EP0713474A1 - Method for controlling the swinging motion of an oscillating load and device for applying same - Google Patents

Method for controlling the swinging motion of an oscillating load and device for applying same

Info

Publication number
EP0713474A1
EP0713474A1 EP94925510A EP94925510A EP0713474A1 EP 0713474 A1 EP0713474 A1 EP 0713474A1 EP 94925510 A EP94925510 A EP 94925510A EP 94925510 A EP94925510 A EP 94925510A EP 0713474 A1 EP0713474 A1 EP 0713474A1
Authority
EP
European Patent Office
Prior art keywords
mobile support
load
setpoint
speed
swing
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.)
Granted
Application number
EP94925510A
Other languages
German (de)
French (fr)
Other versions
EP0713474B1 (en
Inventor
Jean-Yves Eudier
Vincent Demoustier
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.)
Konecranes France SA
Original Assignee
Caillard SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Caillard SA filed Critical Caillard SA
Publication of EP0713474A1 publication Critical patent/EP0713474A1/en
Application granted granted Critical
Publication of EP0713474B1 publication Critical patent/EP0713474B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

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

Definitions

  • the present invention relates to a method for controlling the swing of a pendulum load.
  • a load such as a container, suspended via single cables.
  • mobile support consisting for example of a motorized trolley adapted to move horizontally along the rails of a gantry, forms a pendulum which is generally subject to large swings due to the high speeds of use, which can reach 3 meters per second, and the long length of the lifting cables, between 10 and 40 meters.
  • the setpoint for moving the mobile support is therefore imposed and the control method cannot therefore be used for manual driving and any movement of the mobile support.
  • the load sway can therefore remain very important during its movement.
  • the present invention aims to solve the aforementioned drawbacks and to provide numerous advantages in the field of moving suspended loads, in particular by port lifting devices. It makes it possible in particular to ensure the displacement of a pendulum load by limiting as far as possible the swinging of the latter while eliminating all constraints in the movement of the mobile support.
  • the subject of the invention is a method of controlling the swinging of a pendulum load suspended from a mobile support, in which the movement of the mobile support is controlled by any speed reference of the support.
  • this method is characterized in that it comprises a step of controlling the real value of the swing of the pendulum load at a zero swing setpoint and a step of regulating the speed reference of the support as a function of a correction value determined during the swinging step.
  • the speed of the mobile support is continuously regulated so as to constantly maintain a low swing of the pendulum load.
  • the slaving control makes it possible to take into account, during the displacement of this load, all the damping effects or deviations which are likely to move this load from its vertical position.
  • this pendulum system does not require a reference model. Only the load swing setpoint is zero, that is to say that the pendulum constituted by the load suspended from the mobile support remains vertical, neither the support nor the load following a predetermined theoretical law of displacement.
  • the method according to the invention can therefore make it possible to control the swinging of the load even for manual driving.
  • the control method further comprises a step of reading a manual setpoint for the speed of the mobile support, the manual setpoint being regulated as a function of the correction value determined during step d slaving.
  • the pendulum load can therefore be moved by means of a manual control actuated by a driver, the speed setpoint given by the driver can be arbitrary and being automatically regulated by the method according to the invention so as to ensure zero swing of the load at the end of the trajectory.
  • the method comprises a second step of controlling the actual position of the movable support to a position setpoint, simultaneous with the first step of controlling the sway of the load, the speed setpoint of the mobile support being regulated as a function of the correction value determined during the sway control step and a second correction value determined during the second position control step.
  • the position of the mobile support position can therefore be arbitrary, the method allowing, thanks to two servo loops in parallel, to regulate the speed of the mobile support so as to obey the support position setpoint and the rocking setpoint no charge.
  • the device for controlling the swinging of a pendulum load suspended from a mobile support for implementing the method according to the invention, comprises a lifting machine having means for lifting the load and means for moving the mobile support and control and processing means adapted to receive information representative of the length of the pendulum, the angle of swing of the pendulum load and the real position of the mobile support respectively from length acquisition means, angle acquisition means, and position acquisition means.
  • this device is characterized in that the control and processing means are adapted to further receive information representative of a manual speed reference of the mobile support or of a position reference of the mobile support and to send back a regulated speed reference from the mobile support to a control-command system, for example a speed controller of said mobile support.
  • FIG. 1 is a general view of a lifting device which can be fitted with the device according to the invention
  • FIG. 2 is a diagram illustrating geometric variables used in the method according to the invention.
  • FIG. 3 is a block diagram illustrating the method according to the invention.
  • FIG. 4 is a schematic view of an embodiment of a device according to the invention.
  • the object of the device according to the invention is to make it possible to control the swinging of a mobile pendular load 13 as shown in an example of practical application in FIG. 1.
  • the loads 13 which must be moved from one point to another, in particular during the loading and unloading of ships, are generally transported by means of port lifting devices 10 such as cranes or container gantries.
  • the lifting cables 15 have a length variable thanks to winches generally on board the mobile carriage 14.
  • the load 13 is lifted from its starting point, transported under the rail 11 and then re-deposited at the end of its trajectory.
  • the main aim of the device according to the invention is therefore to control and avoid this rocking of the suspended load 13 or of the suspended tool 42 which thus constitutes a pendulum 12.
  • the device comprises a machine 45 for lifting the load 13, constituted in a known manner of several winches 45 on which the lifting cables 15 can be wound up so as to modify the length of the pendulum 12.
  • the mobile support 14 can move on the horizontal rail 11 by means of rollers 40 which can roll along the rail 11.
  • Displacement means 48, 47 conventionally comprising a motor 47 coupled to a reduction gear 48 allow the support 14 to be displaced in translation.
  • the control and processing means CPU proper consist of a central unit in which is stored the regulation program which makes it possible to carry out part of the steps of the method according to the invention which will be described later.
  • the control and processing means CPU are adapted to receive information representative of the length 1 of the pendulum 12, of the angle of swing of the pendulum load 13 and of the real position x of the movable support 14 along the rail, as well as logical information (for example an emergency stop). These geometric variables 1, a and x are illustrated in Figure 2.
  • the length 1 corresponds to the distance separating the suspended load 13 from the movable support 14 and is therefore variable when the length of the lifting cables 15 is modified.
  • the angle ⁇ is representative of the swing of the load 13 around its vertical axis. The aim of the present invention is to keep this angle ⁇ small and zero at the end of the trajectory.
  • the position x of the carriage 14 along the rail 11 varies between the initial position of the trajectory, to which the load 13 to be moved is hung, and a final position to which the operator of the vehicle wishes to deposit the load 13.
  • the acquisition means 46 of the length 1 of the pendulum 12 may consist in a known manner of a pulse generator mechanically linked to one of the lifting winches 45 on which a variable length of cable 15 is wound.
  • the means 41 for acquiring the position x of the mobile carriage 14 can also consist of a pulse generator mechanically linked to a wheel of the carriage and making it possible to count the distance traveled by the latter along the rail 11.
  • the pulses generated, representative of the length 1 and of the position x, are transmitted to the processing means CPU at two fast counting inputs.
  • angle acquisition means 43, 44 which include an infrared camera 44 installed on the movable carriage 14 and directed downwards, in the direction of the load suspended 13.
  • a transmitter 43 or infrared beacon is placed at the level of the load 13, by example on the gripping tool, such as a pulley holder in the case of container gantry cranes.
  • This emitter is directed upwards so as to send an infrared ray towards the camera 44, the latter being adapted to analyze the emitted ray and in particular its angle of incidence relative to the vertical.
  • the measurement of the angle ⁇ is then transmitted by serial link to the control and processing means CPU.
  • the latter are also adapted to receive information representative of either a manual CVM speed setpoint of the mobile support 14, or a position setpoint xc of this support 14.
  • the processing means CPU have separate inputs for the two types of information mentioned above and are suitable for reading information from one or the other entry.
  • a control button can be arranged on the hoist to allow the driver to select one or other of the inputs which must be taken into account by the processing and control software.
  • the information relating to the manual CVM speed setpoint of the carriage 14 is acquired by the processing and control means CPU by means of an analog input, of the + 10 volt type for example, connected to a combiner 50 manually controlled by the driver of the 'contraption.
  • the manual speed setpoint CVM of the mobile support 14 therefore comes from a control lever 50 for moving the mobile support 14, actuated manually.
  • the device according to the invention also comprises means of acquisition and storage 51 of the position setpoint xc of the mobile support 14, such as a control console on which the operator of the lifting machine can program the final position of pendulum 12 as position setpoint xc.
  • the latter is then stored in the device for use by the processing and control means CPU.
  • the latter are adapted to furthermore issue a regulated speed reference CV of the mobile support 14 intended for a control-command system, such as a speed variator 34 of this mobile support.
  • the CV speed setpoint is transmitted by means of an analog output of the + 10 volt type which allows control of the control-command system 34.
  • control-command system 34 acts on the motor 47 controlling the movement of the mobile support 14 to accelerate or slow it down.
  • a dynamo-tachometer 49 makes it possible to measure the speed of the motor at the level of the motor 47 and to return to the device, via an analog input, a measurement of the speed of the mobile support in order to regulate the operation of the system. 34. This feedback on the actual speed of the support makes it possible to ensure that this is indeed equal to the speed setpoint CV transmitted to the control-command system 34.
  • the device also includes a 220 volt 50 Hz power supply and an on / off type M / A button for operating the device.
  • the operation of this device will now be described for the implementation of the method according to the invention, with particular reference to FIG. 3.
  • the method according to the invention controls the swinging of the pendulum load 13 suspended from a mobile support 14, the movement of the latter being controlled by a speed reference CV.
  • the method comprises a step ASl of the actual value of the swinging load of the pendulum load 13 at a zero swinging instruction and a regulation step 37 of the speed instruction CV of said support 14 as a function of a correction value El determined during the slaving stage ASl.
  • the control step of the swing ASl is a proportional and derived control loop. From the actual measurement of the load swing, that is to say from an acquisition step 31 of the swing angle ⁇ and a acquisition step 30 of the length 1 of the pendulum 12, and from the comparison of the measurement of the sway to a zero value (corresponding to an angle ⁇ of 0 degrees), a correction value El is determined such that:
  • Ei Kj_ x P (dangling) + K 2 x D (dangling)
  • P and D are respectively a proportional function and a derived function
  • Ki and K 2 are coefficients determined by experience, which depend on the mass of the load to be moved, of the geometry of the pendulum 12.
  • the correction value E1 is therefore equal to the sum of a first element proportional to the real value of the swing of the load 13 and a second element proportional to the derivative over time of the real value of the swing.
  • the regulation step 37 is carried out by means of an adder 37 which makes it possible to regulate the value of the speed reference CV by adding the correction value El calculated to the speed reference.
  • the driver himself controls the speed of the support 14 by means of the combiner 50.
  • the process then includes a reading step 38 of the CVM manual speed reference for the mobile support 14.
  • the method comprises a second step of servo AS2 of the real position x of the mobile support 14 to a position setpoint xc, simultaneous with the first step of servo ASl of the load swing 13 .
  • the position setpoint xc of the mobile support is preferably equal to a predetermined end position to which it is desired to deposit the load 13.
  • the actual position x of the mobile support 14 is measured during an acquisition step 32 of this position using acquisition means 41 described above.
  • the servo step in position AS2 is a proportional type servo loop during which a second correction value E2 is determined as follows:
  • E2 K3 P (ûx) where P is a proportional function, ⁇ x corresponds to the difference between the actual measured position x of the mobile support and the position reference xc, and
  • K3 is an experience coefficient taking into account process parameters, such as the mass of the load, the geometry of the pendulum ...
  • the speed reference CV of the mobile support is, during this automatic operation, regulated as a function of the correction value El determined during the control step AS1 of the sway and of the second correction value E2 determined during the second position control step AS2.
  • the adder performs the regulation of the speed setpoint CV, either by considering the manual speed setpoint CVM given by the driver, or the correction value E2 determined from the position setpoint. final xc of the mobile support.
  • the method further includes a step 33 of limiting, upstream of the control-command system 34, the speed and acceleration of the mobile support.
  • the CV speed setpoint is not limited so as not to exceed the imposed limit values.
  • the speed setpoint is then sent to the control-command system 34 which controls the speed of rotation of the motor 47 as already described previously with reference to the device according to the invention.
  • a speed regulation step 35 makes it possible to continuously compare the real speed of the motor 47 and the speed setpoint CV addressed to the control-command system, and to adjust the speed of the motor 47 so as to comply as best as possible with the setpoint CV speed.
  • This regulation system makes it possible to quickly and vigorously amortize the sway whatever the CVM speed setpoint of the truck requested by the driver, even for truck speeds reaching
  • the regulation is effective even with a variation in length 1 of the pendulum 12 during the movement of the carriage and the load. Enslavement on the value of the sway makes it possible to obtain a weak swinging of the load during all the duration of the trajectory, while taking into account the dampings already existing in the device, due to the wind, friction ...
  • the invention is not limited to the exemplary embodiments described above, and numerous modifications can be made to it without departing from the scope of the invention.
  • the means for acquiring angle ⁇ , length 1 or portions x of the carriage can be any.

Landscapes

  • Mechanical Engineering (AREA)
  • Engineering & Computer Science (AREA)
  • Control And Safety Of Cranes (AREA)
  • Vibration Prevention Devices (AREA)
  • Manufacture, Treatment Of Glass Fibers (AREA)
  • Testing Of Balance (AREA)
  • Crushing And Grinding (AREA)
  • Buildings Adapted To Withstand Abnormal External Influences (AREA)
  • Forging (AREA)
  • Knitting Machines (AREA)
  • Liquid Deposition Of Substances Of Which Semiconductor Devices Are Composed (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Control Of Transmission Device (AREA)

Abstract

PCT No. PCT/FR94/01005 Sec. 371 Date Feb. 13, 1996 Sec. 102(e) Date Feb. 13, 1996 PCT Filed Aug. 12, 1994 PCT Pub. No. WO95/05336 PCT Pub. Date Feb. 23, 1995Method and device for controlling the swinging motion of an oscillating load suspended from a movable support, wherein the movement of the support is controlled by a speed setpoint. The method includes a step (AS1) for automatically controlling the actual swaying value of the oscillating load by means of a zero swaying value and a step (37) for adjusting the speed setpoint (CV) of the support according to a correction value (E1) determined during the automatic swaying control step (AS1). The invention can be used, for example, for moving a load by means of a harbour crane.

Description

"Procédé de contrôle de balancement d'une charge pendulaire et dispositif de mise en oeuvre du procédé" "Method for controlling the swinging of a pendulum load and device for implementing the method"
La présente invention concerne un procédé de contrôle du balancement d'une charge pendulaire.The present invention relates to a method for controlling the swing of a pendulum load.
Elle concerne également un dispositif pour la mise en oeuvre de ce procédé. Dans le domaine de la manutention et de levage des charges, notamment pour le déplacement de conteneurs à l'aide de grues ou portiques à conteneurs, il est très important de réaliser avec précision le déplacement des charges d'un point à un autre, et plus particulièrement d'obtenir un balancement nul de la charge en fin de trajet.It also relates to a device for implementing this method. In the field of handling and lifting of loads, in particular for moving containers using cranes or container gantries, it is very important to carry out the movement of loads from one point to another with precision, and more particularly to obtain a zero swing of the load at the end of the journey.
Une charge, telle qu'un conteneur, suspendue par l'intermédiaire de câbles à un . support mobile, constitué par exemple d'un chariot motorisé adapté à se déplacer horizontalement le long des rails d'un portique, forme un pendule qui est soumis généralement à de grands balancements du fait des vitesses élevées d'utilisation, pouvant atteindre 3 mètres par seconde, et de la grande longueur des câbles de levage, comprise entre 10 et 40 mètres.A load, such as a container, suspended via single cables. mobile support, consisting for example of a motorized trolley adapted to move horizontally along the rails of a gantry, forms a pendulum which is generally subject to large swings due to the high speeds of use, which can reach 3 meters per second, and the long length of the lifting cables, between 10 and 40 meters.
Dans la réalité, il existe un amortissement provoqué par le frottement des câbles sur les poulies, par la déformation élastique des câbles, par le frottement de l'air ambiant... Toutefois, cela ne suffit pas à amortir totalement le mouvement d'oscillation de la charge et à obtenir en fin de trajectoire un balancement nul de celle-ci.In reality, there is a damping caused by the friction of the cables on the pulleys, by the elastic deformation of the cables, by the friction of the ambient air ... However, this is not enough to completely dampen the oscillation movement of the load and to obtain a zero swing thereof at the end of the trajectory.
On connaît dans la demande de brevet FR 90-09145 un procédé de contrôle de déplacement d'une charge pendulaire dans lequel la position réelle de la charge pendulaire est asservie à une position théorique, cette dernière satisfaisant à une loi théorique assurant un balancement nul de la charge en fin de parcours. Ce procédé implique par conséquent que le déplacement du support mobile suive également une loi théorique déduite du déplacement théorique de la charge et du balancement théorique de celle-ci.We know from patent application FR 90-09145 a method of controlling the displacement of a pendulum load in which the actual position of the pendulum load is controlled by a theoretical position, the latter satisfying a theoretical law ensuring zero swing of the load at the end of the journey. This process therefore implies that the displacement of the mobile support also follows a law theoretical deduced from the theoretical displacement of the load and the theoretical balancing of this one.
La consigne de déplacement du support mobile est donc imposée et le procédé d'asservissement n'est donc pas utilisable pour une conduite manuelle et un déplacement quelconque du support mobile.The setpoint for moving the mobile support is therefore imposed and the control method cannot therefore be used for manual driving and any movement of the mobile support.
De plus, la loi théorique du déplacement de la charge doit répondre à des conditions de continuité et de dérivabilité qui, associées aux conditions aux limites de la trajectoire, restreignent les possibilités de choix de cette loi. Le procédé d'asservissement connu n'est donc pas applicable à des lois de déplacement quelconque de la charge et du support mobile.In addition, the theoretical law of displacement of the load must meet conditions of continuity and differentiability which, associated with the boundary conditions of the trajectory, restrict the possibilities of choice of this law. The known control method is therefore not applicable to any laws of displacement of the load and the mobile support.
Enfin, la condition de nullité du balancement de la charge n'est requise que pour la fin de la trajectoire et n'est a priori pas assurée au cours du déplacement de la charge.Finally, the condition of nullity of the swinging of the load is only required for the end of the trajectory and is a priori not ensured during the displacement of the load.
Le ballant de la charge peut donc rester très important pendant son déplacement. La présente invention a pour but de résoudre les inconvénients précités et d'apporter de nombreux avantages dans le domaine du déplacement de charges suspendues, notamment par des engins de levage portuaires. Elle permet notamment d'assurer le déplacement d'une charge pendulaire en limitant au mieux le balancement de celle-ci tout en supprimant toutes contraintes dans le déplacement du support mobile.The load sway can therefore remain very important during its movement. The present invention aims to solve the aforementioned drawbacks and to provide numerous advantages in the field of moving suspended loads, in particular by port lifting devices. It makes it possible in particular to ensure the displacement of a pendulum load by limiting as far as possible the swinging of the latter while eliminating all constraints in the movement of the mobile support.
L'invention a pour objet un procédé de contrôle du balancement d'une charge pendulaire suspendue à un support mobile, dans lequel le déplacement du support mobile est commandé par une consigne de vitesse quelconque du support.The subject of the invention is a method of controlling the swinging of a pendulum load suspended from a mobile support, in which the movement of the mobile support is controlled by any speed reference of the support.
Selon l'invention, ce procédé est caractérisé en ce qu'il comprend une étape d'asservissement de la valeur réelle du ballant de la charge pendulaire à une consigne de ballant nulle et une étape de régulation de la consigne de vitesse du support en fonction d'une valeur de correction déterminée pendant 1'étape d'asservissement du ballant. Ainsi, grâce au procédé de l'invention, la vitesse du support mobile est régulée en continu de manière à maintenir constamment un balancement faible de la charge pendulaire.According to the invention, this method is characterized in that it comprises a step of controlling the real value of the swing of the pendulum load at a zero swing setpoint and a step of regulating the speed reference of the support as a function of a correction value determined during the swinging step. Thus, thanks to the method of the invention, the speed of the mobile support is continuously regulated so as to constantly maintain a low swing of the pendulum load.
L'asservissement du ballant permet de prendre en compte, pendant le déplacement de cette charge, tous les effets d'amortissement ou de déviations qui sont susceptibles d'écarter cette charge de sa position verticale.The slaving control makes it possible to take into account, during the displacement of this load, all the damping effects or deviations which are likely to move this load from its vertical position.
De plus, le déplacement de ce système pendulaire ne nécessite pas de modèle de référence. Seule la consigne du ballant de la charge est nulle, c'est-à- dire que le pendule constitué par la charge suspendue au support mobile reste vertical, ni le support, ni la charge ne suivant une loi théorique prédéterminée de déplacement.In addition, the displacement of this pendulum system does not require a reference model. Only the load swing setpoint is zero, that is to say that the pendulum constituted by the load suspended from the mobile support remains vertical, neither the support nor the load following a predetermined theoretical law of displacement.
Le procédé selon l'invention peut donc permettre de contrôler le balancement de la charge même pour une conduite manuelle.The method according to the invention can therefore make it possible to control the swinging of the load even for manual driving.
Selon une version avantageuse de l'invention, le procédé de contrôle comprend en outre une étape de lecture d'une consigne manuelle de vitesse du support mobile, la consigne manuelle étant régulée en fonction de la valeur de correction déterminée lors de l'étape d'asservissement du ballant. La charge pendulaire peut par conséquent être déplacée grâce à une commande manuelle actionnée par un conducteur, la consigne de vitesse donnée par le conducteur pouvant être quelconque et étant régulée automatiquement par le procédé selon l'invention de manière à assurer un balancement nul de la charge en fin de trajectoire. Selon une autre version de l'invention, le procédé comprend une seconde étape d'asservissement de la position réelle du support mobile à une consigne de position, simultanée à la première étape d'asservissement du ballant de la charge, la consigne de vitesse du support mobile étant régulée en fonction de la valeur de correction déterminée pendant l'étape d'asservissement du ballant et d'une seconde valeur de correction déterminée pendant la seconde étape d'asservissement de position.According to an advantageous version of the invention, the control method further comprises a step of reading a manual setpoint for the speed of the mobile support, the manual setpoint being regulated as a function of the correction value determined during step d slaving. The pendulum load can therefore be moved by means of a manual control actuated by a driver, the speed setpoint given by the driver can be arbitrary and being automatically regulated by the method according to the invention so as to ensure zero swing of the load at the end of the trajectory. According to another version of the invention, the method comprises a second step of controlling the actual position of the movable support to a position setpoint, simultaneous with the first step of controlling the sway of the load, the speed setpoint of the mobile support being regulated as a function of the correction value determined during the sway control step and a second correction value determined during the second position control step.
La consigne de position du support mobile peut par conséquent être quelconque, le procédé permettant grâce à deux boucles d'asservissement en parallèle, de réguler la vitesse du support mobile de manière à obéir à la consigne de position du support et à la consigne de balancement nul de la charge.The position of the mobile support position can therefore be arbitrary, the method allowing, thanks to two servo loops in parallel, to regulate the speed of the mobile support so as to obey the support position setpoint and the rocking setpoint no charge.
Selon un autre aspect de l'invention, le dispositif de contrôle du balancement d'une charge pendulaire suspendue à un support mobile pour la mise en oeuvre du procédé conforme à l'invention, comprend un engin de levage possédant des moyens de levage de la charge et des moyens de déplacement du support mobile et des moyens de contrôle et de traitement adaptés à recevoir des informations représentatives de la longueur du pendule, de l'angle de ballant de la charge pendulaire et de la position réelle du support mobile provenant respectivement de moyens d'acquisition de longueur, de moyens d'acquisition d'angle, et de moyens d'acquisition de position. Selon l'invention, ce dispositif est caractérisé en ce que les moyens de contrôle et de traitement sont adaptés à recevoir en outre des informations représentatives d'une consigne manuelle de vitesse du support mobile ou d'une consigne de position du support mobile et à émettre en retour une consigne régulée de vitesse du support mobile à destination d'un système de contrôle-commande, par exemple un variateur de vitesse dudit support mobile.According to another aspect of the invention, the device for controlling the swinging of a pendulum load suspended from a mobile support for implementing the method according to the invention, comprises a lifting machine having means for lifting the load and means for moving the mobile support and control and processing means adapted to receive information representative of the length of the pendulum, the angle of swing of the pendulum load and the real position of the mobile support respectively from length acquisition means, angle acquisition means, and position acquisition means. According to the invention, this device is characterized in that the control and processing means are adapted to further receive information representative of a manual speed reference of the mobile support or of a position reference of the mobile support and to send back a regulated speed reference from the mobile support to a control-command system, for example a speed controller of said mobile support.
D'autres particularités et avantages de l'invention apparaîtront encore dans la description ci- après.Other features and advantages of the invention will become apparent in the description below.
Aux dessins annexés, donnés à titre d'exemples non limitatifs:In the appended drawings, given by way of nonlimiting examples:
- la figure 1 est une vue générale d'un engin de levage pouvant être équipé du dispositif selon l'invention;- Figure 1 is a general view of a lifting device which can be fitted with the device according to the invention;
- la figure 2 est un schéma illustrant des variables géométriques utilisées dans le procédé selon 1'invention;- Figure 2 is a diagram illustrating geometric variables used in the method according to the invention;
- la figure 3 est un schéma bloc illustrant le procédé selon l'invention; et- Figure 3 is a block diagram illustrating the method according to the invention; and
- la figure 4 est une vue schématique d'une réalisation d'un dispositif selon l'invention.- Figure 4 is a schematic view of an embodiment of a device according to the invention.
On va tout d'abord décrire, en référence notamment aux figures 1 et 4 , un exemple de réalisation d'un dispositif qui autorise la mise en oeuvre du procédé selon l'invention.We will first describe, with particular reference to Figures 1 and 4, an embodiment of a device which allows the implementation of the method according to the invention.
Le dispositif selon l'invention a pour objet de permettre de réaliser le contrôle du balancement d'une charge pendulaire mobile 13 telle que représentée dans un exemple d'application pratique à la figure 1.The object of the device according to the invention is to make it possible to control the swinging of a mobile pendular load 13 as shown in an example of practical application in FIG. 1.
Les charges 13 qui doivent être déplacées d'un point à un autre, notamment lors du chargement et du déchargement de navires, sont généralement transportées par l'intermédiaire d'engins de levage portuaires 10 tels que des grues ou des portiques à conteneurs.The loads 13 which must be moved from one point to another, in particular during the loading and unloading of ships, are generally transported by means of port lifting devices 10 such as cranes or container gantries.
Ces charges 13 sont suspendues par le biais de câbles 15 à un support mobile 14, semblable à un chariotThese loads 13 are suspended by cables 15 from a mobile support 14, similar to a carriage
14 adapté à se déplacer horizontalement le long d'un rail14 adapted to move horizontally along a rail
11, par exemple grâce à des galets roulant le long du rail.11, for example by means of rollers rolling along the rail.
Les câbles de levage 15 ont une longueur variable grâce à des treuils généralement embarqués sur le chariot mobile 14.The lifting cables 15 have a length variable thanks to winches generally on board the mobile carriage 14.
Ainsi, la charge 13 est soulevée de son point de départ, transportée sous le rail 11 puis redéposée à la fin de sa trajectoire.Thus, the load 13 is lifted from its starting point, transported under the rail 11 and then re-deposited at the end of its trajectory.
Lors du déplacement de cette charge 13, celle- ci peut être soumise à de fortes oscillations autour de sa position verticale, au droit du support mobile 14.During the movement of this load 13, it can be subjected to strong oscillations around its vertical position, in line with the mobile support 14.
Le dispositif selon l'invention a donc pour but principal de contrôler et d'éviter ce balancement de la charge suspendue 13 ou de l'outil suspendu 42 qui constitue ainsi un pendule 12.The main aim of the device according to the invention is therefore to control and avoid this rocking of the suspended load 13 or of the suspended tool 42 which thus constitutes a pendulum 12.
Comme illustré à la figure 4, le dispositif comprend un engin de levage 45 de la charge 13, constitué de manière connue de plusieurs treuils 45 sur lesquels peuvent s'enrouler les câbles de levage 15 de manière à modifier la longueur du pendule 12.As illustrated in FIG. 4, the device comprises a machine 45 for lifting the load 13, constituted in a known manner of several winches 45 on which the lifting cables 15 can be wound up so as to modify the length of the pendulum 12.
Le support mobile 14 peut se déplacer sur le rail horizontal 11 grâce à des galets 40 pouvant rouler le long du rail 11.The mobile support 14 can move on the horizontal rail 11 by means of rollers 40 which can roll along the rail 11.
Des moyens de déplacement 48, 47 comprenant de manière classique un moteur 47 couplé à un réducteur 48 permettent de déplacer en translation le support 14.Displacement means 48, 47 conventionally comprising a motor 47 coupled to a reduction gear 48 allow the support 14 to be displaced in translation.
Les moyens de contrôle et de traitement CPU proprement dit sont constitués d'une unité centrale dans laquelle est stocké le programme de régulation qui permet de réaliser une partie des étapes du procédé selon l'invention qui sera décrit plus loin.The control and processing means CPU proper consist of a central unit in which is stored the regulation program which makes it possible to carry out part of the steps of the method according to the invention which will be described later.
Les moyens de contrôle et de traitement CPU sont adaptés à recevoir des informations représentatives de la longueur 1 du pendule 12, de l'angle α de ballant de la charge pendulaire 13 et de la position réelle x du support mobile 14 le long du rail, ainsi que des informations logiques (par exemple un arrêt d'urgence). Ces variables géométriques 1, a et x sont illustrées sur la figure 2. La longueur 1 correspond à la distance séparant la charge suspendue 13 du support mobile 14 et est donc variable lorsque la longueur des câbles de levage 15 est modifiée. L'angle α est représentatif du ballant de la charge 13 autour de son axe vertical. Le but de la présente invention est de maintenir cet angle α faible et nul en fin de trajectoire.The control and processing means CPU are adapted to receive information representative of the length 1 of the pendulum 12, of the angle of swing of the pendulum load 13 and of the real position x of the movable support 14 along the rail, as well as logical information (for example an emergency stop). These geometric variables 1, a and x are illustrated in Figure 2. The length 1 corresponds to the distance separating the suspended load 13 from the movable support 14 and is therefore variable when the length of the lifting cables 15 is modified. The angle α is representative of the swing of the load 13 around its vertical axis. The aim of the present invention is to keep this angle α small and zero at the end of the trajectory.
La position x du chariot 14 le long du rail 11 varie entre la position initiale de la trajectoire, à laquelle est accrochée la charge 13 devant être déplacée, et une position finale à laquelle le conducteur de l'engin souhaite déposer la charge 13.The position x of the carriage 14 along the rail 11 varies between the initial position of the trajectory, to which the load 13 to be moved is hung, and a final position to which the operator of the vehicle wishes to deposit the load 13.
Ces données géométriques 1, a et x sont mesurées grâce à des moyens d'acquisition, puis sont transmises aux moyens de traitement CPU.These geometric data 1, a and x are measured by means of acquisition, then are transmitted to the processing means CPU.
Les moyens d'acquisition 46 de la longueur 1 du pendule 12 peuvent être constitués de manière connue d'un générateur d'impulsions lié mécaniquement à l'un des treuils de levage 45 sur lesquels une longueur variable de câble 15 est enroulée.The acquisition means 46 of the length 1 of the pendulum 12 may consist in a known manner of a pulse generator mechanically linked to one of the lifting winches 45 on which a variable length of cable 15 is wound.
Les moyens d'acquisition 41 de la position x du chariot mobile 14 peuvent également être constitués d'un générateur d'impulsions lié mécaniquement à une roue du chariot et permettant de comptabiliser la distance parcourue par ce dernier le long du rail 11.The means 41 for acquiring the position x of the mobile carriage 14 can also consist of a pulse generator mechanically linked to a wheel of the carriage and making it possible to count the distance traveled by the latter along the rail 11.
Les impulsions générées, représentatives de la longueur 1 et de la position x, sont transmises aux moyens de traitement CPU au niveau de deux entrées de comptage rapide.The pulses generated, representative of the length 1 and of the position x, are transmitted to the processing means CPU at two fast counting inputs.
La mesure de l'angle α de ballant de la charge 13 est réalisée par des moyens d'acquisition d'angle 43, 44 qui comprennent une caméra infrarouge 44 installée sur le chariot mobile 14 et dirigée vers le bas, en direction de la charge suspendue 13. Un émetteur 43 ou balise infrarouge est posé au niveau de la charge 13, par exemple sur l'outil de préhension, tel qu'un porte- poulies dans le cas des portiques à conteneurs.The measurement of the swing angle α of the load 13 is carried out by angle acquisition means 43, 44 which include an infrared camera 44 installed on the movable carriage 14 and directed downwards, in the direction of the load suspended 13. A transmitter 43 or infrared beacon is placed at the level of the load 13, by example on the gripping tool, such as a pulley holder in the case of container gantry cranes.
Cet émetteur est dirigé vers le haut de manière à envoyer un rayon infrarouge en direction de la caméra 44, cette dernière étant adaptée à analyser le rayon émis et notamment son angle d'incidence par rapport à la verticale.This emitter is directed upwards so as to send an infrared ray towards the camera 44, the latter being adapted to analyze the emitted ray and in particular its angle of incidence relative to the vertical.
La mesure de l'angle α est alors transmise par liaison série aux moyens de contrôle et de traitement CPU. Ces derniers sont également adaptés à recevoir des informations représentatives soit d'une consigne manuelle CVM de vitesse du support mobile 14, soit d'une consigne de position xc de ce support 14. En pratique, les moyens de traitement CPU comportent des entrées distinctes pour les deux types d'informations mentionnés ci-dessus et sont adaptés à lire les informations provenant de l'une ou de l'autre entrée.The measurement of the angle α is then transmitted by serial link to the control and processing means CPU. The latter are also adapted to receive information representative of either a manual CVM speed setpoint of the mobile support 14, or a position setpoint xc of this support 14. In practice, the processing means CPU have separate inputs for the two types of information mentioned above and are suitable for reading information from one or the other entry.
Un bouton de commande peut être disposé sur 1'engin de levage pour permettre au conducteur de sélectionner l'une ou l'autre des entrées qui devra être prise en compte par le logiciel de traitement et de contrôle.A control button can be arranged on the hoist to allow the driver to select one or other of the inputs which must be taken into account by the processing and control software.
Les informations relatives à la consigne manuelle CVM de vitesse du chariot 14 sont acquises par les moyens de traitement et de contrôle CPU grâce à une entrée analogique, du type + 10 volts par exemple, reliée à un combinateur 50 commandé manuellement par le conducteur de l'engin.The information relating to the manual CVM speed setpoint of the carriage 14 is acquired by the processing and control means CPU by means of an analog input, of the + 10 volt type for example, connected to a combiner 50 manually controlled by the driver of the 'contraption.
La consigne manuelle de vitesse CVM du support mobile 14 est donc issue d'un levier de commande 50 de déplacement du support mobile 14, actionné manuellement.The manual speed setpoint CVM of the mobile support 14 therefore comes from a control lever 50 for moving the mobile support 14, actuated manually.
Le dispositif selon l'invention comporte également des moyens d'acquisition et de mémorisation 51 de la consigne de position xc du support mobile 14, tels qu'un pupitre de commande sur lequel le conducteur de l'engin de levage peut programmer la position finale désirée du pendule 12 comme consigne de position xc. Cette dernière est ensuite mise en mémoire dans le dispositif pour être utilisée par les moyens de traitement et de contrôle CPU. Ces derniers sont adaptés à émettre en outre une consigne régulée de vitesse CV du support mobile 14 à destination d'un système de contrôle-commande, tel qu'un variateur 34 de vitesse de ce support mobile.The device according to the invention also comprises means of acquisition and storage 51 of the position setpoint xc of the mobile support 14, such as a control console on which the operator of the lifting machine can program the final position of pendulum 12 as position setpoint xc. The latter is then stored in the device for use by the processing and control means CPU. The latter are adapted to furthermore issue a regulated speed reference CV of the mobile support 14 intended for a control-command system, such as a speed variator 34 of this mobile support.
L'émission de la consigne de vitesse CV est réalisée grâce à une sortie analogique du type + 10 volts qui permet le pilotage du système de contrôle-commande 34.The CV speed setpoint is transmitted by means of an analog output of the + 10 volt type which allows control of the control-command system 34.
Suivant la consigne de vitesse CV transmise, le système de contrôle-commande 34 agit sur le moteur 47 commandant le déplacement du support mobile 14 pour accélérer ou ralentir celui-ci.According to the CV speed setpoint transmitted, the control-command system 34 acts on the motor 47 controlling the movement of the mobile support 14 to accelerate or slow it down.
Un dynamo-tachymètre 49 permet de mesurer au niveau du moteur 47 la vitesse de celui-ci et de retourner au dispositif, par l'intermédiaire d'une entrée analogique, une mesure de la vitesse du support mobile afin de réguler le fonctionnement du système de contrôle- commande 34. Cette rétroaction sur la vitesse réelle du support permet de s'assurer que celle-ci est bien égale à la consigne de vitesse CV transmise au système de contrôle-commande 34.A dynamo-tachometer 49 makes it possible to measure the speed of the motor at the level of the motor 47 and to return to the device, via an analog input, a measurement of the speed of the mobile support in order to regulate the operation of the system. 34. This feedback on the actual speed of the support makes it possible to ensure that this is indeed equal to the speed setpoint CV transmitted to the control-command system 34.
Le dispositif comporte également une alimentation en courant 220 volts 50 Hz et un bouton M/A du type Marche/Arrêt permettant de mettre en fonctionnement le dispositif. Le fonctionnement de ce dispositif va maintenant être décrit pour la mise en oeuvre du procédé selon l'invention, en référence notamment à la figure 3.The device also includes a 220 volt 50 Hz power supply and an on / off type M / A button for operating the device. The operation of this device will now be described for the implementation of the method according to the invention, with particular reference to FIG. 3.
Le procédé selon l'invention contrôle le balancement de la charge pendulaire 13 suspendue à un support mobile 14, le déplacement de ce dernier étant commandé par une consigne de vitesse CV. Le procédé comprend une étape d'asservissement ASl de la valeur réelle du ballant de la charge pendulaire 13 à une consigne de ballant nulle et une étape de régulation 37 de la consigne de vitesse CV dudit support 14 en fonction d'une valeur de correction El déterminée pendant l'étape d'asservissement du ballant ASl.The method according to the invention controls the swinging of the pendulum load 13 suspended from a mobile support 14, the movement of the latter being controlled by a speed reference CV. The method comprises a step ASl of the actual value of the swinging load of the pendulum load 13 at a zero swinging instruction and a regulation step 37 of the speed instruction CV of said support 14 as a function of a correction value El determined during the slaving stage ASl.
L'étape d'asservissement du ballant ASl est une boucle d'asservissement proportionnelle et dérivée. A partir de la mesure réelle du ballant de la charge, c'est-à-dire à partir d'une étape d'acquisition 31 de l'angle α de ballant et d'une étape d'acquisition 30 de la longueur 1 du pendule 12, et de la comparaison de la mesure du ballant à une valeur nulle (correspondant à un angle α de 0 degré), on détermine une valeur de correction El tel que:The control step of the swing ASl is a proportional and derived control loop. From the actual measurement of the load swing, that is to say from an acquisition step 31 of the swing angle α and a acquisition step 30 of the length 1 of the pendulum 12, and from the comparison of the measurement of the sway to a zero value (corresponding to an angle α of 0 degrees), a correction value El is determined such that:
Ei = Kj_ x P(ballant) + K2 x D(ballant) où P et D sont respectivement une fonction proportionnelle et une fonction dérivée et où Ki et K2 sont des coefficients déterminés par l'expérience, qui dépendent de la masse de la charge à déplacer, de la géométrie du pendule 12.Ei = Kj_ x P (dangling) + K 2 x D (dangling) where P and D are respectively a proportional function and a derived function and where Ki and K 2 are coefficients determined by experience, which depend on the mass of the load to be moved, of the geometry of the pendulum 12.
La valeur de correction El est donc égale à la somme d'un premier élément proportionnel à la valeur réelle du ballant de la charge 13 et d'un deuxième élément proportionnel à la dérivée sur le temps de la valeur réelle du ballant.The correction value E1 is therefore equal to the sum of a first element proportional to the real value of the swing of the load 13 and a second element proportional to the derivative over time of the real value of the swing.
L'étape de régulation 37 est réalisée grâce à un sommateur 37 qui permet de réguler la valeur de la consigne de la vitesse CV en ajoutant la valeur de correction El calculée à la consigne de vitesse.The regulation step 37 is carried out by means of an adder 37 which makes it possible to regulate the value of the speed reference CV by adding the correction value El calculated to the speed reference.
Lors d'un fonctionnement manuel assisté par le procédé selon l'invention, le conducteur commande lui- même la vitesse du support 14 par l'intermédiaire du combinateur 50.During manual operation assisted by the method according to the invention, the driver himself controls the speed of the support 14 by means of the combiner 50.
Le procédé comporte alors une étape de lecture 38 de la consigne manuelle CVM de vitesse du support mobile 14.The process then includes a reading step 38 of the CVM manual speed reference for the mobile support 14.
Cette consigne de vitesse manuelle CVM est régulée par le som ateur 37 en fonction de la valeur de correction El de manière à transmettre au système de contrôle-commande 34 une consigne de vitesse régulée CV telle que CV = CVM + El.This manual speed setpoint CVM is regulated by the somator 37 as a function of the correction value El so as to transmit to the control-command system 34 a regulated speed setpoint CV such that CV = CVM + El.
Lors d'un fonctionnement automatique du dispositif, le procédé comprend une seconde étape d'asservissement AS2 de la position réelle x du support mobile 14 à une consigne de position xc, simultanée à la première étape d'asservissement ASl du ballant de la charge 13.During an automatic operation of the device, the method comprises a second step of servo AS2 of the real position x of the mobile support 14 to a position setpoint xc, simultaneous with the first step of servo ASl of the load swing 13 .
La consigne de position xc du support mobile est de préférence égale à une position finale prédéterminée à laquelle on souhaite déposer la charge 13.The position setpoint xc of the mobile support is preferably equal to a predetermined end position to which it is desired to deposit the load 13.
La position réelle x du support mobile 14 est mesurée lors d'une étape d'acquisition 32 de cette position grâce à des moyens d'acquisition 41 décrits précédemment.The actual position x of the mobile support 14 is measured during an acquisition step 32 of this position using acquisition means 41 described above.
L'étape d'asservissement en position AS2 est une boucle d'asservissement de type proportionnel au cours de laquelle une deuxième valeur de correction E2 est déterminée de la manière suivante:The servo step in position AS2 is a proportional type servo loop during which a second correction value E2 is determined as follows:
E2 = K3 P (ûx) où P est une fonction proportionnelle, Δ x correspond à la différence entre la position réelle x mesurée du support mobile et la consigne de position xc, etE2 = K3 P (ûx) where P is a proportional function, Δ x corresponds to the difference between the actual measured position x of the mobile support and the position reference xc, and
K3 est un coefficient d'expérience prenant en compte des paramètres du procédé, tels que la masse de la charge, la géométrie du pendule...K3 is an experience coefficient taking into account process parameters, such as the mass of the load, the geometry of the pendulum ...
La consigne de vitesse CV du support mobile est, lors de ce fonctionnement automatique, régulée en fonction de la valeur de correction El déterminée pendant l'étape d'asservissement ASl du ballant et de la seconde valeur de correction E2 déterminée pendant la seconde étape d'asservissement AS2 de position.The speed reference CV of the mobile support is, during this automatic operation, regulated as a function of the correction value El determined during the control step AS1 of the sway and of the second correction value E2 determined during the second position control step AS2.
Cette régulation est mise en oeuvre grâce au sommateur 37 de sorte que la consigne de vitesse CV soit égale à la somme de El et E2.This regulation is implemented by means of the adder 37 so that the speed setpoint CV is equal to the sum of El and E2.
Suivant le choix du fonctionnement, manuel ou automatique, le sommateur effectue la régulation de la consigne de vitesse CV, soit en considérant la consigne de vitesse manuelle CVM donnée par le conducteur, soit la valeur de correction E2 déterminée à partir de la consigne de position finale xc du support mobile.Depending on the choice of operation, manual or automatic, the adder performs the regulation of the speed setpoint CV, either by considering the manual speed setpoint CVM given by the driver, or the correction value E2 determined from the position setpoint. final xc of the mobile support.
Le procédé comporte en outre une étape de limitation 33, en amont du système de contrôle-commande 34, de la vitesse et de l'accélération du support mobileThe method further includes a step 33 of limiting, upstream of the control-command system 34, the speed and acceleration of the mobile support.
14, respectivement à une vitesse maximale et à une accélération maximale.14, respectively at maximum speed and maximum acceleration.
Au-delà des valeurs maximales de vitesse et d'accélération, la consigne de vitesse CV n'est limitée de manière à ne pas dépasser les valeurs limites imposées.Beyond the maximum speed and acceleration values, the CV speed setpoint is not limited so as not to exceed the imposed limit values.
La consigne de vitesse est ensuite adressée au système de contrôle-commande 34 qui commande la vitesse de rotation du moteur 47 comme déjà décrit précédemment en référence au dispositif selon l'invention.The speed setpoint is then sent to the control-command system 34 which controls the speed of rotation of the motor 47 as already described previously with reference to the device according to the invention.
Une étape de régulation 35 de la vitesse permet de comparer en continu la vitesse réelle du moteur 47 et la consigne de vitesse CV adressée au système de contrôle-commande, et d'ajuster la vitesse du moteur 47 de manière à respecter au mieux la consigne de vitesse CV.A speed regulation step 35 makes it possible to continuously compare the real speed of the motor 47 and the speed setpoint CV addressed to the control-command system, and to adjust the speed of the motor 47 so as to comply as best as possible with the setpoint CV speed.
Ce système de régulation permet d'amortir vigoureusement et rapidement le ballant quelle que soit la consigne de vitesse CVM du chariot demandée par le conducteur, même pour des vitesses du chariot atteignantThis regulation system makes it possible to quickly and vigorously amortize the sway whatever the CVM speed setpoint of the truck requested by the driver, even for truck speeds reaching
3 m/s par exemple, et cela quels que soient le couple résistant et la masse de la charge 13 à déplacer.3 m / s for example, regardless of the torque resistant and the mass of the load 13 to be moved.
De plus, la régulation est efficace même avec une variation de longueur 1 du pendule 12 pendant le déplacement du chariot et de la charge. L'asservissement sur la valeur du ballant permet d'obtenir un balancement faible de la charge pendant toute la durée de la trajectoire, tout en tenant compte des amortissements existant déjà dans le dispositif, dus au vent, aux frottements... Bien entendu, l'invention n'est pas limitée aux exemples de réalisation décrits ci-dessus, et de nombreuses modifications peuvent être apportées à celui- ci sans sortir du cadre de l'invention.In addition, the regulation is effective even with a variation in length 1 of the pendulum 12 during the movement of the carriage and the load. Enslavement on the value of the sway makes it possible to obtain a weak swinging of the load during all the duration of the trajectory, while taking into account the dampings already existing in the device, due to the wind, friction ... Of course, the invention is not limited to the exemplary embodiments described above, and numerous modifications can be made to it without departing from the scope of the invention.
Ainsi, les moyens d'acquisition d'angle α, de longueur 1 ou de portions x du chariot peuvent être quelconques. Thus, the means for acquiring angle α, length 1 or portions x of the carriage can be any.

Claims

REVENDICATIONS
1. Procédé de contrôle du balancement d'une charge pendulaire (13) suspendue à un support mobile (14) , caractérisé en ce que le déplacement du support mobile (14) est commandé par une consigne de vitesse (CV) quelconque dudit support (14) , ledit procédé comprenant une étape d'asservissement (ASl) de la valeur réelle du ballant de la charge pendulaire (13) à une consigne de ballant nulle et une étape de régulation (37) de la consigne de vitesse (CV) dudit support (14) en fonction d'une valeur de correction (El) déterminée pendant ladite étape d'asservissement du ballant (ASl).1. Method for controlling the swinging of a pendulum load (13) suspended from a mobile support (14), characterized in that the movement of the mobile support (14) is controlled by a speed reference (CV) of any one of said support ( 14), said method comprising a step of slaving (AS1) of the real value of the swing of the pendulum load (13) to a zero swing swing setpoint and a step of regulating (37) of the speed setpoint (CV) of said support (14) as a function of a correction value (El) determined during said step of slack control (ASl).
2. Procédé conforme à la revendication 1, caractérisé en ce qu'il comprend une étape d'acquisition (30) de la longueur réelle (1) du pendule (12) constitué de la charge (13) suspendue au support mobile (14) et une étape d'acquisition (31) de l'angle de ballant (α) existant entre ledit pendule (12) et un axe vertical.2. Method according to claim 1, characterized in that it comprises a step of acquiring (30) the real length (1) of the pendulum (12) consisting of the load (13) suspended from the mobile support (14) and a step of acquiring (31) the swing angle (α) existing between said pendulum (12) and a vertical axis.
3. Procédé conforme à 1•une des revendications 1 ou 2, caractérisé en ce que la valeur de correction (El) est égale à la somme d'un premier élément proportionnel à la valeur réelle du ballant de la charge (13) et d'un deuxième élément proportionnel à la dérivée sur le temps de la valeur réelle du ballant de la charge (13) . 3. Method according to 1 • one of claims 1 or 2, characterized in that the correction value (El) is equal to the sum of a first element proportional to the real value of the load swing (13) and d 'a second element proportional to the derivative over time of the real value of the load swing (13).
4. Procédé conforme à l'une des revendications 1 à 3, caractérisé en ce qu'il comprend en outre une étape de lecture (38) d'une consigne manuelle (CVM) de vitesse du support mobile (14) , ladite consigne manuelle (CVM) étant régulée en fonction de ladite valeur de correction (El).4. Method according to one of claims 1 to 3, characterized in that it further comprises a step of reading (38) a manual setpoint (CVM) of speed of the mobile support (14), said manual setpoint (CVM) being regulated as a function of said correction value (El).
5. Procédé conforme à l'une des revendications 1 à 3. caractérisé en ce qu'il comprend une seconde étape d'asservissement (AS2) de la position réelle (x) du support mobile (14) à une consigne de position (xc) , simultanée à la première étape d'asservissement (ASl) du ballant de la charge (13) , la consigne de vitesse (CV) du support mobile (14) étant régulée en fonction de ladite valeur de correction (El) déterminée pendant l'étape d'asservissement (ASl) du ballant et d'une seconde valeur de correction (E2) déterminée pendant la seconde étape d'asservissement (AS2) de position.5. Method according to one of claims 1 to 3. characterized in that it comprises a second control step (AS2) of the actual position (x) of the mobile support (14) to a position setpoint (xc ), simultaneous with the first control step (ASl) of swing of the load (13), the speed setpoint (CV) of the mobile support (14) being regulated as a function of said correction value (El) determined during the control step (ASl) of the swing and of a second correction value (E2) determined during the second position control step (AS2).
6. Procédé conforme à la revendication 5, caractérisé en ce que la consigne de position (xc) du support mobile (14) est égale à une position finale prédéterminée.6. Method according to claim 5, characterized in that the position setpoint (xc) of the mobile support (14) is equal to a predetermined end position.
7. Procédé conforme à l'une des revendications 5 ou 6, caractérisé en ce qu'il comprend en outre une étape d'acquisition (32) de la position réelle (x) du support mobile (14) . 7. Method according to one of claims 5 or 6, characterized in that it further comprises a step of acquisition (32) of the actual position (x) of the movable support (14).
8. Procédé conforme à l'une des revendications 5 à 7, caractérisé en ce que la seconde valeur de correction (E2) est proportionnelle à la différence entre la position réelle (x) du support mobile (14) et la consigne de position (xc) . 8. Method according to one of claims 5 to 7, characterized in that the second correction value (E2) is proportional to the difference between the actual position (x) of the mobile support (14) and the position setpoint ( xc).
9. Procédé conforme à l'une des revendications l à 8, caractérisé en ce qu'il comprend en outre une étape de limitation (33) de la vitesse et de l'accélération du support mobile (14) respectivement à une vitesse maximale et à une accélération maximale. 9. Method according to one of claims l to 8, characterized in that it further comprises a step of limiting (33) the speed and acceleration of the mobile support (14) respectively at a maximum speed and at maximum acceleration.
10. Dispositif de contrôle du balancement d'une charge pendulaire (13) suspendue à un support mobile (14), pour la mise en oeuvre du procédé conforme à l'une des revendications précédentes, comprenant un engin de levage (10) possédant des moyens de levage (45) de la charge (13) et des moyens de déplacement (48, 47) du support mobile (14), et des moyens de contrôle et de traitement (CPU) adaptés à recevoir des informations représentatives de la longueur (1) du pendule (12) , de l'angle de ballant ( a) de la charge pendulaire (13) et de la position réelle (x) du support mobile (14) provenant respectivement de moyens d'acquisition de longueur (46), de moyens d'acquisition d'angle (43, 44), et de moyens d'acquisition de position (41) , caractérisé en ce que les moyens de contrôle et de traitement (CPU) sont adaptés à recevoir en outre des informations représentatives d'une consigne manuelle (CVM) de vitesse du support mobile (14) ou d'une consigne de position (xc) du support mobile (14) et à émettre en retour une consigne régulée de vitesse (CV) du support mobile (14) à destination d'un système de contrôle-commande (34) dudit support mobile (14) .10. Device for controlling the swinging of a pendulum load (13) suspended from a mobile support (14), for implementing the method according to one of the preceding claims, comprising a lifting machine (10) having means for lifting (45) the load (13) and means for moving (48, 47) of the mobile support (14), and control and processing means (CPU) adapted to receive information representative of the length ( 1) the pendulum (12), the swing angle (a) of the pendulum load (13) and the actual position (x) of the mobile support (14) originating respectively from length acquisition means (46), angle acquisition means (43, 44), and position acquisition means (41), characterized in that the control and processing means (CPU) are adapted to further receive information representative of a manual setpoint (CVM) of speed of the mobile support (14) or of a position setpoint (xc) of the mobile support (14) and to send back a regulated speed setpoint (CV) of the mobile support (14) intended for a control-command system (34) of said mobile support (14).
11. Dispositif conforme à la revendication 10, caractérisé en ce que la consigne manuelle de vitesse (CVM) du support mobile (14) est issue d'un levier de commande (50) de déplacement du support mobile (14) , actionné manuellement.11. Device according to claim 10, characterized in that the manual speed reference (CVM) of the mobile support (14) comes from a control lever (50) for moving the mobile support (14), actuated manually.
12. Dispositif conforme à la revendication 10, caractérisé en ce qu'il comprend des moyens d'acquisition et de mémorisation (51) de la consigne de position (xc) du support mobile (14) . 12. Device according to claim 10, characterized in that it comprises means of acquisition and storage (51) of the position setpoint (xc) of the mobile support (14).
EP94925510A 1993-08-13 1994-08-12 Method for controlling the swinging motion of an oscillating load and device for applying same Expired - Lifetime EP0713474B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR9309973 1993-08-13
FR9309973A FR2708920B1 (en) 1993-08-13 1993-08-13 Method for controlling the swinging of a pendulum load and device for implementing the method.
PCT/FR1994/001005 WO1995005336A1 (en) 1993-08-13 1994-08-12 Method for controlling the swinging motion of an oscillating load and device for applying same

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EP0713474A1 true EP0713474A1 (en) 1996-05-29
EP0713474B1 EP0713474B1 (en) 1997-01-22

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EP94925510A Expired - Lifetime EP0713474B1 (en) 1993-08-13 1994-08-12 Method for controlling the swinging motion of an oscillating load and device for applying same

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US (1) US5878896A (en)
EP (1) EP0713474B1 (en)
AT (1) ATE148074T1 (en)
CA (1) CA2169369C (en)
DE (1) DE69401591T2 (en)
ES (1) ES2100083T3 (en)
FR (1) FR2708920B1 (en)
GR (1) GR3023154T3 (en)
WO (1) WO1995005336A1 (en)

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GR3023154T3 (en) 1997-07-30
DE69401591T2 (en) 1997-07-10
CA2169369A1 (en) 1995-02-23
FR2708920A1 (en) 1995-02-17
FR2708920B1 (en) 1995-10-13
ATE148074T1 (en) 1997-02-15
WO1995005336A1 (en) 1995-02-23
CA2169369C (en) 2003-06-10
US5878896A (en) 1999-03-09
ES2100083T3 (en) 1997-06-01
DE69401591D1 (en) 1997-03-06
EP0713474B1 (en) 1997-01-22

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