ES2198412T3 - CONTROL AND DRIVING SYSTEM FOR THE DISPLACEMENT SPEED OF A PENDULAR LOAD AND LIFTING EQUIPMENT INCLUDING A SYSTEM OF THIS TYPE. - Google Patents

Abstract

THE INVENTION CONCERNS A CONTROL AND COMMAND SYSTEM OF THE DISPLACEMENT OF A PENDULAR LOAD. THE SYSTEM ACCORDING TO A PREFERRED VARIANTE OF THE INVENTION INCLUDES A SPEED CONTROL (CVIT), A RAMP GENERATOR (G RAMPE) AND CIRCUITS (100) OF SPEED CONTROL (V (P)) OF THE PENDULAR LOAD. ACCORDING TO THE INVENTION, A RETROACTION CHAIN IS PROVIDED (13) WHOSE OUTPUT IS CONNECTED TO A COMPARATOR INPUT (140) THAT RECEIVES A SPEED COMMAND SIGNAL ON ITS OTHER ENTRANCE. THE RETROACTION CHAIN (131) IS DETERMINED TO STABILIZE OUTPUT SPEED. APPLICATION TO ASSISTED DRIVING OF LIFTING DEVICES, IN PARTICULAR PORT.

Description

Control and drive system of the travel speed of a pendulum load and apparatus survey comprising such a system.

The present invention relates to a system of control and actuation of the travel speed of a pendulum load

The invention also relates to devices of lifting that include such a system.

The invention particularly applies to port lifting machines such as cranes, dump or container gantry cranes.

In the industrial field of handling and lifting of loads, mainly of containers, a primary objective is to accurately move from one point to another a load suspended by cables in a mobile support, such as a car equipped with engine, and also control and operate the load balancing during the journey.

Now the precision of the displacement essentially depends on the control and damping of the load oscillations during displacement.

A certain number of control procedures for pendulum load shifts already exist, but the maneuver times given by these procedures depend on the Pendulum period consisting of the suspended load.

These procedures present in particular the following inconveniences:

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the movements are calculated before the start of the movement based on the pendular lengths that are also variable during the movement, in particular for lifting devices. The calculation of the movement parameters must therefore be performed before commissioning by performing approximations on the length of the pendulum and on the variation of this;

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in the case of small movements, movements, related to the period of the pendulum, they are necessarily slow;

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It `s difficult take into account the initial conditions not null.

These inconveniences make the accuracy of displacement, if it is sufficient in handling bulk products, it is insufficient in the handling of containers particularly.

In the published French patent application under No. 2,664,885, the requesting Firm has been set by object remedy these inconveniences by proposing a procedure of control of the displacements of a suspended pendulum load of a mobile support horizontally, and displaced from a point of departure to a point of arrival during a journey of duration default, which allows for disturbances to be taken into account and pendulum length variations and make the most of the power of the lifting device in order to reduce the travel times

The aforementioned patent application it also indicates a device for the realization of this process.

Although satisfactory for the objectives set, the procedure described only responds imperfectly to expressed needs for certain applications, particularly if desired, no longer ensure zero balancing at the end of a fixed-term journey, but continuous assistance to driver, whatever the distance to travel.

Indeed, the control systems of the technique known perform a speed servomechanism of the support of the lifting cable of the pendulum load (or more generally of the device that does the times).

It is from this provision that, in the support movements, the pendulum load is animated with a harmful balancing for positioning accuracy, in particular when it comes to a bulky object such as a container.

This instability of the load requires a great skill by the driver when he must ensure a precise and fast handling.

Patent DE 1274293 describes a device of the type of the one described in the preamble of claim 1 of the present request

Patent DE 1274293 describes a circuit of regulation that provides that in the drag of the horizontal movement of the suspension point on the cable a circuit of regulation, in order to pilot the mobile support by limiting considerably the load balancing.

However, this system is adapted for a simple pendulum with a cable and not for a pendulum of movement complex with several cables.

In addition, the measuring device of the loading speed in relation to the car cannot be installed in Any lifting machine.

The invention aims to alleviate the drawbacks of the known technique just remembered.

The invention therefore proposes a system of control and actuation of the travel speed of the pendulum load of a lifting device that releases the voltage duct mentioned above.

For this, a servomechanism of the pendulum load speed instead of the speed of the support. The system manages the oscillating behavior of the support-cable-load system and the driver just then have to anticipate the movements pendulums of the load to place it.

The invention therefore has as its object a speed control and drive system displacement of a pendulum load for a machine survey comprising a movable mobile support horizontally and to which the pendulum load is suspended, associating This set of mobile support pendular load with a function of global transfer determined; generating the system that comprises speed drive circuits a signal of demanded speed drive transmitted to circuits of control and actuation of the speed of the mobile support and a feedback chain that reinjects, at the entrance of the support speed control and drive circuits mobile, a signal that depends on a signal representative of the real speed of the pendulum load; the speed being obtained actual pendulum load combining the support speed of absolute speed in relation to a fixed reference, and the pendulum load speed, relative speed relative to support; characterized in that the control and command system of the travel speed of a pendulum load comprises means of accurate and continuous measurement of the parameters of the real speed of the pendulum load that allows the determination of the signal representative of this actual measured speed; including the indicated measuring means second measuring means of the relative speed of the pendulum load relative to the support mobile; comprising the indicated second measurement means:

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measuring means of the variations in the distance that separates the pendulum load from mobile support; Y

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measuring means of the angular distance of the pendulum load in relation to its resting function, comprising an optical radiation generator related to the pendulum load and a camera connected to the mobile support receiving the indicated radiation;

The transfer function associated with the feedback chain is chosen in such a way that the indicated Global transfer function determined to be stable.

The object of the invention is also an apparatus of survey that includes such a system.

The invention has the advantage of a machine driving much simpler and faster, particularly for Experienced drivers

In addition, the device according to the invention can integrate into an automated handling system, is responsible then to ensure the precise positioning of the load to from a position setpoint pre-set

The invention will be better understood and others features and advantages will appear with the reading of the description that follows, with respect to the attached figures and between which:

- Figure 1 is a schematic overview of a port lifting machine that can be equipped with a system for controlling and actuating the speed of displacement of a pendulum load according to the invention;

- Figure 2 is a block diagram of the circuits of a control and drive system of the displacement of a pendulum load according to the Known Technique;

- Figure 3 is a schedule that explains the operation of one of the circuits of said system;

- Figure 4 schematically illustrates the operation of such a system;

- Figure 5 is a schedule that illustrates the load speed variations as a function of time when the system is excited with the help of a signal `` step '' type speed drive;

- Figure 6 is a block diagram of the circuits of a control and drive system of the travel speed of a pendulum load according to the invention;

- Figure 7 is a schedule illustrating the load variations as a function of time when the system according to the invention by a drive signal of type `` step '';

- Figure 8 schematically illustrates the different parameters at play during the displacement of the pendulum load;

- Figure 9 is a block diagram of the system of the invention according to a supplementary embodiment comprising a calculator;

- Figure 10 is a block diagram of a calculator that can be used in the system according to the invention;

- Figure 11 schematically illustrates a practical embodiment example of a lifting device that It uses a system according to the invention.

In what follows, to fix the ideas and without this is limiting the scope of the invention, it will be assumed that the lifting machine is a gantry type port crane used for loading and unloading of containers as well  as for transportation along a road pre-set

Figure 1 schematically illustrates a machine of this type.

The port lifting machine 1 it comprises, according to known techniques, a portico 10 to which it is attached a horizontal boom structure 11. A mobile car 21 can move horizontally along an X direction along of the pen 11. A container 20 is suspended from the carriage mobile 21 by cables 22 whose length variation allows the displacement of the container 20 according to a vertical direction Z. The cable assembly 22 and pendulum load 20 (container) constitutes the pendular system 2.

The provisions are described below. usually retained in the Known Technique for control and lifting machine drive, such as the one just finished remember succinctly with reference to figure 1.

The steering movement is controlled by a continuous regulation of the support speed, that is, the car 21 (figure 1). The main organs of a regulation of this Class are as follows:

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an organ of speed measurement of mobile support 21: a generator impulses or a tachometric dynamo;

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an organ of piloting: an electrotechnical system (for example of the type `` Ward Leonard '') or an electronic system (speed variator by example); Y

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an organ of motorization: an asynchronous or direct current motor.

Figure 2 illustrates the block diagram of a drive and control device 100 according to the technique known.

It comprises a speed drive organ C_ {vit}, driven by the machine driver (no represented), which provides a requested speed signal V_ {dem}.

This speed actuator C_ {vit} drives a ramp generator G_ {RAMPE}. This allows the acceleration of the support to be discarded in order to prevent the motor from developing a torque that is too important to produce mechanical shocks. This function is treated by a motion control system or by a calculator (programmable automaton for example). Knowing the maximum speed V_ {max} of the movement as well as the nominal acceleration to provide A_ {cc}, the ramp time T_ {RAMPE} is calculated simply as follows: T_ {RAMPE} = \ frac {V_ {max}} {2xA_ {cc}} \ eqnum {(1)}

Figure 3 is a time diagram illustrating What has just been explained.

At the moment when t = 0 at t = T, the speed requested is equal to V_ {max} (high part of the diagram), being T a predetermined time interval. Ramp generator G_ {RAMPE} provides a representative R (p) signal at its output of the calculated reference speed V_ {ref} as illustrated at the bottom of the diagram: a slope ramp increasing from t = 0 at t = T_ {RAMPE} (which varies from 0 to V_ {max}), a constant speed (V_ {max}) of t = T_ {RAMPE} at t = T, and a ramp decreasing to zero of t = T at t = T + T_ {RAMPE}, T being the time interval during which the signal is generated of speed drive.

If reference is made again to Figure 2, the signal R (p) representing the calculated reference speed, it is transmitted to the speed regulation system 100 of the set support-cable-load (figure 1: 20 a 22). Actually, in the Known Technique, only the speed of the mobile support 21. This comprises one more actuator a kinematic chain 120 representing the behavior of support. The output signal V_ {Sup} (p) representing the support speed V_ {sup} is reinjected to the input of circuits 120 by means of a loop of counter-reaction 121. At the entrance, there is a comparator 110, which compares the reference signal R (p) with the signal V_ {sup} (p), transmitting the result of this comparison to organ 120.

The transfer function A (p) associated with the mobile support, that is to say with circuits 120 classically obeys the relationship: A (p) = \ frac {K} {1 + \ tau xp} \ eqnum {(2)} relationship in which K is a constant, p a variable and ta the associated time constant.

In classical known technique devices, as illustrated in Figure 2, the pendular system represented by block 130 (control of the cable + load set) is an unstable system. The speed drive signal is transmitted to this system. The output signal V (p) representing the velocity V_ {cha} of the pendulum load is equally unstable. It is naturally a vector value since many components can intervene: angular oscillations, linear displacement, elongation of the cables. The transfer function of the pendular assembly S (p) is due to the relationship: S (p) = \ frac {V (p)} {Vsup (p)} \ eqnum {(3)}

The overall system transfer function is: G (p) = \ frac {V (p)} {R (p)} \ eqnum {(4)}

This function G (p) is not stable either because to the instability of S (p).

As an example, the theoretical answer of a system of this type to a speed drive signal of the `` step '' type is illustrated by figure 5.

It has been represented in this schedule the variations of the speed signal S_ {output} depending on the time t (arbitrary scale) when the system is excited by a step signal S_ {input}.

Theory shows that there is a ripple infinite around an equilibrium position. Naturally it has neglected the damping due to various causes: friction, etc...

Under the described device, it has not been performed any electrical or mechanical speed regulation of the pendulum load. It is the driver of the machine that will close manually load speed regulation loop pendulum to position it accurately.

Figure 4 schematically illustrates this state. in fact. The machine driver has been represented under the DRIVING reference The system 120 (figure 2) for regulating the speed applied to the car, that is the structure that supports the cables 21 (figure 1), receive the drive signals from CONDUC driver speed that drives the drive speed C_ {Vit} (figure 1) by the ramp generator G_ {RAMPE} (figure 1). The regulation system 120 receives in return a signal representative of the real speed of the car 21, by the counter-reaction loop 121.

The CODUC driver `` receives '' information INFO visuals on the effective position of the pendulum load 20, hanging from the end of the wires 22. It is from this visual perception when it will act on the drive of speed C_ {Vit} to anticipate the movements of the load 20. It is therefore the driver who `` elaborates '' the signals of Load speed regulation.

The inherent difficulties are easily conceived to this procedure:

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long learning: requirement of experienced drivers;

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Difference of precision and speed according to drivers;

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influence of the fatigue (performance degradation) and other factors, for weather example: wind, etc.

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etc...

To alleviate these difficulties, the invention provides for a second counter-reaction loop or retroaction. This provision is illustrated by the figure 6.

The common elements in Figure 2 bear the same references and will only be described again when necessary.

The speed regulation system 100 support-cable-load set hereafter includes, at the entrance, a supplementary comparator 140 that receives the representative R (p) signal at a first input of the reference speed V_ {ref} at the generator output of ramp G_ {RAMPE}.

The output of this comparator is transmitted to a of the comparator inputs 110, receiving this in its second input the signal from the first chain of retro-action 121, signal V_ {sup} (p) representative of the support speed V_ {sup}.

The second input of comparator 140 receives, for a second retro-action chain 131, according to a important feature of the invention, a representative signal of the signal V (p), this being in turn elaborated from the actual measured velocity of the pendulum load.

The loop transfer function of retro-action 131 is by convention called H (p).

According to the main characteristic of the invention, it is desired to stabilize the overall transfer function G (p) (relation (4)), in order to obtain a regulation of the pendulum load speed. By this means, it is offered to driver an assistance in driving the machine lifting.

For a non-damped pendular system, S (p) is of form: S (p) = \ frac {(\ omega_ {0}) 2} {(\ omega_ {0}) 2 + p2} \ eqnum {(5)} relation in which \ omega_ {0} is the pulsation of the pendular system.

The counter-reaction chain 131 must be chosen in such a way that the transfer function H (p) allow the above-mentioned stabilization of the global function G (p).

This global function G (p) will be of form preferential a first order or second order mathematical function order. The optimal response is facilitated by a second function order.

The transfer function A (p) (ratio (2)) which has a generally low time constant puede, can to despise

Under these conditions, either G (p) a second order transfer function, it can be represented by the relation: G (p) = \ frac {(\ omega_ {0}) 2} {p2 + 2z \ omega_ {0} p + (\ omega_ {0}) 2}} \ eqnum {( 6)} relation in which \ omega_ {0} is the pulsation of the pendular system, z the damping coefficient and p the variable.

On the other hand G (p) has the general form: G (p) = \ frac {S (p)} {1 + S (p) H (p)} \ eqnum {(7)} since A (p) can be neglected.

The calculation then shows that H (p) responds to the relationship: H (p) = \ frac {2 zp} {\ omega_ {0}} \ eqnum {(8)}

The response of the global system to a signal of `` step '' type drive consists of a infinity of curves, function of the value of z.

Figure 7 illustrates these curves as a function of \ omega_ {0} t, where t is time. For z selected equal to 1, a dampened response is obtained, this in an optimized way. For z chosen less than 1, the system oscillates and for z greater than 1, the system is buffered but the speed of response is degrades

To calculate the loading speed, they must be Take into account two components:

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the speed of support: absolute speed in relation to a fixed reference (for example the ground);

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the speed of balancing, that is a relative speed in relation to support.

The first component is generally Monodirectional: linear vector. It is for example the case of a car 21 rolling along the boom of the lifting machine 1, along the X axis (figure 1).

The second component is more complex. Is accurate take into account angular oscillations around the vertical axis Z (figure 1) and instantaneous variations in cable length 22

It has been schematically illustrated these different parameters in figure 8.

The speed of the mobile support 21 (car) can measured by the same sensor as the one used to obtain the speed regulation of this mobile support 21. This element is common to the known technique. You can use a tachometer or a equivalent measuring device. This provides a signal representative of the amplitude of the velocity vector V_ {sup} of 21 mobile support and its sign. In the illustrated example V_ {sup} It is parallel to the X axis and of identical orientation.

To measure the angle α of the roll with relation to the Z axis that represents the vertical, that is the position of resting the cables 22, an optical system is used that it comprises a chamber 4 and a beacon generating an optical beam 30. It can be for example a laser whose wavelength is chosen to ensure eye safety.

The chamber 4 is integral with the mobile support 21 and it is directed downwards, according to a direction parallel to the Z axis, that is to say substantially to the vertical of the beacon 3. The measurement of the variations of the instantaneous length 1p of the cables 22, is say of the linear component of the velocity along an axis that forms an angle? with the Z axis, can be made of different ways. The devices that allow to obtain this Measurement are well known per se. You can, for example, generate electrical impulses by means (not illustrated in figure 8) coupled to the winding axis of the cables 22. They can be also use optical telemetry media. These means of Telemetry are generally based on the emission of a laser beam reflected or retro-diffused by an obstacle of which one wants to measure the distance. To do this, the time of round trip beam.

The measurements thus made allow for consequently know at all times the variations of the angle ? of the swing and pendulum length `` cables 22-load 20``. It can therefore be deduced with it the relative speed V_ {bal} of the balancing, in relation to the Car 21, in a classic way.

Combining the two speeds, V_ {sup} and V_ {bal}, the absolute speed of the load V_ {cha} is obtained in relation to a fixed reference, for example related to the I usually. It is naturally a vector addition of different components.

In a preferred embodiment variant of the invention, these determinations are made with the help of a calculating.

Preferably, this calculator is a programmable numerical type calculator, the signals represent the various drives and speeds that are provided in the form of binary words or impulse trains.

Figure 9 is a block diagram illustrating device organization of control-drive according to this variant of embodiment of the invention. The regulation system 100 It also includes circuits 120 and 130 similar to circuits of figure 2, a calculator 200. The connections in the form of a data bus. It is admitted accordingly implicitly that the circuitry is numbered, but it does not It is in no case limiting the scope of the invention. Other solutions can be adopted, in particular hybrid solutions: being a part of the analog chain, the other being numerical. Converters will then be used analog-numerical or, conversely, converters Numerical-analog, classic.

The calculator 200 receives, on the one hand, a signal drive R (p) representative of the reference speed and, on the other hand, a signal V (p) representative of the velocity of the pendular load V_ {cha}. From this data, it elaborates a new speed reference or speed drive corrected, transmitted to circuits 120. The operation of the set is analogous to the operation of the circuits described in relationship with figure 6 and it is useless to describe it again.

In a variant not shown, the calculator 200 could directly receive the drive signal from speed and elaborate, with the help of specific circuits appropriate, or by program, the ramp signal as it has been described in relation to figure 3.

The calculator 200 can also be performed at base of a current type micro-computer, provided with specialized interfaces to communicate with the exterior, or based on dedicated signal processing circuits, That is specific.

Figure 10 illustrates, by way of example no limiting, the architecture of a calculator 200. in this example, It is a specialized or dedicated calculator.

The circuits necessary for the acquisition of useful signals for the calculation of the pendulum load speed.

The calculator comprises first circuits of interface 201 receiving signals representative of the offset of support 21 (figure 1).

The purpose of these interface circuits 201 is make the necessary adaptations, electrical and other, between the 200 calculator and outside, to conform the received signals. The output of circuits 201 is transmitted to first circuits 203 data acquisition related to displacements of the mobile support 21 (figure 1). These circuits 203 comprise in General memorization bodies and transform `` raw '' data in binary words usable by first circuits of Signal processing 205 cascaded. These circuits they make a binary word representative of the speed of mobile support 21 (figure 1). The exact configuration of these circuits naturally depends on the nature of the signals of measurement received at the input (count pulses, signals analog, etc ...).

The calculator 200 further comprises a second chain comprising second interface circuits 202 that receive signals representative of the information or data of balancing, second circuits 204 for acquiring this data and second signal processing circuits 206. The latter they produce a binary word representative of the rolling speed

The result of these two calculation chains is combines by means of circuits 207 that have been represented schematically in the form of a comparator whose information to the output are transmitted to third party treatment circuits of signal 208, developing the new speed reference.

Finally, third interface circuits 209 ensure the necessary adaptations between calculator 200 and the exterior (circuits 120: figure 2).

The figures in this figure have not been represented. general circuits, such as power, generators cadence signals (clocks), etc., necessary for good 200 calculator operation. All these circuits are fine known by the person skilled in the art, and it is useless to detail them.

In the same way, the circuit chain necessary for word processing binary representative of the speed drive of reference, binary word based on information generated, first, by the speed drive C_ {vit} (figure 6). This chain is similar to the two chains of calculation illustrated and substantially comprises the same elements. The signal resulting from this elaboration is combined with other signals on circuits 207 or transmitted directly to 208 circuits according to the configuration adopted.

It is also understood that the methods, the circuits and / or the necessary programs to the various calculations: speed calculation from variations of positions, of angles, etc., are well known in themselves.

Finally, the calculator 200 can also be used, advantageously, to elaborate the other signals of drive required for the proper functioning of the device lifting: lifting orders, etc., and which are common to The known technique.

To more accurately illustrate the invention, A concrete embodiment of a speed control and drive device of displacement of the pendulum load of a lifting device, referring to figure 11.

In a particular embodiment of a control and drive device according to the invention, illustrated by this figure, the control device and of drive speed of movement of a pendulum load 20 suspended from a mobile support of a lifting machine 1 it comprises the regulation circuits 100 that include the calculator 200 (figure 9) that you receive on the one hand, at the entrance CL, a pendulum length information from a position encoder 5; at entry B, an information of balancing from chamber 4; and in the CD input, a mobile support scrolling information or information on address, and providing in return, at the exit SL, orders of lifting transmitted to lifting means 6, 7, 8 of the lifting machine 1, and on the SD output, of the orders of address transmitted to address means 19a, 19b.

The lifting means comprise a drum of lifting 8 around which a cable is wound suspension 22 connected to load 20, for example, a container, a reducer 7 and an electric motor 6, arranged according to well known techniques. The lifting motor 6, which is associated the survey encoder 5, is activated, by means of a drive line 12 and an amplifier 13, either to from a lifting lever 14 or by circuits 100, through the SL output above cited

The steering means comprise a roller of steering 19b rolling on a horizontal steering rail 15 related to the lifting machine, a reducer 19a and a electric motor 9 to which an address encoder is attached 16. This steering motor 9 is driven by a line of steering force 17 and a force amplifier 18 by the circuits 100, through the aforementioned SD output.

The swing angle was measured thanks to a camera 4 supportive of the mobile support and whose objective is directed vertically down, as indicated; being the load pendulum 20 equipped with an optical beacon 3 that emits a beam 30 directed up.

The speed drive is performed with the help of a speed drive lever C_ {vit} and it transmits to an EC input of circuits 100. It is assumed, in the illustrated example, that the G_ {RAMPE} ramp generator is arranged inside circuits 100 or that this function is performed by calculator 200.

The invention therefore allows to obtain a effective assistance for piloting of survey, made available to the driver of the machine.

The balancing, by the dispositions taken is controls at all times the movement of the mobile car 21 (figure 1) and whatever the displacement conditions and the factors that influence the behavior of the whole pendulum carriage (wind, etc.).

It therefore allows a precise positioning of the load whatever the distance traveled by the mobile car.

A lifting device equipped with a control and drive device according to the invention you don't need to have to use only drivers experienced and guarantees perfect reproducibility of maneuvers

The invention is not naturally limited to only examples of embodiment precisely described with Reference to the figures.

In the field of survey, the invention is Applies to any lifting device with cables with a load on its end and in particular, without limiting the scope of the invention, to the following apparatus:

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gantry cranes for containers

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gantry cranes tipper

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construction crane (building)

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dump crane or Hook

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crane railway

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easel crane floating

Claims (14)

1. Control and actuation system for the speed of movement of a pendulum load (20) for a lifting machine (1) comprising a horizontally movable mobile support (21) and to which the pendulum load (20) is suspended, this mobile support assembly (21) - pendulum load (20) being associated with a given global transfer function (G (p)); generating the system comprising speed drive circuits (C_ {vit}) a demanded speed control signal (V_ {dem}) transmitted to control and drive circuits (120) of the speed of the mobile support (21) and a feedback chain that injects, at the input (140) of the control and drive circuits (120) of the speed of the mobile support (21), a signal that depends on a signal (V (p)) representative of the real speed (V_ {cha}) of the pendulum load (20); obtaining the real speed (V_ {cha}) of the pendulum load (20) combining the speed of the support (21), absolute speed in relation to a fixed reference, and the speed of the pendulum load (20), relative speed (V_ {bal}) in relation to the support (21); characterized in that the control and actuation system of the displacement speed of a pendulum load (20) comprises exact and continuous measuring means (5, 16, 3, 4) of the real speed parameters (V_ {cha}) of the pendular load that allows the determination of the signal (V (p)) representative of this measured real speed; the indicated measuring means (5, 16, 3, 4) comprising second means of measuring the relative speed (V_ {bal}) of the pendulum load (20) in relation to the mobile support (21); comprising the indicated second measurement means:

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measuring means of the variations of the distance (Ip) that separates the load pendulum (20) of the mobile support (21); Y

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measuring means of the angular distance (?) of the pendulum load (20) with in relation to their resting function, which comprise a generator of optical radiation (30) attached to the pendulum load (20) and a camera (4) connected to the mobile support that receives the indicated radiation (30);

the transfer function being chosen (H (p)) associated with the feedback chain (131) such that the indicated global transfer function determined (G (p)) is stable. 2. System according to claim 1, characterized in that it comprises at the input of said control and drive circuits (120) of the speed of the mobile support (21) a comparator (140), which receives a signal from a first input speed drive (R (p)) and in a second input the output signal of the indicated retro-action chain (131) and that generates a speed correction signal transmitted to the indicated control and control circuits at the output drive (120). 3. System according to claim 1, characterized in that said feedback chain is carried out with the help of a programmable calculator (200) that receives signals (V (p)) representative of the pendulum load speed (20) at a first input ) and in a second input a speed drive signal (R (p)). System according to claim 3, characterized in that the said calculator (200) comprises a first calculation chain (201, 203, 205) intended for the acquisition of displacement data of the support (21), a second calculation chain (202 , 204, 206) intended for the acquisition of balancing data (?, Ip) of the pendulum load (20), means of combinations (207) of the calculations performed by these two chains and a signal processing chain (208 , 209) which generates a corrected speed drive signal from the indicated calculations and said reference speed drive signal (R (p)). System according to claim 4, characterized in that each of the said calculation chains comprises interface circuits (201, 202) with the outside of the calculator, data acquisition circuits (203, 204) and signal processing circuits ( 205, 206) and because the indicated signal processing chain comprises signal processing circuits (208) and interface circuits (209) with the outside of the calculator (200). 6. System according to any one of claims 3 to 5, characterized in that said calculator (200) is of the numerical type. 7. System according to any one of claims 1 to 6, characterized in that said determined global transfer function (G (p)) is a second order mathematical function. System according to any one of claims 1 to 6, in which the transfer function (S (p)) associated with the pendular system (20) suspended by at least one cable (20) with said mobile support (21) It obeys the relationship: S (p) = \ frac {(\ omega_ {0}) 2} {(\ omega_ {0}) 2 + p2} \ eqnum {(6)} in which: \ omega_ {0} is the impulse of the pendular system (20, 22): p a variable; the system being characterized in that the transfer function (H (p)) associated with the indicated feedback chain (131) is chosen such that: H (p) = \ frac {2zp} {\ omega_ {0}}; ratio in which z is a selected parameter greater than or equal to unity. 9. System according to claim 8, characterized in that said parameter Z is chosen equal to the unit. System according to any one of claims 1 to 9, characterized in that the means for measuring the real speed (V_ {cha}) of the pendulum load (20) further comprise first means (5, 16) for measuring the speed absolute (V_ {sup}) of the mobile support (21), in relation to a fixed reference, and means for determining the real speed (V_ {cha}) of the pendulum load (20) from the absolute speed measurements (V_ {sup}) and relative speed (V_ {bal}). 11. System according to claim 10, characterized in that said first measuring means comprise a tachometer. 12. System according to any one of claims 1 to 11, characterized in that it further comprises a ramp generator (G_ {RAMPE}) that receives at the input the demanded speed drive signal (V_ {dem}) provided by the indicated circuits of speed drive (C_ {vit}) and that generate at the output a reference speed drive signal (V_ {ref}) whose rising and falling edges have a determined maximum slope representative of a predetermined acceleration (A_ {cc }). 13. Lifting apparatus (1), characterized in that it comprises a control and actuation system for the displacement speed of a pendulum load (20) associated to it, according to any one of claims 1 to 12 in order to obtain assisted driving of the device. 14. Apparatus according to claim 13, characterized in that it is constituted by a port lifting machine (1) and that the pendulum load (20) is a container.