EP4182256A1 - Appareil de levage, tel qu'une grue, et procédé et appareil de commande d'un tel appareil de levage - Google Patents

Appareil de levage, tel qu'une grue, et procédé et appareil de commande d'un tel appareil de levage

Info

Publication number
EP4182256A1
EP4182256A1 EP21765650.3A EP21765650A EP4182256A1 EP 4182256 A1 EP4182256 A1 EP 4182256A1 EP 21765650 A EP21765650 A EP 21765650A EP 4182256 A1 EP4182256 A1 EP 4182256A1
Authority
EP
European Patent Office
Prior art keywords
filter
pendulum
speed signal
hoist
boom
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
EP21765650.3A
Other languages
German (de)
English (en)
Inventor
Sebastian STEHLE
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 Werk 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.)
Filing date
Publication date
Application filed by Liebherr Werk Biberach GmbH filed Critical Liebherr Werk Biberach GmbH
Publication of EP4182256A1 publication Critical patent/EP4182256A1/fr
Pending legal-status Critical Current

Links

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

  • Hoist such as a crane and method and device for controlling such a hoist
  • the present invention generally relates to hoists such as cranes or cable excavators, in which a load-handling device is suspended on a boom in the manner of a pendulum via a hoisting cable so that it can be raised and lowered, the boom and/or a trolley that can be moved on the boom being used to move the load-carrying device to a desired position , from which the hoist rope runs, is moved by means of at least one drive device, with a setpoint speed signal being specified for the at least one drive device.
  • the invention relates in particular to a method and a device for controlling such a crane or cable excavator, in which the setpoint speed signal specified for the at least one drive device is subjected to a sway-damping influence.
  • the drive devices mentioned are usually actuated and controlled by the crane operator using appropriate operating elements such as joysticks, toggle switches, rotary knobs and sliders and the like, which experience has shown requires a lot of feeling and experience in order to approach the target points quickly and yet gently without major pendulum movements of the load hook . While the target points should be driven as quickly as possible in order to achieve a high work output, the target point should be stopped gently without the load hook swinging with the load attached to it.
  • the load hook of other types of cranes such as telescopic jib cranes or luffing jib cranes, in which the load hook movement is generated not only by twisting the superstructure but also mainly by the luffing up and down of the jib and, if necessary, telescoping in and out, or the gripper of a cable excavator, tends to oscillating movements which should be avoided as much as possible.
  • the pendulum problem mentioned occurs with hoists whose load handling attachments are suspended over long hoist ropes in a pendulum manner on a boom that is itself adjusted or has an adjustable hoist rope stop such as a trolley in order to move the load attachment attachment.
  • Such anti-sway devices for cranes are known in various designs, for example by controlling the slewing gear, luffing and trolley drives as a function of certain sensor signals, for example inclination and/or gyroscope signals.
  • certain sensor signals for example inclination and/or gyroscope signals.
  • the documents DE 20 2008 018 260 U1 or DE 10 2009 032 270 A1 show known load swing damping on cranes, to the subject of which reference is expressly made in this respect, ie with regard to the basics of the swing damping device.
  • a gyroscope unit is used to measure the cable angle relative to the vertical and its change in the form of the cable angular velocity in order to automatically intervene in the control when a limit value for the cable angular velocity relative to the vertical is exceeded.
  • a load swing damping system for maritime cranes is known from the Liebherr company under the name "Cycoptronic", which calculates load movements and influences such as wind in advance and, based on this precalculation, automatically initiates compensation movements to prevent the load from swinging avoid.
  • this system also uses gyroscopes to record the cable angle relative to the vertical and its changes in order to intervene in the control depending on the gyroscope signals.
  • control systems that are intended to eliminate or at least dampen the swaying of the load handling device require a more or less complex sensor system in order to be able to detect the swaying movements and to be able to derive countermeasures from the swaying movements detected.
  • the documents WO 2017/178106 A1 or WO 2020/001991 A1 propose attaching so-called IMUs, ie inertial measuring devices, to the load hook or the load attached thereto in order to be able to draw conclusions about the pendulum movement from the IMU signal.
  • IMUs ie inertial measuring devices
  • Other pendulum damping devices work with gyroscopes or optical sensors to track pendulum movements of the load hook.
  • the target signal only occurs after 6.3 seconds.
  • the implementation of such an input shaper is quite complex, since the convolution of two signals over the oscillation period - i.e. approx. 6.3 seconds in the above example - has to be carried out, which at a sampling rate of, for example, 25 milliseconds for storing 254 sampled values.
  • the present invention is therefore based on the object of creating an improved hoist of the type mentioned and improved methods and devices for controlling it, which avoid the disadvantages of the prior art and develop the latter in an advantageous manner.
  • a quickly and dynamically responding control is to be created without a complex sensor system, which effectively dampens or prevents pendulum movements.
  • the setpoint speed signal specified for the at least one drive device for moving the load-carrying means to filtering, which filters out the natural frequency of the pendulum from the setpoint signal, and to use a suitable filter device for this purpose.
  • the natural frequency of the pendulum is filtered out of the predetermined target speed signal by means of a filter, which is tuned to the natural frequency of the pendulum comprising the hoisting cable that can be raised and lowered, and the target speed signal filtered in this way is used to control the drive device.
  • the setpoint speed signal which is subjected to the frequency filtering mentioned, can be specified by a machine operator in a conventional manner, for example by actuating a joystick, as is customary in crane or cable excavator driver's cabs for actuating and controlling the drives. or a slider or rotary control or other input device.
  • the target speed signal can also be specified automatically by a control module, such as a distance or target control, and then filtered in the manner mentioned.
  • the specified setpoint speed signal can be processed by an acceleration-limiting ramp shaper or generator in addition to frequency filtering, in order to avoid excessive acceleration of the translational movement of the load handling device or the accelerations implied by the setpoint speed signal, for example as a result of being too violent or too fast joystick movements, limit.
  • Such a ramp generator or rate limiter module can process and convert the setpoint speed signal specified manually or semi-automatically before the setpoint speed signal, which is limited in terms of acceleration or processed by the ramp generator module, is then subjected to the frequency filtering mentioned.
  • a parameterizable and/or adjustable filter is used for the frequency filtering, which is set continuously or cyclically with regard to a frequency band to be filtered during crane or cable excavator operation depending on a sinking depth of the hoist cable or the load handling device.
  • a different frequency band is filtered out of the specified target speed signal, whereby the frequency band is preferably set as a function of the respective sinking depth in such a way that it records the natural frequency of the pendulum.
  • the respective lowering depth of the load handling device or the hoist rope can be determined in various ways, for example by detecting the position of the hoist or hoist drive and/or by a sensor system that detects the unwound cable length or the distance between the load handling device and the boom.
  • control device can manage with only one lowering depth detection device and dispense with further sensors, as is required with other anti-sway devices, although further sensors can be provided beyond the lowering depth sensor, in particular for a more complex determination of the natural frequency to be filtered out.
  • the natural frequency of the pendulum can be determined from the sinking depth, assuming a mathematical pendulum. Since the loads hanging on the load hook or the filled excavator grab is very heavy compared to the weight of the hoisting rope and the load handling device, using the model of a mathematical pendulum as a basis can achieve sufficient accuracy when determining the natural frequency, taking into account a certain bandwidth of the filter band Certain inaccuracies or shifts in the natural frequency compared to the mathematical pendulum can also be recorded.
  • the oscillating movement is known to be determined by the two coupled differential equations where w is the angular velocity, g is the acceleration due to gravity, I is the sinking depth or thread length and ⁇ p is the deflection angle from the vertical. Since only small deflection angles ⁇ p occur regularly with pendulum movements on cranes, cable excavators or similar lifting gear, the aforementioned term can be can be assumed, so that the natural frequency of the pendulum, assuming a mathematical pendulum, is derived from the lowering depth I of the lifting device or the hoist rope according to the relationship can be determined where where is the natural frequency.
  • a mathematical model can still be used as a basis and the sinking depth can be corrected accordingly, with e.g the lowering depth of the hoist rope or the lifting device detected by sensors can be supplemented or corrected by a correction value, which can be entered manually, for example, via an input device, for example on the machine operator's stand, or by an additional sensor that measures the length of the sling and/or the extension of the load can be determined.
  • a sling used in each case can also be automatically recorded, for example by reading in a transponder attached to the sling when the sling is attached to the load hook, by the length of the sling or the resulting distance automatically provided by the load handling device of the control device.
  • a notch filter is used to filter the specified target speed signal.
  • a notch filter is easy to implement and parameterize.
  • the bandwidth of the filter can be controlled or adjusted via the adjustable filter quality of the notch filter, as a result of which the robustness of the method can be influenced.
  • a larger bandwidth leads to better robustness with, however, somewhat reduced dynamics.
  • the filter can be switched off or the natural frequency filtering can be switched off. Due to the fact that the natural frequency is filtered out of the control signal, an already existing vibration can regularly no longer be driven out. In order to be able to eliminate such already existing vibrations or pendulum movements, it is helpful to provide a quick and easy way to switch the natural frequency filter function on and off, in order to enable the machine operator to counter movement requirements without impairing the dynamics of such countermeasures through the filtering.
  • a switch-off device for switching off the frequency filtering can be provided at the control station or on the control device such as a remote control, which can include input means, for example in the form of a manual button and/or a detection device for detecting a switch-off request, for example in the form of one on/off switch integrated into the joystick, for example in the form of a push button attached to the joystick.
  • a gesture detection device as the detection device for detecting the switch-off request, which can detect a switch-off request given by gesture, for example in the form of a hand movement, which is detected by the gesture detection device.
  • such a gesture detection device can detect counter movement requests on the joystick in order to deactivate the filter function when such a counter movement is entered on the joystick.
  • a countering joystick movement is a reversal of the joystick from positive to negative deflection or vice versa.
  • Such a countering joystick movement can be detected or understood as an intuitive gesture by the machine operator, since countering intuitively attempts to stop the drive device more quickly, which can actually be achieved by switching off the filtering.
  • the gesture detection device can include a motion sensor assigned to the input means for the setpoint speed signal, which is designed to detect countering input commands that reverse the direction of movement of the drive device and to provide a signal, based on which the control device then switches off the filter device or suspends the filtering.
  • FIG. 1 a perspective representation of a tower crane, on the jib of which a movable trolley is provided, from which a hoist cable runs to a load-carrying means in the form of a load hook
  • 2 shows a schematic representation of the control device for controlling the crane from FIG. 1 , the control device having a frequency filter for filtering the target speed signal, the filter band of which can be adjusted as a function of the natural frequency of the pendulum formed by the hoist rope and the load attached to it,
  • Fig. 3 Two simulation diagrams showing the course of various system states of the crane, in particular the adjustment path, the acceleration, the deflection angle and the angular acceleration, over time when the load hook is moved, with partial view a showing the signal courses without natural frequency filtering and partial view b show the waveforms with frequency filtering, and
  • Fig. 4 a diagram showing the angular deflection and the vibration amplitude versus frequency.
  • a crane 1 can be provided as the hoist, which can be designed in the form of a tower crane.
  • the crane 1 has a boom 3 which is arranged on a tower 2 or possibly an upper carriage and can be rotated about an upright axis 5 by a slewing gear 6 .
  • the jib 3 can be braced via guying, for example on a counter-jib 4 which can carry a ballast weight.
  • the jib 3 can extend horizontally, but can also be luffed up and down via a luffing mechanism.
  • a hoist rope 7 runs from the boom 3, to which a load handling device 8 is articulated, for example in the form of a load hook, for example it can be reeved via a deflection block.
  • the hoist rope 7 can run off a trolley 9 which is movably mounted on the boom 3 and can be moved along the boom 3 by a trolley drive 10 .
  • a control stand 11 which can be arranged on the tower 2, can have input means such as joysticks, slide or rotary switches, a touch screen or other input means in a manner known per se in order to be able to enter control commands for the drive devices of the crane 1, in particular target speed signals for the Trolley drive 10, the slewing gear drive 6 and the hoist drive for the hoist rope 7 and, if necessary, for a luffing drive for luffing up and down the boom 3 and/or a telescoping drive for telescoping the boom 3 in and out.
  • the crane 1 can optionally also be operated from a remote control, which can have appropriate input means for entering control commands.
  • the desired speed signals mentioned in the form of a desired speed can be entered manually by the crane operator, for example by tilting or adjusting joysticks.
  • automated or semi-automated control modules can also be provided, which, for example, enable a specific point to be approached or a specific route to be traveled.
  • a predetermined target speed signal which actuates one or more of the drive devices mentioned and is intended to move the load hook in translation, is processed by a control device 12 or subjected to signal processing before the target speed signal is actually sent to the drive device for activation.
  • the predetermined desired speed signal for example entered on a joystick, can first be fed to a ramp generator 13 or a rate limiter module for limiting the acceleration of the translatory movement of the load hook or processed by such a ramp generator 13 .
  • said ramp generator 13 can limit the setpoint speed signal in terms of its slope and/or flatten the ramp-shaped setpoint speed signal in order to to limit and/or reduce accelerations generated by the movement of the load hook.
  • signal processing by a ramp generator 13 is not mandatory in every case.
  • the ramp generator 13 could be omitted entirely and/or a pre-filter for pre-filtering the target speed signal could also be provided.
  • a low-pass filter in particular of the first order, could be provided for pre-filtering the specified desired speed signal v_soll.
  • the setpoint speed signal v_soll_lim preprocessed by the ramp generator 13 and limited in particular with regard to the acceleration, is fed to a filter 14 in order to eliminate the natural frequency of the pendulum in the setpoint speed signal.
  • the specified desired speed signal v_soll or the possibly low-pass filtered signal can also be supplied directly to the filter 14 in order to be filtered with regard to the natural frequency.
  • the filter 14 can advantageously be or comprise a narrow-band filter and/or a notch filter, with the filter 14 being designed to filter out the natural frequency of the pendulum from the setpoint speed signal that is supplied.
  • the use of the notch filter mentioned is particularly advantageous with regard to simple implementation and parameterization, the bandwidth of the filter 14 being able to be controlled via the filter quality, and greater robustness of the method being able to be achieved in this way. A larger filter bandwidth leads to better robustness, but with reduced dynamics.
  • Said filter 14 can be adjusted in terms of its filter band, with the filter band being able to be shifted in particular to different frequency ranges and/or changed in terms of its filter bandwidth.
  • the filter 14 is advantageously continuously or cyclically during crane operation with regard to the frequency band to be filtered--that is, advantageously on-- line - set or adjusted depending at least on the lowering depth of the load hook.
  • filter 14 can be set with regard to its filter band as a function of a calculated or a specific natural frequency of the pendulum formed by hoist rope 7, load-carrying device 8 and the load attached to it, with said natural frequency of the pendulum being at least dependent on the lowering depth of the Can be determined or calculated load handling equipment.
  • the model of a mathematical pendulum can simply be assumed, which is assumed to be a point mass and completely undamped. Since the weight of the attached load is usually much greater than the weight of the hoist rope and load hook, the weight of the hoist rope can be neglected.
  • more complex pendulum models can also be used to determine the natural frequency, in which z. B. the hoist rope mass, damping or possibly the length of a chain sling or other sling can be taken into account.
  • Such a chain sling or sling with a corresponding distance between the load and the load hook and also a load body with greater expansion, which shifts the center of mass downwards, can influence the pendulum model or lead to errors when determining the natural frequency only with the lowering depth of the load hook, so that the lowering depth of the load hook detected by sensors can be corrected accordingly, as was already explained at the outset.
  • control device 12 can have an input means for inputting a correction value for the lowering depth.
  • a correction value for the lowering depth For example, an estimated distance between the center of gravity of the load and the load hook can be entered manually, or a read-in module can be provided for reading in the length of the sling or the type of sling.
  • the natural frequency of the pendulum changes depending on the lowering depth of the load-carrying means 8, ie the distance between the load-carrying means 8 and the boom 3, since the hoist rope 7 is lowered or caught up continuously or repeatedly or several times.
  • the filter band of the filter 14 is adjusted continuously or cyclically during crane operation as a function of the lowering depth I and, if necessary, a correction value.
  • the lowering depth I can be detected or determined by a detection device 15, it being possible for the detection device 15 to be assigned to the hoist drive for the hoist cable 7, for example.
  • the lowering depth I can be determined from the known length of the hoist rope 7 and the respective position of the hoist drum. In principle, however, the lowering depth I can also be determined by another sensor or other means of determination, for example a distance sensor on the trolley 9 or a cable length meter.
  • the control device 12 can do without additional sensors, although additional sensors can be provided for determining additional operating parameters.
  • the filtered target speed signal v_soll_transl is used to control the respective drive device, for example for the trolley drive 10, in order to move the trolley 9 along the boom 3, or for the slewing gear drive 6, to pivot the boom 3 about the axis 5.
  • FIG. 3 illustrates the reduction in oscillations or pendulum movements that can be achieved by said filtering, where x is the travel distance over time, x is the acceleration or change in travel over time, compared to the deflection angle of the pendulum the vertical and ⁇ T> shows the change in deflection angle and angular acceleration, respectively, over time.
  • the setpoint speed signal is used for control without filtering, as shown in partial view a of FIG. 3, significantly larger oscillations or pendulum movements occur, with the angular deflections and angular accelerations in particular being larger.
  • the setpoint speed signal is filtered, as shown in FIG. 3b, the pendulum movements and the deflection angles and angular accelerations associated therewith are significantly smaller.
  • FIG. 4 shows the frequency response in relation to the deflection angle or the amplitude.
  • the control device 12 can have a switch-off device for switching off the filter 14 or deactivating the filter 14 in an advantageous development of the invention.
  • the switch-off device can advantageously include a gesture detection device in order to be able to switch off the filter 14 as a function of a detected gesture by the machine operator.
  • the control device 12 can in particular have additional operating elements on the control stand 11 and/or on a remote control device.
  • a gesture control can be provided, with z. B.
  • the filter function can be deactivated as soon as a counter movement request is executed with the joystick or the input means for entering the target speed signal.
  • a counter movement request can be, for example, a reversal of the deflection of the joystick when it is moved from positive to negative or vice versa.
  • the gesture detection device can also detect a head movement of the machine operator. If, for example, the load hook is moved to the right and the machine operator's head tilts to the left when driving to the right, this can be recognized or interpreted as an intuitive gesture and a desire to counter.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

L'invention concerne un procédé de commande d'un appareil de levage, tel qu'une grue (1) ou un excavateur à câble, un moyen de manipulation de charge (8) étant monté sur une flèche (3) à la manière d'un pendule, par l'intermédiaire d'un câble de levage (7), et la flèche (3) et/ou un chariot (9) qui peut se déplacer sur la flèche (3) est déplacé au moyen d'au moins un dispositif d'entraînement (6; 10). Afin de déplacer le moyen de manipulation de charge (8), un signal de vitesse cible (v_cible) est spécifié pour ledit dispositif d'entraînement (6; 10), la fréquence naturelle du pendule étant éliminée par filtrage du signal de vitesse cible spécifié (v_cible) au moyen d'un filtre (14) et le signal de vitesse cible filtré (v_cible_transl) étant destiné à commander ledit dispositif d'entraînement (6; 10).
EP21765650.3A 2020-10-09 2021-08-20 Appareil de levage, tel qu'une grue, et procédé et appareil de commande d'un tel appareil de levage Pending EP4182256A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020126504.2A DE102020126504A1 (de) 2020-10-09 2020-10-09 Hebezeug wie Kran sowie Verfahren und Vorrichtung zum Steuern eines solchen Hebezeugs
PCT/EP2021/073201 WO2022073680A1 (fr) 2020-10-09 2021-08-20 Appareil de levage, tel qu'une grue, et procédé et appareil de commande d'un tel appareil de levage

Publications (1)

Publication Number Publication Date
EP4182256A1 true EP4182256A1 (fr) 2023-05-24

Family

ID=77627126

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21765650.3A Pending EP4182256A1 (fr) 2020-10-09 2021-08-20 Appareil de levage, tel qu'une grue, et procédé et appareil de commande d'un tel appareil de levage

Country Status (3)

Country Link
EP (1) EP4182256A1 (fr)
DE (1) DE102020126504A1 (fr)
WO (1) WO2022073680A1 (fr)

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US5960969A (en) 1996-01-26 1999-10-05 Habisohn; Chris Xavier Method for damping load oscillations on a crane
US5908122A (en) * 1996-02-29 1999-06-01 Sandia Corporation Sway control method and system for rotary cranes
US5785191A (en) 1996-05-15 1998-07-28 Sandia Corporation Operator control systems and methods for swing-free gantry-style cranes
WO2005012155A1 (fr) * 2003-08-05 2005-02-10 Sintokogio, Ltd. Grue et dispositif de commande de celle-ci
DE102004052616A1 (de) 2004-10-29 2006-05-04 Siemens Ag Verfahren und Steuerungseinrichtung zur Steuerung der Bewegung eines bewegbaren Kranelements eines Kransystems
DE102007039408A1 (de) 2007-05-16 2008-11-20 Liebherr-Werk Nenzing Gmbh Kransteuerung, Kran und Verfahren
DE102007043750A1 (de) 2007-09-13 2009-03-19 Rheinkalk Gmbh Fahrzeug zum Einbringen alkalischer Stoffe in Gewässer
DE102009032270A1 (de) 2009-07-08 2011-01-13 Liebherr-Werk Nenzing Gmbh Verfahren zur Ansteuerung eines Antriebs eines Kranes
DE102016004350A1 (de) 2016-04-11 2017-10-12 Liebherr-Components Biberach Gmbh Kran und Verfahren zum Steuern eines solchen Krans
CN106927366B (zh) * 2017-02-10 2018-12-28 武汉港迪智能技术有限公司 一种桥门式起重机开环防摇方法
DE102017114789A1 (de) * 2017-07-03 2019-01-03 Liebherr-Components Biberach Gmbh Kran und Verfahren zum Steuern eines solchen Krans
JP6834887B2 (ja) * 2017-09-29 2021-02-24 株式会社タダノ クレーン
US10696523B2 (en) 2018-04-17 2020-06-30 Vacon Oy Control device and method for controlling motion of a load
DE102018109234B4 (de) 2018-04-18 2021-03-11 Abus Kransysteme Gmbh Vorrichtung und Verfahren zur Steuerung eines Kransystems
DE102018005068A1 (de) 2018-06-26 2020-01-02 Liebherr-Components Biberach Gmbh Kran und Verfahren zum Steuern eines solchen Krans

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WO2022073680A1 (fr) 2022-04-14
DE102020126504A1 (de) 2022-04-14

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