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EP1992583B2 - Commande de grue, grue et procédé - Google Patents
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EP1992583B2 - Commande de grue, grue et procédé - Google Patents

Commande de grue, grue et procédé Download PDF

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Publication number
EP1992583B2
EP1992583B2 EP08008276.1A EP08008276A EP1992583B2 EP 1992583 B2 EP1992583 B2 EP 1992583B2 EP 08008276 A EP08008276 A EP 08008276A EP 1992583 B2 EP1992583 B2 EP 1992583B2
Authority
EP
European Patent Office
Prior art keywords
crane
load
cable
rope
angle
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.)
Active
Application number
EP08008276.1A
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German (de)
English (en)
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EP1992583B1 (fr
EP1992583A2 (fr
EP1992583A3 (fr
Inventor
Klaus Dr.Dipl.-Ing. Schneider
Oliver Prof.Dr.-Ing. Sawodny
Jörg Dipl.-Ing. Neupert
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 Nenzing GmbH
Original Assignee
Liebherr Werk Nenzing GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=39577835&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP1992583(B2) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Priority claimed from DE102007039408A external-priority patent/DE102007039408A1/de
Application filed by Liebherr Werk Nenzing GmbH filed Critical Liebherr Werk Nenzing GmbH
Priority to EP12004726.1A priority Critical patent/EP2502871B1/fr
Publication of EP1992583A2 publication Critical patent/EP1992583A2/fr
Publication of EP1992583A3 publication Critical patent/EP1992583A3/fr
Publication of EP1992583B1 publication Critical patent/EP1992583B1/fr
Application granted granted Critical
Publication of EP1992583B2 publication Critical patent/EP1992583B2/fr
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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
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical

Definitions

  • the present invention relates to a crane according to the preamble of claim 1.
  • a crane is e.g FR 2445291 disclosed.
  • the crane is a jib crane which has a boom which can be pivoted about a horizontal axis and which is articulated on a tower which can be rotated about a vertical axis.
  • a luffing gear and a slewing gear are provided as signal boxes.
  • the rope for lifting the load runs over the tip of the boom, in particular over one or more deflection rollers arranged there, so that the load can be moved by rotating the tower in the tangential direction and by luffing the boom in the radial direction.
  • both rope strands run from the tip of the boom to a receiving element such as a hook.
  • the length of the rope can be adjusted using a corresponding drive in order to move the load in a vertical direction.
  • the crane control according to the invention generally relates to rotating cranes, as well as mobile harbor cranes, ship cranes, off-shore cranes, truck cranes and crawler cranes.
  • gyroscope units are used to determine the load oscillation, which are arranged in the crane hook and determine the angular velocity of the rope.
  • the rope angle is determined via an observer circuit, which integrates the movement of the rope.
  • a freely swinging pendulum is assumed whose rest position corresponds to a vertical cable angle.
  • Such a procedure is well suited for rope sway damping, as the movements of the rope must be monitored when the load swings freely on the rope.
  • determining the absolute alignment of the rope, especially before the load can swing freely is neither provided nor possible with the known crane controls.
  • known sensor arrangements and crane controls had the disadvantage that disruptive influences such as rope field twisting were not taken into account in the load sway damping to dampen the spherical pendulum oscillations of the load.
  • the object of the present invention is therefore to provide a crane control which enables easier and safer alignment of the crane, particularly before and during lifting of the load.
  • a further object of the present invention is to enable improved damping of the spherical pendulum oscillations of the load.
  • this object is achieved by a crane control according to claim 1.
  • this has a sensor unit for determining a rope angle relative to the direction of gravitational force.
  • the rope angle can be determined directly relative to the direction of gravitational force, so that the vertical alignment of the rope is considerably simplified. This also increases safety during the hub.
  • the sensor unit usually has an element which aligns itself under the influence of the gravitational force and through which the angle of the rope can be determined relative to the direction of the gravitational force.
  • any type of electric level can be used.
  • the sensor unit only determines whether the rope is aligned vertically or not.
  • the direction of the deviation from the vertical and in other versions the value of the deviation from the vertical can also be determined.
  • the sensor unit determines the rope angle in at least one direction relative to the direction of gravity, for example in the radial or tangential direction, in order to be able to determine and, if necessary, compensate for a deviation of the rope angle from the vertical in this direction.
  • the rope angle is determined both in the tangential and in the radial direction, since this is the only way an actually vertical alignment of the rope is possible.
  • the sensor unit advantageously has at least two sensors, each of which serves to determine the radial or tangential cable angle relative to the direction of the gravitational force.
  • Such a sensor unit enables the crane to be precisely aligned when lifting the load, so that the rope is aligned vertically.
  • the sensor unit can also be used for monitoring and security functions.
  • At least one gyroscope unit for measuring a rope angular speed is also advantageously provided.
  • this gyroscope unit can also be used to dampen vibrations when the load is freely swinging, for which the sensor unit for determining the cable angle relative to the direction of the gravitational force usually cannot provide sufficiently precise data.
  • the crane can then initially be aligned based on the sensor unit to determine the rope angle relative to the direction of gravitational force until the load hangs freely on the rope.
  • the automatic cable sway damping which works based on the gyroscope unit, can then be switched on.
  • the gyroscope unit measures the rope angular speed in at least one direction, e.g. in the radial or tangential direction.
  • both the tangential and the radial cable angular speed are advantageously determined, for which the gyroscope unit advantageously has at least two correspondingly arranged gyroscopes.
  • the crane control advantageously comprises at least two sensor units for determining the rope angles relative to the direction of gravitational force, which are assigned to different rope strands. This allows cable field twisting, which corresponds to a rotation of the load, to be taken into account. If only one sensor unit were used for several rope strands, a twist in the rope field would lead to falsified measured values.
  • the cable field twist and thus the twist of the load, can be determined by the at least two sensor units. This makes it possible to control the rope field twist, e.g. B. by rotating the load-carrying device relative to the load.
  • the crane has at least two rope strands for lifting the load, at least two gyroscope units are also advantageously provided for measuring the rope angular speeds, which are assigned to different rope strands. So the rope field twist can e.g. B. also be taken into account in the vibration damping control.
  • the gyroscope unit can advantageously be arranged on a cable follower element, which is connected in particular via a gimbal connection to a boom of the crane and which is guided on the cable.
  • the cable follower element is preferably connected to the boom head of the crane by the gimbal connection and follows the movements of the cable on which it is guided by rollers. By measuring the movement of the rope follower element, the movements of the rope can be determined.
  • the crane has at least two rope strands for lifting the load, at least two rope follower elements are advantageously provided, which are assigned to different rope strands. Since the crane's hook usually hangs on several rope strands, rope field twists can also be taken into account.
  • the crane control according to the invention advantageously has a display unit for displaying a deviation resulting from the measured cable angle, in particular for displaying a cable angle relative to the direction of gravitational force and/or a resulting horizontal deviation of the load.
  • This display makes it much easier for the crane operator to align the rope in a vertical position.
  • the display advantageously shows a vertical cable position visually and/or acoustically. This makes it possible for the crane operator to align the rope accordingly.
  • the display continues to show the direction in which the rope deviates from the vertical. Further advantageously, the display also shows the absolute value of the deviation. It is conceivable here, for example, B. a graphic display in which the angle of the rope relative to the direction of gravitational force and also advantageously the maximum permissible rope angle are displayed. Alternatively or additionally, the horizontal deviation of the load from the position at which the load would be if the rope was in a vertical position can also be displayed, advantageously together with the maximum permissible horizontal deviation. This means the crane operator can work with distance information he is familiar with and can align the crane more easily.
  • a warning device is advantageously provided which alerts the crane driver if the limit is exceeded a permissible value range for a deviation resulting from the measured rope angle, in particular for the rope angle relative to the direction of gravitational force and/or for the horizontal deviation of the load, in particular by means of an optical and/or acoustic signal.
  • the crane operator can react if the permissible value range is exceeded and avoid damage to the crane structure or accidents.
  • the crane operator can stop the movement of the crane if the permissible angular range is exceeded, or, if it is an off-shore crane, in which the e.g. B. a load on a ship is moved away from the offshore crane by a relative movement of the ship relative to the crane, avoiding an overload by partially releasing the rope or the slewing gear of the crane.
  • an overload protection is provided which automatically intervenes in the control of the crane when a permissible value range for a deviation resulting from the measured rope angle, in particular for the rope angle relative to the direction of gravitational force, and/or for the horizontal deviation of the load is exceeded, in order to achieve a To prevent overloading the crane.
  • the rope angle relative to the direction of gravitational force can be included in the automatic load moment limitation of the crane. This increases the safety of operation considerably, since known load moment limitations could not take this parameter into account and the loads resulting from excessive inclination of the rope had to be taken into account solely via the other sensors.
  • the overload protection at least partially releases the movement of the crane and/or the rope, particularly when it is an offshore crane.
  • the release is advantageously carried out in a controlled manner with a certain counterforce. Gets caught e.g. B. the hook of the crane on a ship that is driven away by the off-shore crane can z. B. the rope or the rotational movement of the crane can be released in a controlled manner to prevent the crane from being overloaded.
  • the sensor unit for determining a rope angle relative to the direction of gravitational force results in a very reliable overload protection, while known overload protection systems were solely dependent on a rope force sensor, which makes it difficult to distinguish an overload case from a load case.
  • the crane control according to the invention in particular the warning device and/or the overload protection, additionally evaluates data from a cable force sensor. This allows the data from the sensor unit to determine the rope angle to be checked relative to the direction of gravitational force, so that additional safety is provided through redundancy, particularly when the crane control automatically intervenes in the movement of the crane.
  • the crane has at least two rope strands for lifting the load, their rope field twist is advantageously determined. Since when the load is simply twisted, the outer ropes are deflected in opposite directions without the load being deflected from the vertical, this rope field twist is advantageously taken into account when determining the actual rope angle.
  • the rope angle which is used for the display, the warning device and/or the overload protection, corresponds to the actual deflection of the load relative to the direction of gravitational force, so that the load can be effectively prevented from oscillating and any twisting of the rope field does not lead to incorrect values.
  • the crane control according to the invention advantageously comprises a display unit for displaying the rope field rotation.
  • the rope field twist itself can also be shown on the display so that it can be compensated for by controlling a corresponding rotor unit on the load-carrying device.
  • the cable field twist can advantageously be incorporated into the control of the warning device and the overload protection.
  • a warning device is therefore advantageously provided in the crane control according to the invention, which warns the crane operator when a permissible value range for the rope field rotation is exceeded, in particular by means of an optical and/or acoustic signal. This warns the crane operator of the load swinging when lifting with a twisted rope field.
  • a safety device in particular an anti-twist device, is also advantageously provided, which automatically intervenes in the control of the crane if a permissible value range for the rope field rotation is exceeded. For example, lifting the load can be automatically prevented if the rope field is twisted too much.
  • the crane control according to the invention advantageously has automatic load sway damping.
  • the movement of the crane can be controlled in such a way that the freely swinging load is prevented from swinging when the crane moves.
  • the sensor unit for determining the rope angle relative to the direction of gravitational force can be used at the beginning of the stroke to align the rope vertically while the load sway control occurs when the load hangs freely on the rope. Correct alignment of the rope can prevent the load from swaying when being lifted, and load sway damping can prevent the load from swaying when it moves in a horizontal direction.
  • the load sway damping is advantageously based on the data of at least one gyroscope unit. Since the rope angular speed can be determined with a gyroscope, it is particularly suitable for use in load sway control.
  • the sensor unit is used to determine the cable angle relative to the direction of gravitational force to monitor and/or calibrate the gyroscope unit.
  • the load sway damping, which is usually based on a freely swinging load, would otherwise start with incorrect values.
  • the sensor units or gyroscope units can also be used for mutual monitoring in order to detect malfunctions.
  • a function for automatically aligning the crane is also provided, through which the rope is aligned vertically above the load.
  • the crane operator no longer has to operate the crane manually, for example. B. align based on the display, but this happens automatically when the crane driver makes a corresponding request via a control unit.
  • a safety function is advantageously provided here, which z. B. cooperates with a rope force sensor to prevent uncontrolled movement of the crane in the event of a malfunction of the sensor unit for determining the rope angle relative to the direction of gravitational force.
  • a function for automatic alignment of the crane is also advantageously provided, through which cable field rotation is compensated for.
  • This advantageously controls a rotor unit on the load-carrying device, for example on the spreader, through which the part of the load-carrying device connected to the ropes can be rotated relative to the load.
  • the crane control according to the invention advantageously has a memory for storing load data based on the rope angle, which is used for the service life calculation and/or the documentation, for example. B. from improper use.
  • load data based on the rope angle
  • Such machine data acquisition of the rope position for determining the load spectrum and for documentation enables a more precise service life calculation and thus increased safety while saving costs.
  • the present description further discloses a method for controlling a crane which has at least one rope for lifting a load.
  • the method is characterized in that a rope angle is determined relative to the direction of the gravitational force.
  • a rope angle is determined relative to the direction of the gravitational force.
  • the radial and/or tangential cable angles are determined relative to the direction of the gravitational force.
  • the rope field twist is also determined if several rope strands are used to lift the load.
  • the rope angles of at least two rope strands are determined relative to the direction of gravitational force. From this data, both the rope angle, which corresponds to the deflection of the load, and the rope field twist, which corresponds to the twist of the load, can be determined.
  • the rope is brought into a vertical orientation before the load is lifted.
  • This can prevent the rope from slipping sideways due to an inclined position when the load is being lifted, from being twisted in an uncontrolled manner due to uneven resting on the base, or from performing a pendulum movement when the load is being lifted.
  • the vertical alignment of the load can z. B. by the crane operator based on the display of the rope angle according to the invention relative to the direction of gravitational force. It is also conceivable that this alignment is carried out automatically by the crane control, as already described.
  • the rope field twist is brought to zero in order to avoid rotation of the load when lifting. This is done e.g. B. by appropriately rotating the load on the load-carrying device using a rotor arrangement.
  • the rope angle is advantageously determined relative to the direction of gravitational force while the load is being lifted, so that any deviations that may occur during the lifting process can be compensated for.
  • an imbalance in the load is determined by determining the deviation of a rope angle from the vertical. If the load has an imbalance, i.e. the center of gravity of the load is not below the load-bearing point, the load-bearing point initially moves above the center of gravity when the load is raised, so that the rope angle changes. By changing the rope angle, the imbalance in the load can be determined and, if necessary, compensated for. Such an imbalance in the load can also be displayed so that it can be compensated for by the crane driver can be. It is also conceivable to automatically compensate for such an imbalance.
  • the imbalance of the load is compensated for on the basis of the deviation of a rope angle from the vertical by a movement of the load on the load-carrying device, in particular on the spreader.
  • the spreader is used to hold containers and has a longitudinal adjustment, through which the load pick-up point can be adjusted relative to the container.
  • the crane operator can now e.g. B. based on the deviation of the rope angle from the vertical, which arises when the load is lifted due to the imbalance and is displayed on the display according to the invention, move the load-carrying point on the load-carrying device and thus compensate for the imbalance. If the imbalance of the load is also determined and displayed, this makes the crane operator's work easier. It is also conceivable that the imbalance will be automatically compensated.
  • the inclination of the rope caused by the imbalance of the load when lifting the load can also be compensated for by moving the crane. This can also be done manually by the crane operator, e.g. B. based on a display or automatically.
  • the strain on the crane structure when lifting the load can cause it to deform, causing the rope angle to change even without the load moving.
  • the yielding of the crane structure under the load is determined by determining a deviation of the rope angle from the vertical and / or the inclination of the rope caused by the yielding of the crane structure is compensated for by a movement of the crane.
  • the determination of the deviation or the compensation of this deviation can in turn be done by the crane operator, for example. B. based on a display, or automatically.
  • the crane structure is protected by countermeasures.
  • the movement of the crane can be stopped in order to avoid overloading.
  • the countermeasures advantageously include at least partial release of the crane movements and/or the rope, for example. B. to prevent the crane from being overloaded if the load handler gets caught on a ship that is moving away from the offshore crane.
  • the countermeasures can either be initiated by the crane driver, who is advantageously warned by a warning function, or automatically by a corresponding automatic overload protection.
  • the present description further discloses a crane control of a crane, which has at least one rope for lifting a load, for carrying out one of the methods described above.
  • the crane control is advantageously designed so that the methods described above are carried out at least partially automatically.
  • the present invention comprises a crane, in particular a mobile harbor crane, a ship's crane or an off-shore crane, which has a rope for lifting a load and is equipped with a crane control as described above.
  • the invention also includes corresponding jib and/or rotating cranes, as well as truck cranes and crawler cranes. Obviously, the same advantages already described for the crane control arise for such a crane.
  • the present description further discloses a crane control, which is also advantageous without such a sensor unit in cranes which have at least a first and a second rope strand for lifting the load can be used.
  • a crane control is not part of the present invention.
  • Such a crane control is shown in claim 37.
  • the crane control according to the invention is used to control the signal boxes of a crane, which has at least a first and a second cable strand for lifting a load, the crane control having a load sway damping for damping spherical pendulum oscillations of the load.
  • a first and a second sensor unit are now provided, which are assigned to the first and second rope strands in order to determine the respective rope angles and/or rope angular speeds of the first and second rope strands.
  • the load sway damping has a control system in which the cable angles and/or cable angular speeds determined by the first and second sensor units are included.
  • the signal boxes controlled by the crane control are advantageously the slewing gear for turning the crane and/or the luffing gear for luffing up the boom.
  • This control via the load sway damping, spherical vibrations of the load on the rope can be prevented.
  • the first and second sensor units each comprise a gyroscope unit.
  • the gyroscopes measure the cable angular speed, with two gyroscopes advantageously being provided in order to measure the cable angular speed in both the radial and tangential directions. Gyroscopes are particularly well suited to the requirements of controlling load sway damping.
  • the first and second sensor units are each arranged in a cable follower element.
  • the rope follower element follows the movement of the rope strand to which it is assigned.
  • the sensor unit measures the movement of the cable follower element, from which the movement of the cable strand can be determined.
  • the rope follower elements result in a particularly accurate and reliable rope angle measurement.
  • the cable follower elements are each connected to the boom of the crane via a gimbal joint and follow the movement of the cable strand to which they are assigned.
  • the connection of the cable follower elements via a gimbal joint advantageously only serves the mechanical connection and the guidance of the cable follower element, while the sensor units determine the movement of the cable follower elements via the gyroscope units.
  • the data measured by the first and second sensor units are evaluated by a first and a second observer circuit.
  • Such observer circuits are used to monitor offsets and interference, such as. B. cable harmonics to suppress.
  • the observer circuits serve to integrate the rope angular speeds measured by the gyroscopes and enable the rope angles to be reliably determined.
  • the data measured by the first and second sensor units with regard to the installation angle of the sensor units and the rotation angle of the crane are advantageously compensated for. This means that disruptive influences caused by incorrect assembly can be compensated for by software. If the sensitivity levels of the gyroscopes used are not exactly in the tangential and radial directions, but are tilted due to incorrect installation, the sensors measure the rotational speed of the crane proportionally. This is taken into account by the compensation.
  • sensor errors are advantageously detected in the crane control by comparing the data measured by the first and second sensor units. If one of the sensor units fails, the angular velocity is still detected by the other sensor unit. This means that the basic function of the crane control can continue to be ensured. By forming the difference between the angle signals of both sensor units in the respective directions, a sensor error can still be detected if a threshold value is exceeded. If a sensor error occurs, the crane can be immediately brought into a safe state.
  • the torsional vibration of the rope field is taken into account in the load sway damping by averaging the rope angles and/or rope angular speeds determined by the first and second sensor units. If only one sensor unit is used, such a cable field twist would influence the control used to dampen the spherical pendulum oscillation of the load. If a torsional vibration of the rope field occurs during the crane control, the sensor units on the two rope follower elements measure exactly the opposite interference vibration in both the tangential and radial directions. However, the influence of this torsional vibration can be eliminated by averaging.
  • the regulation of the crane control is non-linear.
  • a non-linear control is particularly advantageous because, particularly in the case of jib cranes, the entire system consists of the crane, signal boxes such as. B. hydraulic cylinders and load is non-linear and therefore significant errors occur with purely linear control.
  • the entire control system consisting of non-linear control and the non-linear behavior of the crane results in a linear system, so that the control of the system is considerably simplified.
  • control is advantageously based on the inversion of a physical model of the movement of the load as a function of the movements of the signal boxes.
  • this physical model is a non-linear model, so that the non-linear control results from its inversion.
  • the combination of the inverted physical model and the actual movement of the load depending on the movement of the signal boxes then results in the linear route described above.
  • the input variables of the physical model are the state vector of the crane. Based on these input variables, the non-linear model then specifies the movement of the load as an output variable. By inverting such a system, the movement of the load serves as an input variable to control the crane's signal boxes.
  • the load sway damping advantageously has a path planning module, which specifies target trajectories for the control. These target trajectories specify the movements that the load should perform and then serve as input variables for the control, especially when using an inverted model.
  • the non-linear control results in a particularly simple implementation of the path planning module, as it only has to specify target trajectories for the linear system of non-linear control and non-linear crane behavior. This makes it possible to achieve extremely fast crane control with an excellent response to the specifications entered by the crane operator using input elements.
  • the current system state of the crane in particular the position of the boom and/or the rope angle and/or rope angle speeds determined by the first and second sensor units, is included as an input variable in the path planning module.
  • the position of the boom is particularly important here, since e.g. B. the maximum radial speed that can be achieved depends on this.
  • the rope angles and/or rope angular speeds determined by the first and second sensor units are also included in the path planning module from input variables. This additional control loop thus enables even more precise path planning, taking into account the actual rope angle and/or the actual rope angular speed.
  • limitations of the system when generating the target trajectories are advantageously taken into account in the path planning module. This prevents the reference variables calculated from the crane operator's specifications from exceeding the system's manipulated variable limitations, such as: B. violate the maximum speed.
  • system limitations that depend on this system state can also be taken into account. For example, the maximum possible radial speed depends on the position of the boom.
  • trajectory generation is advantageously based on optimal control.
  • optimal control can be implemented particularly well in real time, as the non-linear control allows the path planning module to be implemented particularly easily.
  • the path planning module advantageously works in the prediction within the time horizon with an increasing length of the calculation intervals.
  • Such non-equidistant base points for the prediction also make it possible to significantly shorten the computing time. Short intervals between the base points are chosen for the near future, while larger intervals are chosen for the more distant future, so that overall there is a significantly reduced number of calculation steps.
  • the position and speed of the boom head are also advantageously included in the control of the load sway damping. This results in control loops in the crane control for both the position and speed of the boom head, as well as for the rope angle and/or rope angular speed of the rope.
  • the second embodiment of the present disclosure with the use of two sensor units, each of which is assigned to different rope strands of the crane, has previously been described independently of the first embodiment with a sensor unit for determining a rope angle relative to the direction of the gravitational force. According to the disclosure, protection is claimed for both versions independently of one another.
  • both versions of the present disclosure are combined.
  • the system with two sensor units advantageously has one or more of the features that were previously described in relation to the implementation of the invention.
  • the present description further discloses a crane for lifting a load, with signal boxes for moving the crane and the load and with a crane control for controlling the signal boxes, the crane control having a load sway damping for damping spherical pendulum oscillations of the load and the crane having at least two cable strands for lifting the load.
  • a crane control having a load sway damping for damping spherical pendulum oscillations of the load and the crane having at least two cable strands for lifting the load.
  • two sensor units which are assigned to the two rope strands, are provided in order to determine the respective rope angles and/or rope angular speeds.
  • the load sway damping has a control system in which the cable angles and/or cable angular speeds determined by the two sensor units are included.
  • this crane has a crane control as described above.
  • the crane advantageously has, as signal boxes, a slewing gear for rotating the crane and/or a luffing gear for luffing up a boom, which are controlled by the crane control.
  • a slewing gear for rotating the crane and/or a luffing gear for luffing up a boom, which are controlled by the crane control.
  • the present description further discloses a method for controlling the signal boxes of a crane, which has at least a first and a second cable strand for lifting the load, with spherical pendulum oscillations of the load being dampened by load sway damping.
  • a method for controlling the signal boxes of a crane which has at least a first and a second cable strand for lifting the load, with spherical pendulum oscillations of the load being dampened by load sway damping.
  • the rope angles and/or rope angular speeds of the first and second rope strands are determined via a first and a second sensor unit, which corresponds to the first and the second Rope strand are assigned, determined and included in the control of the load sway damping. This procedure results in the same advantages as those described above with regard to the crane control.
  • the data measured by the first and second sensor units regarding the installation angle of the sensor units and the rotation angle of the crane are compensated. This allows deviations in the installation angle of the sensor units from an exact radial or tangential alignment to be compensated for.
  • sensor errors are advantageously detected by comparing the data measured by the first and second sensor units.
  • the torsional vibration of the rope field is taken into account in the load sway damping by averaging the rope angles and/or rope angular speeds determined by the first and second sensor units.
  • load sway damping can be taken into account and torsional vibrations of the cable field also occur, which influence the data from the sensor units.
  • the method is advantageously carried out using a crane control as described above.
  • FIG. 0a An exemplary embodiment of a jib crane according to the invention is shown, here a mobile harbor crane, as is often used to handle cargo handling operations in ports.
  • Such jib cranes can have load capacities of up to 140t and a rope length of up to 80m.
  • the exemplary embodiment of the crane according to the invention includes a boom 1, which can be pivoted up and down about a horizontal axis 2, with which it is articulated on the tower 3.
  • the tower 3 can in turn be rotated about a vertical axis, as a result of which the boom 1 is also rotated.
  • the tower 3 is rotatably arranged on an undercarriage 6, which can be moved via wheels 7.
  • a load-carrying device is arranged on the rope 20 at a load-carrying point 25, e.g. B. a manipulator or spreader, via which the load 10 can be picked up.
  • the load-carrying device additionally has a rotator device, via which the load 10 can be rotated on the load-carrying device.
  • the crane further has at least a first and a second cable strand for lifting the load, with all cable strands running from the boom tip to the load-carrying device.
  • the load can be moved in the tangential direction by rotating the tower 3 and in the radial direction by luffing the boom 1.
  • the load 10 is moved by luffing the boom 1 and changing the length of the rope 20.
  • the load 10 can be rotated by the rotator unit on the load-carrying device.
  • a first embodiment of the in Figure 0a The mobile crane shown is now equipped with the crane control according to the invention, which has a sensor unit for determining the rope angle relative to the direction of gravitational force.
  • the sensor unit has two sensors, through which the radial or tangential cable angle can be determined relative to the direction of the gravitational force. This sensor unit significantly simplifies the alignment of the crane when lifting the load, since this sensor unit allows the rope to be easily aligned vertically above the load 10.
  • the crane control according to the invention can not only be used in the exemplary embodiment shown, i.e. a mobile harbor crane, but also advantageously in other cranes, such as. B. in ship cranes, off-shore cranes, truck cranes and crawler cranes.
  • the sensor unit according to the invention for determining the rope angle relative to the direction of gravitational force is particularly advantageous in the case of jib cranes, since they use known systems such as those used, for example. B. are used in cranes with a trolley that can only be moved in the horizontal direction and which work via measuring camera systems cannot be used. In the case of jib cranes, such measuring camera systems would move together with the boom and thus only determine the angle of the rope relative to the boom, but not relative to the vertical. In addition, such systems would always have to be arranged directly behind the rope fixation point on the boom head, which is hardly possible with a movable rope guided over a deflection roller on the boom head.
  • the sensor unit according to the invention for determining the rope angle relative to the direction of gravitational force is in a rope follower element 35, as shown in Figure 0b is shown, arranged and directly determines the rope angle relative to the direction of gravitational force in the tangential and radial directions. There is no need to determine the rope angle relative to the boom 1. However, if this angle of the rope relative to the boom 1 is of interest, a further sensor unit could also be arranged on the boom 1 to determine the angle of the boom relative to the direction of gravitational force in order to determine the angle between the rope using the difference between the respective angles of the rope and boom to the direction of the gravitational force and boom to determine.
  • Cable follower element 35 shown on which the sensor unit for determining the cable angle is arranged relative to the direction of gravitational force, is attached to the boom head 30 of the boom 1 by gimbal connections 32 and 33 under the main cable pulley 31.
  • the rope-following element 35 has rollers 36 through which the rope 20 is guided, so that the rope-following element 35 follows the movements of the rope 20.
  • the gimbal connections 32 and 33 allow the cable follower element to move freely about a horizontal and a vertical axis, but prevent rotational movements.
  • the orientation of the rope follower element 35 and thus the rope 20 relative to the direction of the gravitational force can thus be determined via the sensor unit arranged on the rope follower element 35 for determining the rope angle relative to the direction of the gravitational force.
  • a gyroscope unit is also arranged on the cable follower element 35, via which the cable angular speed can be measured in the radial and tangential directions, for which at least two correspondingly aligned gyroscopes are used.
  • load sway damping is available, which prevents the load from swaying when the crane moves.
  • the load-receiving element is suspended on the boom
  • at least two of these cable strands are advantageously assigned corresponding cable follower elements 35 in order to also be able to take into account the cable field rotation, which results from a rotation of the load-receiving element from the cable field plane.
  • the rope follower elements are advantageously arranged on the rope strands arranged on the outside, so that a rope field twist is expressed at most in the difference in the rope angles.
  • the actual rope angle relative to the direction of gravitational force, which corresponds to a deflection of the load from the vertical can be determined by averaging the values from the sensor units on the respective rope follower elements, and the rotation of the load from the difference in values.
  • the cardan joint 32 and 33 only serves to mechanically connect the cable follower element 35 to the boom head 30; the cable angle is measured solely via the sensor units integrated in the cable follower elements 35, but not by determining the angle between the cable follower element 35 and the boom 30. In this way, only the relative orientation of the rope with respect to the boom 30 could be determined, but not the rope angle of the rope 20 relative to the direction of the gravitational force.
  • corresponding cable follower elements 35 are also assigned to these, which are equipped with gyroscope units and thus determine the cable speed of these cable strands. Determining the rope speeds of the first and second rope strands makes it possible to take the rope field twist into account and correct measurement errors when swaying the load to dampen spherical pendulum oscillations of the load.
  • the sensor units for determining the cable angle relative to the direction of gravitational force can also be dispensed with and the cable follower elements 35 can only be equipped with gyroscope units.
  • this could also be z. B. can be arranged on the rope receiving means, although the rope follower elements offer an improved possibility for determining the rotation of the load, especially with several rope strands. Such an embodiment is not part of the present invention.
  • the crane according to the invention is now provided with the sensor unit according to the invention for determining a rope angle relative to the direction of gravitational force.
  • Figure 1a shows the basic problem when the rope 20 is not aligned vertically.
  • Such a vibration when lifting the load 10 is particularly dangerous because it occurs close to the ground and objects in the vicinity of the load 10 can easily be damaged.
  • the load 10 can slip uncontrollably before it is released or can be twisted uncontrollably due to uneven release.
  • FIGs 1a and 1b The deflection ⁇ Sr in the radial direction is shown as an example. The same problem also arises for a deflection of the cable 20 in the tangential direction, which is caused by an incorrect position of the tower 3.
  • the exemplary embodiment of the crane according to the invention therefore has a display which shows the rope angle ⁇ of the rope 20 relative to the direction of gravitational force, that is to say to the vertical.
  • the display can z. B. on the one hand, display a vertical rope position visually and / or acoustically and also indicate the direction in which the rope 20 is deflected from the vertical.
  • Such an ad can e.g. B. have display elements for a deflection to the front or rear and display elements for a deflection to the left or right, which indicate a deflection in the radial or tangential direction.
  • the horizontal deviation of the load from a zero position which corresponds to a vertical alignment of the rope, can also be displayed.
  • a graphical display of the zero position and the deviation of the load is conceivable, so that the absolute deflection of the load is directly displayed to the crane operator.
  • the crane operator can easily align the crane at the start of the lift so that that the rope 20 is arranged vertically above the load 10.
  • the correct vertical rope position can then be achieved e.g. B. be indicated acoustically by a signal tone.
  • a function for automatically aligning the rope in the vertical direction is provided, if necessary in addition to the display.
  • the crane automatically aligns itself after attaching the load handler to the load so that the rope is vertical.
  • this automatic function is advantageously z. B. connected to a rope force measuring device, which switches off automatic operation in the event of errors.
  • the rope field twist can also be determined using several sensor units.
  • This rope field twist corresponds to the twist of the load-carrying device, e.g. B. a spreader, and would cause the load to rotate when lifting the load.
  • the twist of the rope field is also advantageously displayed, if necessary in addition to the rope angle relative to the direction of the gravitational force or the horizontal deviation of the load.
  • the load-carrying device has a rotor device
  • the cable field twist can be set to 0 before the lift in order to prevent rotation of the load 10 when lifting.
  • a function for automatic alignment of the rotor device can also advantageously be provided for this purpose.
  • the exemplary embodiment of the crane according to the invention has, in addition to the display, a warning device which alerts the crane operator if the permissible value range is exceeded for a deviation resulting from the measured rope angle, in particular for the rope angle relative to the direction of gravitational force, for the horizontal deviation of the load and / or the rope field rotation warns with a visual and/or acoustic signal.
  • a warning device which alerts the crane operator if the permissible value range is exceeded for a deviation resulting from the measured rope angle, in particular for the rope angle relative to the direction of gravitational force, for the horizontal deviation of the load and / or the rope field rotation warns with a visual and/or acoustic signal.
  • an automatic safety device for example in the form of an overload protection, can be provided, if necessary in addition to the warning device, which automatically intervenes in the control of the crane when the permissible value range is exceeded.
  • the automatic overload protection stops the movement of the crane to prevent overload.
  • the overload protection can be integrated into the load moment limitation of the crane, which protects the crane against stress caused by a rope angle that is too large.
  • the deviation of the rope angle from the vertical is determined while the load 10 is being lifted.
  • the crane operator checks the cable angle or the horizontal deviation on the display and adjusts the crane during the lift in order to compensate for the deviation of the cable angle from the vertical due to the imbalance of the load.
  • the imbalance of the load is determined and displayed from the deviation of the cable angle from the vertical, so that the crane operator can react better.
  • the load-carrying means has a device for, in particular, linear movement of the load 10 relative to the load-carrying point 25, via which the center of gravity 26 of the load can be arranged below the load-carrying point 25 without tilting the load 10.
  • the load-carrying device e.g. B. a spreader, e.g. B. a longitudinal displacement of the load receiving point 25 relative to the load, e.g. B. a container.
  • the crane operator can move the load pick-up point relative to the load until the rope is aligned vertically again.
  • the imbalance of the load can also be determined based on the deviation of the rope angle from the vertical displayed so that the crane driver can control the longitudinal adjustment of the spreader using this display. Automatic adjustment of the spreader is also conceivable.
  • Such an adjustment of the spreader based on the deviation of the rope angle from the vertical is of particular advantage, since tilting of the containers, especially when loading into a ship, can lead to the containers jamming, which can significantly hinder loading.
  • this deviation is compensated for by the crane operator based on the display of the rope angle when lifting the load.
  • the deviation of the rope angle from the vertical can be determined by the yielding of the crane structure under the load, which can then be displayed to facilitate the crane operator's work.
  • automatic tracking of the crane for vertical alignment is also possible based on the data from the sensor unit for determining a rope angle relative to the direction of the gravitational force. If the rope angle is again aligned vertically, the load can be carried as in Figure 3c shown can be raised without vibrations.
  • FIG 4a Another embodiment of the crane according to the invention can be seen.
  • This is an off-shore crane, which is arranged on an off-shore platform 50 and z. B. is used to load a load 10 from a ship 60 onto the platform 50. Since the ship 60 can move relative to the platform 50, the rope angle of the rope 20 relative to the vertical can also be changed by moving the ship without moving the crane.
  • an overload function is provided in an exemplary embodiment of the crane according to the invention, which can optionally be used in addition to the warning and safety functions described above.
  • countermeasures are initiated if the rope angle exceeds a maximum permissible range.
  • the movement of the crane can be partially enabled, e.g. B. by releasing the rope 20 or the rotational movement of the tower 3. This release takes place in a controlled manner with a certain counterforce in order to avoid sudden force surges.
  • an easy-to-implement overload protection can be implemented based on the rope angle relative to the direction of the gravitational force, which is difficult to implement using a rope force sensor.
  • Such an overload protection which causes a partial release of the crane movement, can also prevent uncontrolled dragging of the load 10 over the ship 60.
  • the permissible range 70 for the rope angle in the X and Y directions is, for example, in Figure 4b shown hatched. If the rope angle exceeds this permissible range 70, either the warning function or one of the overload functions is triggered.
  • Figure 4b shows a display element for displaying a deviation from a vertical position of the rope, with a permissible range 70 for the rope angle or for the horizontal deviation in the X and Y directions, that is in the radial and tangential directions.
  • the cable angle is displayed graphically, for example by displaying the cable angle in the in Figure 4b shown diagram is represented as a point.
  • the horizontal deviation of the load from the zero position in the middle can also be shown, i.e. the distance of the load from the position in which it would be if the crane were in the same position but the rope was vertical. This means the crane driver can directly see the absolute deflection of the load and can therefore more easily estimate how far the crane needs to be moved to correctly align the rope.
  • the crane has at least a first and a second cable strand, which connect the load-carrying means to the boom tip.
  • the crane control provides improved damping of the spherical vibrations of the load.
  • the gyroscopes are attached to the rope under the boom tip using a mechanical structure. Two gyroscopes, which are arranged in tangential and radial directions, are necessary for recording the spherical load vibration.
  • Figure 0b shows a first cable follower element 35, on which the first sensor unit assigned to the first cable strand is arranged in the exemplary embodiment shown here.
  • the first cable follower element is attached to the boom head 30 of the boom 1 by gimbal connections 32 and 33 under a first cable pulley 31, over which the first cable strand 20 is guided.
  • the cable follower element 35 has rollers 36 through which the first cable strand 20 is guided, so that the cable follower element 35 follows the movements of the cable strand 20.
  • the gimbal connections 32 and 33 allow the cable follower element to move freely about a horizontal and a vertical axis, but prevent rotational movements.
  • the radial and tangential angular velocity of the first cable follower element 35 and thus of the first cable strand 20 can thus be determined via the first sensor unit arranged on the cable follower element 35, which is designed as a gyroscope unit.
  • a second cable follower element with a second sensor unit, which is assigned to a second cable strand, is constructed analogously to the first cable follower element and is connected to the boom tip. The second rope follower element accordingly measures the angular velocity of the second rope strand.
  • the gyroscope signals (angular velocities in tangential and radial directions) from both cable follower elements are prepared and processed using identical algorithms. First of all, disruptive influences caused by incorrect assembly are compensated for by software (see equation 0.1). If the sensitivity levels of the gyroscope sensors are not tilted exactly in the tangential and radial directions but are tilted due to incorrect installation, the sensors also measure the rotational speed of the crane proportionally.
  • each gyroscope sensor on both cable follower elements is respectively ⁇ installation , ⁇ D is the rotational speed of the crane, ⁇ t / rmess is the tangential or radial angular velocity and ⁇ t / rkomp is the resulting compensated gyroscope signal.
  • the compensated measurement signals are integrated offset-free into the cable angles using an observer circuit.
  • the rope angles are now available for both rope follower elements in the tangential and radial directions.
  • the expansion of the measuring concept to include the second rope-following element leads to two significant advantages compared to the variant with only one rope-following element or the variant with the gyroscope sensors in the hook.
  • the first advantage is the redundancy of the load swing measurement. If a sensor on one of the two cable follower elements fails, the angular velocity is still recorded by the sensor on the other holder. This allows the basic function of the crane control (sway damping and trajectory sequence) to be ensured. By forming the difference between the angle signals of both cable follower elements in the respective directions, a sensor error can still be detected if a threshold value is exceeded. This means that if a sensor error occurs, the crane can be immediately brought into a safe state.
  • the second advantage is the possibility of compensating the torsional vibration of the load. As shown in Equation 0.2, the mean value of the angle signals of the two rope follower elements is calculated in the corresponding direction.
  • the cable angle in the tangential direction ⁇ t is therefore calculated from the average of the observed angle signals of the holder 41 ⁇ tbeobH 1 and holder 42 ⁇ tbeobH 2 .
  • the gyroscopes on the cable follower elements 41 and 42 measure exactly an opposite spurious vibration in both the tangential and radial directions. This means that the influence of torsional vibration can be eliminated by averaging.
  • the control of the load sway damping, into which the data generated by the two gyroscope units are included, will now be described in more detail below.
  • the dynamics of the cantilever movement is characterized by some predominant nonlinear effects.
  • the use of a linear control device would therefore cause large errors in trajectory tracking and insufficient damping of the load oscillation.
  • the present invention utilizes a nonlinear control approach based on the inversion of a simplified nonlinear model.
  • This control procedure for the luffing movement of a jib crane allows a pivot-free load movement in the radial direction.
  • the resulting crane control according to the invention shows a high accuracy of trajectory tracking and good damping of the load sway. Measurement results are presented to validate the good performance of the nonlinear trajectory tracking controller.
  • Jib cranes such as the LIEBHERR mobile harbor crane LHM (see Fig. 1 ) are used to efficiently handle transshipment processes in ports.
  • This type of jib crane is characterized by a load capacity of up to 140 tons, a maximum radius of 48 meters and a rope length of up to 80 meters.
  • a spherical load oscillation is excited. This load oscillation must be avoided for safety and performance reasons.
  • such a mobile harbor crane consists of a mobile stage 6, to which a tower 3 is attached.
  • the tower 3 can be rotated about a vertical axis, its position being described by the angle ⁇ D.
  • a boom 1 is pivotally attached to the tower 3 and can be rocked by the actuator 4, its position being described by the angle ⁇ A.
  • the load 10 is suspended from the head of the boom 1 on a rope of length l S and can oscillate at the angle ⁇ Sr.
  • the following implementation uses a flatness-based control approach for the radial direction of a jib crane.
  • the approach is based on a simplified nonlinear model of the crane.
  • the law of linearizing control can thus be formulated.
  • the zero dynamics of the non-simplified nonlinear control loop guarantees sufficient damping properties.
  • Fig. 8 shows a schematic representation of the rocking movement, where ⁇ Sr is the radial cable angle, ⁇ Sr is the radial angular acceleration, l S is the cable length, r ⁇ A is the acceleration of the boom end and g is the gravitational constant.
  • the second part of the dynamic model describes the kinematics and dynamics of the actuator for the radial direction. Assuming that the hydraulic cylinder has first-order behavior, the differential equation of motion is obtained as follows:
  • T W is the time constant
  • a zyl is the cross-sectional area of the cylinder
  • u W is the input voltage of the servo valve
  • K VW is the proportional constant of flow rate to u w .
  • Fig. 9 shows a schematic representation of the kinematics of the actuator with the geometric constants d a , d b , ⁇ 1 , ⁇ 2 .
  • K Wz 1 and K Wz 3 describe the dependence on the geometric constants d a , d b , ⁇ 1 , ⁇ 2 and the rocking angle ⁇ A .
  • l A is the length of the boom.
  • the relative degree is defined by the following conditions:
  • the operator L f t represents the Lie derivative along the vector field f l or L g t along the vector field g l .
  • y l is a non-flat output.
  • an error feedback is derived between the reference trajectory and the derivatives of the output y *.
  • the tracking control unit is based on the simplified load oscillation ODE (8) and not on the load oscillation ODE (1). Furthermore, the fictitious output is used for the control unit design y l ⁇ used. The resulting internal dynamics are not yet published DE 10 2006 048 988 shown, the content of which forms part of the present application.
  • the trajectory generation problem is formulated as a constrained open chain optimal control problem for the linearized system with state feedback. Due to the relevant calculation time for solving the optimal control problem, the model predictive trajectory generation is carried out with a non-negligible sampling time.
  • the numerical solution method itself also introduces a discretization of the time axis. However, for the sake of simplicity, the optimal control problem is presented continuously in continuous time.
  • the model equations are given by:
  • the state variables x lin are the states of the integrator chain, which results from the linearized system, consisting of a flatness-based controller (equation (14)) and a nonlinear system (equation (6)), and the states of the integrator chain for the reference trajectory. Additional states are introduced to obtain a smooth input ⁇ .
  • the initial state x lin ,0 is derived from the states of these integrators, the current system output and its derivatives.
  • the outputs y lin of the linear system (Equation (15)) are variables that correspond to the flat output y* (Equation (12)) and its first and second derivatives. These variables are the position, velocity and acceleration of the load in the radial direction.
  • the quality functional takes into account, on the one hand, the squared deviation of the predicted outputs y lin from their reference forecast w ( t ) and, on the other hand, the squared change in the input variable u lin .
  • the optimization horizon t f - t 0 , the symmetrical, positive semi-definite weighting matrix Q and the weighting coefficient r > 0 are essential setting parameters for model predictive trajectory generation.
  • the optimization horizon t f - t 0 should capture the essential dynamic behavior of the process/system. This is defined by the period of the load swing (up to 18 seconds for the crane under consideration). Experiments show that 10 seconds is sufficient for the optimization horizon.
  • the reference forecast w ( t ) for the load position, speed and acceleration is generated from the crane driver's hand lever signals (target speeds).
  • the prediction takes into account speed reductions as the load approaches the limits of the work area.
  • the model predictive trajectory generation takes restrictions for the process variables into account as constraints of the optimal control problem.
  • the continuous-time, constrained, linear-quadratic optimal control problem (15)-(20) is discretized.
  • x lin k , u k and y lin k denote the values of the corresponding variables in the discretization points t k .
  • the matrices and vectors A k , b k and C k are obtained by solving the transition equation in [ t k , t k +1 ] from A, b and C .
  • the quality functional (Equation (20)) and the constraints (Equations (17)(18)) are also discretized accordingly. This makes the continuous-time optimal control problem a task of quadratic programming for the state variables and manipulated variables x lin k u lin k of the discrete problem and can be solved with a common "interior point" algorithm.
  • the structure of the discrete model equations is used in a RICCATI-like approach to obtain a solution of the NEWTON step equation with O( K ( m 3 + n 3 )) operations.
  • the illustration shows that the initial step size is determined by the rate of trajectory generation and then increases linearly within the prediction horizon.
  • Figure 11 shows the speed of the load, once as it is specified by the crane operator using an input element, and once as it is specified as a target trajectory via the path planning module using optimal control.
  • the limitations of the system are taken into account here, so that the upper limit for the speed of the load depends on the radial load position, since the geometry of the boom and the luffing cylinder allow different maximum speeds for different boom positions.
  • a constant limitation is specified for the maximum acceleration.
  • Figure 12a now compares this target trajectory with the measured speed of the load.
  • the control follows the target trajectory, with the path planning module compensating for uncertainties in the model through model-based path planning. This results in a fast and damped movement of the load without any significant overshoots.
  • Figure 12b then shows the corresponding trajectory of the load position.
  • the control dampens the spherical vibrations of the load by corresponding compensating movements of the boom during and at the end of each maneuver. This is in Figure 13 shown, from which the counter movements carried out by the boom tip result, which counteract the vibration of the load. This allows the rope angle to be limited to less than 3°.
  • the computing time required for the online calculation of the optimal solution problem in the path planning module is in Figure 14 shown. This results in calculation times between 54 ms and 66 ms.
  • the decisive factor for this extremely short response of the path planning to the crane operator's specifications is, on the one hand, the quick solvability through the downstream linear route consisting of non-linear control and non-linear crane system, as well as the increasing length of the intervals between the prediction base points within the prediction horizon.

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Claims (24)

  1. Grue comprenant une flèche (1), une commande de grue et au moins un câble (20) destiné au levage d'une charge (10), au moins une unité de capteur destinée à déterminer un angle de câble par rapport à la direction de la force gravitationnelle étant prévue dans la commande de grue et l'au moins une unité de capteur étant disposée sur un élément de suivi de câble (35) et guidée sur le câble (20),
    caractérisée en ce que
    l'élément de suivi de câble (35) est relié avec la tête de flèche (30) du flèche (1) par le biais des liaisons de type Cardan (32) en dessous d'une poulie principale (31) et guidé sur le câble, une sûreté contre la surcharge étant prévue, laquelle intervient automatiquement dans la commande de la grue lors d'un dépassement d'une plage de valeurs (70) admissible pour un écart résultant de l'angle de câble mesuré et/ou pour l'écart horizontal de la charge (10), pour empêcher une surcharge de la grue, dans laquelle la sûreté contre la surcharge libère le mouvement de la grue et/ou du câble (20) au moins en partie.
  2. Grue selon la revendication 1, dans laquelle, outre l'unité de capteur destinée à déterminer un angle de câble (70) par rapport à la direction de la force gravitationnelle, au moins une unité de gyroscope est prévue pour mesurer une vitesse angulaire de câble.
  3. Grue selon la revendication 1 ou 2, dans laquelle la grue comporte au moins deux brins de câble destinés au levage de la charge (10), et au moins deux unités de capteur destinées à déterminer les angles de câble par rapport à la direction de la force gravitationnelle sont prévues, lesquelles sont associées à différents brins de câble.
  4. Grue selon l'une des revendications précédentes, dans laquelle la grue comporte au moins deux brins de câble destinés au levage de la charge (10), et au moins deux unités de gyroscope sont prévues pour mesurer les vitesses angulaires de câble, lesquelles sont associées à différents brins de câble.
  5. Grue selon la revendication 4, dans laquelle l'unité de gyroscope est disposées sur l'élément de suivi de câble.
  6. Grue selon la revendication 5, dans laquelle la grue comporte au moins deux brins de câble destinés au levage de la charge (10), et au moins deux éléments de suivi de câble sont prévus, lesquels sont associés à différents brins de câble.
  7. Grue selon l'une des revendications précédentes, dans laquelle une unité d'indication est prévue pour indiquer un écart résultant de l'angle de câble mesuré, en particulier pour indiquer un angle de câble par rapport à la direction de la force gravitationnelle et/ou un écart horizontal de la charge (10) qui en résulte.
  8. Grue selon la revendication 7, dans laquelle l'indication indique une position de câble verticale de manière optique et/ou acoustique.
  9. Grue selon l'une des revendications précédentes, dans laquelle un dispositif d'avertissement est prévu, lequel avertit le grutier lors du dépassement d'une plage de valeurs (70) admissible pour un écart résultant de l'angle de câble mesuré, en particulier pour l'angle de câble par rapport à la direction de la force gravitationnelle et/ou pour l'écart horizontal de la charge (10), en particulier par un signal optique et/ou acoustique.
  10. Grue selon l'une des revendications précédentes, dans laquelle la commande de grue, en particulier le dispositif d'avertissement et/ou la sûreté contre la surcharge, évalue en plus des données d'un capteur d'effort de câble.
  11. Grue selon l'une des revendications précédentes, dans laquelle la grue comporte au moins deux brins de câble destinés au levage de la charge (10), dont la torsion de portée de câble est déterminée.
  12. Grue selon la revendication 11, dans laquelle une unité d'indication est prévue et destinée à indiquer la torsion de portée de câble.
  13. Grue selon la revendication 11, dans laquelle est prévu un dispositif d'avertissement, qui avertit le grutier lors du dépassement d'un domaine de valeurs admissible pour la torsion de portée de câble, en particulier par un signal optique et/ou acoustique.
  14. Grue selon l'une des revendications précédentes, dans laquelle une sûreté contre la torsion est prévue, qui intervient automatiquement dans la commande de la grue lors d'un dépassement d'un domaine de valeurs admissible pour la torsion de portée de câble.
  15. Grue selon l'une des revendications précédentes, qui comporte un amortissement automatique des oscillations de charge.
  16. Grue selon la revendication 15, dans laquelle l'amortissement des oscillations de charge se base sur les données d'au moins une unité de gyroscope.
  17. Grue selon la revendication 19, dans laquelle l'unité de capteur destinée à déterminer l'angle de câble par rapport à la direction de la force gravitationnelle est utilisée pour la surveillance et/ou l'étalonnage de l'unité de gyroscope.
  18. Grue selon l'une des revendications précédentes, dans laquelle une fonction d'orientation automatique de la grue est prévue, permettant d'orienter le câble (20) verticalement au-dessus de la charge (10).
  19. Grue selon l'une des revendications précédentes, dans laquelle une fonction d'orientation automatique de la grue est prévue, permettant de compenser une torsion de portée de câble.
  20. Grue selon l'une des revendications précédentes, comprenant une mémoire destinée à stocker des données de charge sur la base de l'angle de câble à des fins de calcul de la durée de vie et/ou à des fins de documentation.
  21. Grue selon l'une des revendications précédentes, dans laquelle les données mesurées par la première et la seconde unité de capteur sont évaluées par un premier et un second circuit d'observateur d'état.
  22. Grue selon l'une des revendications précédentes, dans laquelle une compensation des données mesurées par la première et la seconde unité de capteur concernant l'angle d'installation des unités de capteur et l'angle de rotation de la grue est effectuée.
  23. Grue selon l'une des revendications précédentes, dans laquelle des défauts de capteur sont détectés par une comparaison des données mesurées par la première et la seconde unité de capteur.
  24. Grue selon l'une des revendications précédentes, dans laquelle l'oscillation de torsion de la portée de câble est prise en compte dans l'amortissement des oscillations de charge par une formation d'une moyenne des angles de câble et/ou vitesses angulaires de câble déterminés par la première et la seconde unité de capteur.
EP08008276.1A 2007-05-16 2008-04-30 Commande de grue, grue et procédé Active EP1992583B2 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP12004726.1A EP2502871B1 (fr) 2007-05-16 2008-04-30 Commande de grue, grue et procédé

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007023027 2007-05-16
DE102007039408A DE102007039408A1 (de) 2007-05-16 2007-08-21 Kransteuerung, Kran und Verfahren

Related Child Applications (2)

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EP12004726.1A Division-Into EP2502871B1 (fr) 2007-05-16 2008-04-30 Commande de grue, grue et procédé
EP12004726.1A Division EP2502871B1 (fr) 2007-05-16 2008-04-30 Commande de grue, grue et procédé

Publications (4)

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EP1992583A2 EP1992583A2 (fr) 2008-11-19
EP1992583A3 EP1992583A3 (fr) 2012-07-18
EP1992583B1 EP1992583B1 (fr) 2015-01-28
EP1992583B2 true EP1992583B2 (fr) 2023-11-22

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CN101898727B (zh) * 2009-05-27 2012-10-10 无锡港盛港口机械有限公司 起重机的超负荷装置
CN106006417B (zh) * 2016-08-17 2019-03-19 徐州重型机械有限公司 一种起重机吊钩摆动的监控系统及方法
WO2020076212A1 (fr) * 2018-10-12 2020-04-16 Indexator Rotator System Ab Système destiné à commander un rotateur par des moyens de détection d'image
DE102019205329A1 (de) * 2019-04-12 2020-10-15 Construction Robotics GmbH Vorrichtung zur Steuerung einer an einem Strang hängenden Last
DE102020120699A1 (de) 2020-08-05 2022-02-10 Konecranes Global Corporation Auslegerdrehkran mit einer Kamera sowie Verfahren zur Reduzierung von Lastpendelungen im Kranbetrieb
CN113753752B (zh) * 2021-08-20 2024-06-21 天津港太平洋国际集装箱码头有限公司 一种吊具的防摇方法、装置、系统以及起重设备
CN114408755B (zh) * 2022-01-21 2025-01-03 上海振华重工(集团)股份有限公司 一种吊具位姿控制方法、系统、设备及程序产品
CN115072564B (zh) * 2022-06-24 2026-02-03 大连美恒时代科技有限公司 一种自动跟踪起重机吊载位置的装置及方法
CN115057355B (zh) * 2022-07-15 2024-05-24 河北工业大学 变绳长双摆桥式吊车自抗扰控制方法及系统
CN115784030B (zh) * 2022-12-01 2025-09-05 郑州凯雪冷链股份有限公司 一种智能冷库库板现场吊装装置
DE102023109701A1 (de) * 2023-04-18 2024-10-24 Liebherr-Werk Nenzing Gmbh Verfahren, System und Computerprogrammprodukt zum Bewegen einer Last mittels einer Mehrzahl von Kranen

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JPH04223993A (ja) 1990-09-21 1992-08-13 Kobe Steel Ltd クレーンにおけるロープの振れ角検出装置
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EP1992583A2 (fr) 2008-11-19
EP1992583A3 (fr) 2012-07-18

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