KR20130005029A - Apparatus and method for controlling vibration of cranes - Google Patents

Apparatus and method for controlling vibration of cranes Download PDF

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Publication number
KR20130005029A
KR20130005029A KR1020110066334A KR20110066334A KR20130005029A KR 20130005029 A KR20130005029 A KR 20130005029A KR 1020110066334 A KR1020110066334 A KR 1020110066334A KR 20110066334 A KR20110066334 A KR 20110066334A KR 20130005029 A KR20130005029 A KR 20130005029A
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South Korea
Prior art keywords
hoist
time
crane
natural frequency
acceleration
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KR1020110066334A
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Korean (ko)
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유기열
최기윤
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유기열
최기윤
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Priority to KR1020110066334A priority Critical patent/KR20130005029A/en
Publication of KR20130005029A publication Critical patent/KR20130005029A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/22—Control systems or devices for electric drives

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

Abstract

PURPOSE: A vibration control device for a crane and a method thereof are provided to efficiently control vibration by changing acceleration hours and deceleration hours in real time based on vibration cycle calculated in real time according to the changed length of a hoist. CONSTITUTION: A vibration control device for a crane(100) comprises an input part(110), a control part(120), and an output part(130). The input part is installed in the front end of a speed controller for controlling the speed of a driving motor(300) for a crane and receives information on the length of a hoist changed in real time and starting and stopping signals. The control part calculates natural frequency based on the information on the length of the hoist receiving from the input part and calculates vibration cycle based on the calculated natural frequency to set acceleration hours or deceleration hours in reference to starting or stopping signals. The output part transfers the acceleration hours or the deceleration hours set by the control part to the speed controlled in real time. [Reference numerals] (110) Input part; (120) Control part; (130) Output part; (200) Speed controller; (300) Driving motor; (AA) Hoist length data; (BB) Driving signal; (CC) Stop signal

Description

Apparatus and Method for controlling vibration of cranes}

The present invention relates to a vibration control device and method of a crane.

Input shaping control, which is one of the vibration control methods, refers to a control for minimizing the shaking of an object during transfer or stop of the object by applying an oscillation of an opposite phase to the initial input after a certain time delay. Related patents are disclosed in US Pat. Nos. 4,997,095 and 5,638,267.

In order to apply such input shaping control to a crane, the natural frequency of the hoist generated when the object is moved may be calculated to generate input shaping corresponding to the inverse of the natural frequency. At this time, in order to calculate the natural frequency, the length of the hoist should be measured in real time.

Referring to FIG. 1, a driving unit 14 of a crane (not shown) is slidably mounted to a rail 12 installed on a ceiling of a large structure. A hoist is installed at the lower part of the driving unit 14, and the hoist includes a motor and a rope 16 that is adjustable in length to the motor, and the object 10 is fixed to the lower end of the rope 16.

In such a crane, when the driving unit 14 is moved, the object 10 fixed to the rope 16 of the hoist moves. At this time, since the object 10 periodically shakes when moving or stopping, the object 10 ) Can not be moved to the desired path, it is difficult not only to stop the object 10 in the correct position, but also takes a long time until the object 10 is completely stopped.

Here, if the natural frequency of the hoist is ω n , the gravitational acceleration is g, and the length of the hoist, that is, the distance from the driving unit 14 to the object 10 is 1, the natural frequency of the hoist is

Figure pat00001

.

Therefore, it can be seen that the natural frequency at which the movement pattern of the object 10 is most affected is determined by the length L of the hoist.

In this regard, the present applicant has proposed a hoist length measuring method that can accurately measure the length of the hoist in real time in the Korean Patent Publication No. 2010-132260.

Nevertheless, the conventional crane has a problem in that the vibration is not efficiently controlled by operating without changing the acceleration and deceleration time in real time as the length of the hoist is changed in real time.

An object of the present invention is to provide a vibration control device and method of the crane that can efficiently control the vibration by calculating the vibration period in real time according to the change in the length of the hoist and changing the acceleration and deceleration time in real time based on this.

The above object, the input unit is installed at the front end of the speed controller for controlling the speed of the drive motor of the crane, the input unit for receiving the hoist length information and the start signal and the stop signal which is changed in real time; A controller which calculates a natural frequency based on the hoist length information transmitted from the input unit, calculates a vibration period based on the calculated natural frequency, and sets it as an acceleration time or a deceleration time with reference to the start signal or a stop signal; And an output unit for transmitting the acceleration time or the deceleration time set by the controller to the speed controller in real time.

Preferably, the transmission of the acceleration time or the deceleration time from the output to the speed controller is made through communication or through voltage or current.

The above object is, the input unit for controlling the speed of the drive motor of the crane, receiving the hoist length information and the start signal and the stop signal which is changed in real time; A controller which calculates a natural frequency based on the hoist length information transmitted from the input unit, calculates a vibration period based on the calculated natural frequency, and sets it as an acceleration time or a deceleration time with reference to the start signal or a stop signal; And a speed control unit configured to speed-control the drive motor of the crane in real time based on the acceleration time or the deceleration time set by the control unit.

The above object is to receive the length information and the start signal or the stop signal of the hoist measured in real time; Calculating a natural frequency based on hoist length information using the following equation and calculating a vibration period based on the calculated natural frequency;

Figure pat00002

Figure pat00003

Where T is the oscillation period, ω n is the natural frequency of the hoist, g is the acceleration of gravity and ℓ represents the length of the input hoist) and accelerates the calculated vibration period with reference to the input start or stop signal. Setting to time or deceleration time; And it is achieved by the vibration control method of the crane comprising the step of controlling the speed of the drive motor of the crane based on the set acceleration time or deceleration time.

According to the above configuration, it is possible to efficiently control the vibration by calculating the vibration period in real time according to the change in the length of the hoist and changing the acceleration time and deceleration time in real time based on this.

1 simply illustrates the concept of input shaping.
2 is a functional block diagram showing a vibration control device of a crane according to an embodiment of the present invention.
3 is a flowchart illustrating a vibration control method of a crane according to the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

2 is a functional block diagram showing a vibration control device 100 of a crane according to an embodiment of the present invention.

Vibration control device 100 is installed at the front end of the speed controller 200 for controlling the speed of the drive motor 300 of the crane to receive the hoist length information, start signal and stop signal that is changed in real time acceleration time at the start The information and the deceleration time information at the stop are transmitted to the speed controller 200.

The input unit 110 receives the hoist length information, a start signal, and a stop signal, which are changed in real time, and transmits the received hoist length information to the controller 120.

The length of the hoist received from the input unit 110 may be various devices or methods that can use an encoder or measure the other length.

The controller 120 calculates a natural frequency based on the hoist length input from the input unit 110, calculates a vibration period based on the calculated natural frequency, and sets it as an acceleration time or a deceleration time with reference to a start signal and a stop signal. .

The output unit 130 transmits the acceleration time or the deceleration time set by the controller 120 to the speed controller 200 in real time. The transfer of acceleration time or deceleration time can be done using communications or via analog methods, for example voltage or current.

The speed controller 200 controls the speed of the drive motor 300 of the crane based on the received acceleration time and deceleration time.

Unlike the above embodiment, the speed controller may be implemented in the vibration controller 100 without applying a separate speed controller 200. In this case, the output unit 130 can be omitted.

3 is a flowchart illustrating a vibration control method of a crane according to the present invention, Figure 4 is a graph showing a vibration controlled state.

The input unit 110 receives the hoist length information and the start signal measured in real time, and transmits the same to the control unit 120 (step S31).

Subsequently, the control unit 120 calculates the natural frequency based on the hoist length information using the following equation, calculates the vibration period by the calculated natural frequency (step S32), and accelerates the calculated vibration period with reference to the starting signal. The time is set (step S33).

Figure pat00004

Figure pat00005

Where T is the oscillation period, ω n is the natural frequency of the hoist, g is the gravitational acceleration, and l is the length of the hoist input in step S31.

Figure pat00006

Figure pat00007

That is, the vibration period is 6.28 seconds, the vibration period is set to the acceleration time is transmitted to the output unit 130, the output unit 130 transmits the acceleration time information to the speed controller 200 (step S34).

The speed controller 200 speed-controls the driving motor 300 based on the received acceleration time information and accelerates as shown in section A of FIG. 4 (step S35).

As a result, when the normal speed (Section B section) is reached with an acceleration time of 6.28 seconds, the vibrations cancel each other to eliminate shaking.

On the other hand, when the crane starts to stop in the state where the length of the hoist is changed to 4.9m during the movement of the crane, the length and the stop signal of the hoist is input to the input unit 110.

therefore,

Figure pat00008

Figure pat00009

That is, the vibration period is 4.45 seconds, the vibration period is set to the deceleration time is transmitted to the output unit 130, the output unit 130 transmits the deceleration time information to the speed controller 200.

The speed controller 200 speed-controls the driving motor 300 based on the received deceleration time information to decelerate as shown in section C of FIG. 4.

As a result, when the stationary state is reached with a deceleration time of 4.45 seconds, the vibrations cancel each other out and shake out.

Although the embodiments of the present invention have been described above, various modifications and changes may be made by those skilled in the art. Such changes and modifications may belong to the present invention without departing from the scope of the present invention. Therefore, the scope of the present invention should be judged by the claims described below.

100: vibration control device
110: input unit
120: control unit
130:
200: speed control unit
300: drive motor of crane

Claims (4)

It is installed in front of the speed controller that controls the speed of the driving motor of the crane.
An input unit for receiving hoist length information, a start signal, and a stop signal, which are changed in real time;
A controller which calculates a natural frequency based on the hoist length information transmitted from the input unit, calculates a vibration period based on the calculated natural frequency, and sets it as an acceleration time or a deceleration time with reference to the start signal or a stop signal; And
And an output unit which transmits the acceleration time or the deceleration time set by the controller to the speed controller in real time. The method according to claim 1,
The transmission of the acceleration time or deceleration time from the output to the speed controller is a vibration control device of the crane, characterized in that via communication or through voltage or current. To control the speed of the crane's drive motor,
An input unit for receiving hoist length information, a start signal, and a stop signal, which are changed in real time;
A controller which calculates a natural frequency based on the hoist length information transmitted from the input unit, calculates a vibration period based on the calculated natural frequency, and sets it as an acceleration time or a deceleration time with reference to the start signal or a stop signal; And
And a speed control unit configured to control the driving motor of the crane in real time based on the acceleration time or the deceleration time set by the controller. Receiving length information of a hoist and a start signal or a stop signal measured in real time;
Calculating a natural frequency based on hoist length information using the following equation and calculating a vibration period based on the calculated natural frequency;
Figure pat00010

Figure pat00011

Where T is the oscillation period, ω n is the natural frequency of the hoist, g is the acceleration of gravity and ℓ is the length of the input hoist.
Setting the calculated vibration period as an acceleration time or a deceleration time with reference to the input start signal or stop signal; And
And controlling the speed of the driving motor of the crane based on the set acceleration time or deceleration time.
KR1020110066334A 2011-07-05 2011-07-05 Apparatus and method for controlling vibration of cranes KR20130005029A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111196557A (en) * 2018-11-19 2020-05-26 B和R工业自动化有限公司 Method and vibration controller for compensating vibrations of a vibratable technical system
CN113582016A (en) * 2020-04-30 2021-11-02 西门子股份公司 Method, device and system for controlling crane and storage medium

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111196557A (en) * 2018-11-19 2020-05-26 B和R工业自动化有限公司 Method and vibration controller for compensating vibrations of a vibratable technical system
CN111196557B (en) * 2018-11-19 2023-12-22 B和R工业自动化有限公司 Method and vibration regulator for compensating vibrations of a vibratable technical system
CN113582016A (en) * 2020-04-30 2021-11-02 西门子股份公司 Method, device and system for controlling crane and storage medium

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