acquired by an inertial measurement unit (IMU) / a gyroscope mounted at the hook (in case of an overhead crane) or at the tip of the mast (in case of a stacker crane).
  • the anti-sway control model may calculate a damping term that is added to a torque reference of the control of the drive unit of the crane.
  • the anti-sway control model may calculate the damping term on basis of the angular data, more particular on basis of an angle and an angular rate of the structural element.
  • the anti-sway control model may calculate a damping term that is added to a speed reference of the speed control loop of control of the crane. This might be advantageous as lower torque references can remain untouched.
  • the speed reference may have different sources: For speed-controlled cranes (manual control by a human operator), speed reference may be the output of the motion profile generator (with or without anti-sway shaping). For position-controlled cranes (automatic control), speed reference may be the summation of the output of the position control loop and a speed feed-forward term from the profile generator.
  • the term motion control data has to be understood broadly and relates in particular to data configured to control a drive unit in particular a driving axle.
  • the motion control data may be received from a control of the drive unit and used for controlling the drive unit or the respective driving axle (e.g. a pinion rack drive of a bridge of an overhead crane).
  • the term drive unit has to be understood broadly and relates in particular to a drive unit of crane configured to drive the crane from a spatial position to a further spatial position.
  • the drive unit may comprise at least a control and at least one driving axle.
  • the term driving axle has to be understood broadly and relates in particular to an electro mechanical motor and a gear configured to generate mechanical movement of a part of the crane or of the entire crane.
  • the driving axle may be a ball screw drive, a pinion rack drive, a winch motor, a belt drive or the like.
  • the crane may have one or more driving axles.
  • the term inertial measurement unit has to be understood broadly and relates to any electronic device configured to measure an angular rate of a structural element.
  • the inertial measurement unit may comprise one or more or a plurality of the following an accelerometer, a gyroscope, and/or a magnetometer.
  • the inertial measurement unit may have a processing unit, an interface configured for data exchange, a storage means.
  • IMU inertial measurement unit
  • Such a sensor may provide the angular rate as a signal. For an ideal angular rate signal, one could calculate the rope angle by integration over time.
  • gyroscope signal may always be subject to a (potentially temperature- and time-dependent) bias.
  • An angle signal calculated from mere integration would thus be subject to drift.
  • a high-pass filtering to the angular rate signal prior to integration may be advantageous.
  • the high-pass and the integrator can be subsumed into a single filter.
  • second-order high-pass filtering can be employed to remove an offset in the angle estimate depending on the sensor quality.
  • closed loop control has to be understood broadly and relates in particular to control wherein a measurement value (e.g. angular rate data) is used as feedback for controlling the drive unit of the crane.
  • the closed loop control is opposite of an open loop control.
  • the closed loop control may lead to a more efficient anti sway control in comparison to an open loop control, especially if some of the system parameters are not exactly known of if the crane is subject to external disturbances such as wind.
  • the closed loop control may lead to a safer operating of the crane.
  • the closed loop control may lead to a more efficient operating of the crane due to less waiting (e.g. due less swing out time of the load).
  • the term first trigger signal has to be understood broadly and relates in particular to a signal configured to start the method for operating the crane in an anti-sway mode (i.e. reduced oscillation of a load moved with crane).
  • the trigger signal may be derived from a motion control profile. E.g., at stops or end position of the movement a trigger signal is generated to start the operating the crane in an anti-sway mode as described above.
  • a motion control profile E.g., at stops or end position of the movement a trigger signal is generated to start the operating the crane in an anti-sway mode as described above.
  • the anti-sway control model may not be active respectively the anti-sway control model may not be required to determine motion control data.
  • the trigger signal may "activate" the anti-sway control model in the vicinity of the target.
  • the term second trigger signal has to be understood broadly and relates in particular to a signal configured to stop the method for operating the crane in an anti-sway mode.
  • the stop of the method for operating the crane in an anti-sway mode may lead to operate the crane in a conventional mode (i.e. without anti-sway mode). In other words, when the described method is stopped, the crane is still operating without the anti-sway mode.
  • the second trigger signal may be derived from the motion control profile (i.e. position controlled, automatic operation) or from a motion profile generator (i.e. speed reference produced by motion profile generator is far away from zero, speed controlled, manual operation).
  • the term motion control profile has to be understood broadly and relates in particular to a profile configured to describe position, velocity and/or acceleration of a crane or parts of the crane.
  • the motion control profile may be used to control a crane in an automatic mode and/or in a manual mode.
  • the motion control profile may be part of control file used of control for controlling the crane respectively the drive unit of the crane respective the driving axles of the crane.
  • gain adaption has to be understood broadly and relates in particular to an adaption of the one or more controlling parameters of the controller of the drive unit for controlling the drive unit after receiving the first trigger signal or the second trigger signal.
  • the gain adaption may be applied to the speed loop of the control of the drive unit of the crane.
  • the one or more controlling parameters of the controller of the drive unit are de-tuned substantially. This may allow to achieve decent damping rejection with relatively small gains.
  • a dead-band filter may added to the output of the anti-sway control model. This may be advantageous as the IMU quality may not be ideal, which may result in too much control action for small rope angles. As long as both estimated rope angle and angular rate (i.e. angular data) are sufficiently small, the motion control data may be set to zero.
  • This dead-band can also be used to detect if the oscillation has been cancelled out and therefore to trigger switching back to the tracking parameters of the speed PI (and de-activated damping injection). This may be especially relevant for position-controlled cranes as the damping injection controller may result in positioning errors of the trolley. After cancelling out the oscillation, the position and speed controller may have to move the trolley back to the programmed target position. This may be preferably to be done with small position controller gain to prevent excitation of load oscillations.
  • asymmetric rate limiting has to be understood broadly and relates in particular to a gentle fade in of the method when receiving the first trigger signal and to an instantaneously switch off the method when receiving the second trigger signal.
  • This may be advantageous to prevent control signal spikes when starting to provide the motion control data for the drive unit of the crane to a control of the drive unit and to control the drive unit of the crane according to the provided motion control data.
  • This may be advantageous to prevent an interaction with a tracking controller of the drive unit when stopping to provide the motion control data for the drive unit of the crane to a control of the drive unit and to control the drive unit of the crane according to the provided motion control data.
  • Units and/or devices and/or controls and/or controllers may be implemented using hardware, software, and/or a combination thereof.
  • hardware devices may be implemented using processing circuitry such as, but not limited to, a processor, Central Processing Unit (CPU), a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a System-on-Chip (SoC), a programmable logic unit, a microprocessor, or any other device capable of responding to and executing instructions in a defined manner.
  • processing circuitry such as, but not limited to, a processor, Central Processing Unit (CPU), a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a System-on-Chip (SoC), a programmable logic unit, a microprocessor, or any other device capable of responding to and executing instructions in a defined manner.
  • CPU
  • Units or devices may include one or more interface circuits.
  • the interface circuits may include wired or wireless interfaces that are connected to a local area network (LAN), the Internet, a wide area network (WAN), or combinations thereof.
  • LAN local area network
  • WAN wide area network
  • the functionality of any given device or unit of the present disclosure may be distributed among multiple units or devices that are connected via interface circuits.
  • Units and/or devices may also include one or more storage devices.
  • the one or more storage devices may be tangible or non-transitory computer-readable storage media, such as random access memory (RAM), read only memory (ROM), a permanent mass storage device (such as a disk drive), solid state (e.g., NAND flash) device, and/or any other like data storage mechanism capable of storing and recording data.
  • the one or more storage devices may be configured to store computer programs, program code, instructions, or some combination thereof.
  • determining also includes “initiating or causing to determine”
  • generating also includes “initiating or causing to generate”
  • providing also includes “initiating or causing to determine, generate, select, send or receive”.
  • “Initiating or causing to perform an action” includes any processing signal that triggers a computing device to perform the respective action.
  • Figure 1 shows a flow diagram of an example method for operating a crane.
  • step S100 angular data of a structural element of a crane received.
  • the crane is in the present example an overhead crane.
  • the structural element is a hook of the crane.
  • the angular data may be received by an inertial measuring unit arranged in the hook.
  • the inertial measuring unit may be in wired or wireless data connection with a device or processor executing the described method.
  • step S110 an anti-sway control model is provided configured to describe a relation between input angular data of a structural element of a crane and output motion control data for a drive unit of the crane.
  • Step S120 comprises determining motion control data for a drive unit of the crane by inputting the received angular data into the anti-sway control model.
  • the motion control data may comprise speed data and/or position data for controlling the crane, respectively the drive unit of the crane.
  • the drive unit comprises a driving axle, wherein the driving axle is a pinion crack drive for driving the bridge of the overhead crane.
  • Step S130 comprises providing the motion control data for the drive unit of the crane to a control of the drive unit and controlling the drive unit of the crane according to the provided motion control data.
  • the method may be carried out in closed loop manner. This may be advantageous in terms efficiency, reliability and safety in comparison to an open loop control.
  • the method may further comprise receiving a first trigger signal configured to start: providing the motion control data for the drive unit of the crane to a control of the drive unit and controlling the drive unit of the crane according to the provided motion control data.
  • the method may further comprise receiving a second trigger signal configured to stop: stop providing the motion control data for the drive unit of the crane to a control of the drive unit and controlling the drive unit of the crane according to the provided motion control.
  • the method may further comprise a gain adaption of one or more controlling parameters of the controller of the drive unit for controlling the drive unit after receiving the first trigger signal or the second trigger signal.
  • the method may further comprise an asymmetric rate limiting for starting: providing the motion control data for the drive unit of the crane to a control of the drive unit and controlling the drive unit of the crane according to the provided motion control data; the method and/or for stopping: providing the motion control data for the drive unit of the crane to a control of the drive unit and controlling the drive unit of the crane according to the provided motion control data.
  • FIG. 2 shows a schematic illustration of an example device 200 for operating a crane.
  • the device 200 comprises a receiving unit 210 configured to receive angular data of a structural element of the crane; a first providing unit 220 configured to provide an anti-sway control model configured to describe a relation between input angular data of a structural element of a crane and output motion control data for a drive unit of the crane; a determining unit 230 configured to determine motion control data for a drive unit of the crane by inputting the received angular data into the anti-sway control model; a second providing unit 240 configured to provide the motion control data for the drive unit of the crane to a control of the drive unit; a control 250 configured to control the drive unit of the crane according to the provided motion control data.
  • Figure 3 shows a concept scheme of the example device for operating a crane.
  • the receiving unit 300 receives angular data from an inertial measurement unit arranged e.g. at hook of the crane.
  • the receiving unit 300 may estimate based on angular rate and/or angle of the hook an angle of the rope of the crane.
  • the angular data is transmitted to a calculation unit 310 which is configured to provide the anti-sway control model and to determine motion control data for the drive unit of the control by inputting angular data.
  • the motion control data is transmitted to a control 330 of the drive unit of the crane.
  • the concept may optionally also comprise a trigger unit 320 configured to receive a first trigger signal configured to start providing the motion control data for the drive unit of the crane to a control of the drive unit and controlling the drive unit of the crane according to the provided motion control data.
  • the trigger unit 320 may further be configured to receive a second trigger signal configured to stop providing the motion control data for the drive unit of the crane to a control of the drive unit and controlling the drive unit of the crane according to the provided motion control data.
  • the trigger unit 320 may further be configured to provide a gain adaption of one or more controlling parameters of the controller of the drive unit for controlling the drive unit after receiving the first trigger signal or second trigger signal.
  • the trigger unit 320 may further be configured to provide an asymmetric rate limiting for starting providing the motion control data for the drive unit of the crane to a control of the drive unit and controlling the drive unit of the crane according to the provided motion control data and/or for stopping providing the motion control data for the drive unit of the crane to a control of the drive unit and controlling the drive unit of the crane according to the provided motion control data.
  • One major challenge in controlling cranes may be load oscillations.
  • a load or a tip of a stacker crane inevitably may start swinging.
  • Anti-sway (or anti-pendulum) control schemes may aim at suppressing such oscillations.
  • Input shaping approaches may achieve this by properly modifying the motion control profiles such that oscillations may not be excited in a first place.
  • open-loop approaches may face to conceptual challenges: Firstly, they may rely on a well-known model to achieve robust performance. Secondly, they cannot take care of external disturbances such as wind forces on the load.
  • solutions also aiming at robust outdoor operation may be in need of an additional feedback-based device for operating a crane.
  • Key challenges for such a sensor-based device for operating a crane may be (a) acquisition of the required signals by means of affordable and easy-to-integrate instrumentation, (b) integration into the overall control structure of the drive unit, and (c) making sure to not interfere with motion profile tracking controls.
  • the computer-implemented method for operating a crane may allow to reject external disturbances (e.g. wind) and may therefore be suitable for outdoor operation.
  • the feedback-based method may improve robustness of anti-sway with respect to uncertain parameters.
  • Feedback-based anti-sway is currently realized using an external rope angle sensor and a dedicated controller.
  • the main benefits of the method proposed in this invention disclosure may comprise: (a) The method may be fully integrated into the drive unit, combining speed / position control and feedback-based anti-sway internally and ensuring seamless coordination of anti-sway and tracking control. (b) The method solely may rely on angular rate data, which can be obtained from a gyroscope mounted at the hook. No direct rope angle measurement is needed. (c)
  • the proposed feedback-based anti-sway method for operating a crane can be combined with open-loop anti-sway approaches (both in speed and position control).
  • the proposed method for operating a crane may propose to add a compensation signal to the speed data.
  • This offset may be calculated based on an angular rate data which may acquired by an inertial measurement unit (IMU) / a gyroscope mounted at the hook (in case of an overhead crane) or the tip of the mast (in case of a stacker crane). Due to a special controller design and tuning no direct rope angle measurement may be required.
  • the damping signal i.e. compensation
  • the former may only be activated in the vicinity of the target (i.e. when the position reference profile is close to the programmed target in position control mode or when the shaped speed reference profile may be close to zero in speed control mode) and a tailored controller tuning procedure is proposed.
  • the computer program element might therefore be stored on a computing unit of a computing device, which might also be part of an embodiment.
  • This computing unit may be configured to perform or induce performing of the steps of the method described above. Moreover, it may be configured to operate the components of the above described system.
  • the computing unit can be configured to operate automatically and/or to execute the orders of a user.
  • the computing unit may include a data processor.
  • a computer program may be loaded into a working memory of a data processor.
  • the data processor may thus be equipped to carry out the method according to one of the preceding embodiments.
  • This exemplary embodiment of the present disclosure covers both, a computer program that right from the beginning uses the present disclosure and computer program that by means of an update turns an existing program into a program that uses the present disclosure.
  • the computer program element might be able to provide all necessary steps to fulfill the procedure of an exemplary embodiment of the method as described above.
  • a computer readable medium such as a CD-ROM, USB stick, a downloadbale executable or the like, is presented wherein the computer readable medium has a computer program element stored on it which computer program element is described by the preceding section.
  • a computer program may be stored and/or distributed on a suitable medium, such as an optical storage medium or a solid state medium supplied together with or as part of other hardware, but may also be distributed in other forms, such as via the internet or other wired or wireless telecommunication systems.
  • the computer program may also be presented over a network like the World Wide Web and can be downloaded into the working memory of a data processor from such a network.
  • a medium for making a computer program element available for downloading is provided, which computer program element is arranged to perform a method according to one of the previously described embodiments of the present disclosure.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
EP21200090.5A 2021-09-30 2021-09-30 Fonctionnement d'une grue Pending EP4159660A1 (fr)

Priority Applications (1)

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EP21200090.5A EP4159660A1 (fr) 2021-09-30 2021-09-30 Fonctionnement d'une grue

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5526946A (en) * 1993-06-25 1996-06-18 Daniel H. Wagner Associates, Inc. Anti-sway control system for cantilever cranes
US5785191A (en) * 1996-05-15 1998-07-28 Sandia Corporation Operator control systems and methods for swing-free gantry-style cranes
WO2013041770A1 (fr) * 2011-09-20 2013-03-28 Konecranes Plc Commande de grue
WO2015074886A1 (fr) * 2013-11-25 2015-05-28 Vinati S.R.L. Dispositif et procédé de commande d'un balancement d'une charge suspendue à un appareil de levage
JP2021031211A (ja) * 2019-08-20 2021-03-01 村田機械株式会社 スタッカクレーン

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5526946A (en) * 1993-06-25 1996-06-18 Daniel H. Wagner Associates, Inc. Anti-sway control system for cantilever cranes
US5785191A (en) * 1996-05-15 1998-07-28 Sandia Corporation Operator control systems and methods for swing-free gantry-style cranes
WO2013041770A1 (fr) * 2011-09-20 2013-03-28 Konecranes Plc Commande de grue
WO2015074886A1 (fr) * 2013-11-25 2015-05-28 Vinati S.R.L. Dispositif et procédé de commande d'un balancement d'une charge suspendue à un appareil de levage
JP2021031211A (ja) * 2019-08-20 2021-03-01 村田機械株式会社 スタッカクレーン

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