EP0985629A1 - Grue - Google Patents

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Publication number
EP0985629A1
EP0985629A1 EP98116951A EP98116951A EP0985629A1 EP 0985629 A1 EP0985629 A1 EP 0985629A1 EP 98116951 A EP98116951 A EP 98116951A EP 98116951 A EP98116951 A EP 98116951A EP 0985629 A1 EP0985629 A1 EP 0985629A1
Authority
EP
European Patent Office
Prior art keywords
crane
cylinder
pressure
load
signal
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
EP98116951A
Other languages
German (de)
English (en)
Other versions
EP0985629B1 (fr
Inventor
Erich Wimmer
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.)
Palfinger AG
Original Assignee
Palfinger AG
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
Priority to ES98116951T priority Critical patent/ES2158637T3/es
Application filed by Palfinger AG filed Critical Palfinger AG
Priority to DK98116951T priority patent/DK0985629T3/da
Priority to DE59801090T priority patent/DE59801090D1/de
Priority to EP98116951A priority patent/EP0985629B1/fr
Priority to AT98116951T priority patent/ATE203488T1/de
Priority to KR10-1999-0035086A priority patent/KR100392333B1/ko
Priority to US09/383,404 priority patent/US6328173B1/en
Priority to JP11244878A priority patent/JP2000191285A/ja
Publication of EP0985629A1 publication Critical patent/EP0985629A1/fr
Application granted granted Critical
Publication of EP0985629B1 publication Critical patent/EP0985629B1/fr
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
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • E02F9/2207—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing or compensating oscillations
    • 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
    • B66C13/066—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads for minimising vibration of a boom
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/028—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the actuating force
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30505—Non-return valves, i.e. check valves
    • F15B2211/30515—Load holding valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30525—Directional control valves, e.g. 4/3-directional control valve
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/315—Directional control characterised by the connections of the valve or valves in the circuit
    • F15B2211/3157—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source, an output member and a return line
    • F15B2211/31576—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source, an output member and a return line having a single pressure source and a single output member
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/35—Directional control combined with flow control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051—Linear output members
    • F15B2211/7053—Double-acting output members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/76—Control of force or torque of the output member

Definitions

  • the invention relates to a crane with a hydraulically operated boom system, with at least one cylinder for actuating the boom system and a device to monitor the pressure in the cylinder indicating the load on the crane, the Flow of hydraulic fluid to the cylinder by changing the cross section of a Valve is controllable.
  • Vibrations of the support structure of the crane or the load carried by the crane come.
  • vibrations in the vertical direction can occur when a load is in is moved in the vertical direction, i.e. raised or lowered, and this movement is stopped.
  • Such vibrations lead to load peaks in the support structure of the crane and / or uncontrolled movements of the load.
  • the classic method for actively damping unwanted vibrations is one Regulation in which the oscillation is caused by a 180 ° phase-shifted, equal frequency Vibration is damped.
  • the method works well for gradual rocking of vibrations, for example of pendulum movements of moving loads Portal cranes (see. DE 42 38 795 A1) to prevent.
  • the time required for the determination However, the phase and frequency of the disturbing harmonic oscillation is relatively large. In particular, suddenly occurring stresses become dangerous Initial phase not diminished.
  • the aim of the invention is a crane which is used to avoid dynamic overloading is provided with a real and at the same time quick-acting regulation.
  • the control according to the invention is based on the Measurement of a characteristic value for the dynamic loading of the crane, whereby directly on the crane is measured. So the crane operator is not corrected from the outset, but first when dynamic loads occur which affect the structure of the crane endanger or lead to undesirable load movements by forming a Signal, which the drive for adjusting the valve cross section in the sense of a reduction actuated the determined pressure change, counteracted. The signal is therefore independent from the setpoint of the valve cross section defined by the position of a hand lever.
  • Fig. 1 shows a loading crane 1 of classic design for a truck.
  • the crane 1 points a main arm 2 and a multi-telescopic articulated arm 5, at the tip a crane hook 4 is arranged for hanging loads.
  • the main arm 2 of the crane 1 is pivoted relative to the column 6 of the crane 1 by means of a lifting cylinder 3.
  • Fig. 2 shows the details of the device according to the invention, in particular on a cylinder is attached to said lifting cylinder 3.
  • the control of the lifting cylinder 3 takes place via a commercially available remote control, which consists of a transmitter 9 and Receiver 10 exists.
  • Control signals from the actuation of the control lever on the transmitter 9 originate, are transmitted by radio to the receiver 10, which in turn is a signal forwards to the slider 12.
  • the slide 12 is a multiple proportional valve with volume control, the drives for adjusting the valve cross sections are integrated in the slide 12.
  • Such a slide is for example under the designation PVG 32 available from Danfoss.
  • the differentiating unit 8 supplies an output signal which the drive for adjustment of the valve cross section in the sense of a reduction in the pressure change detected operated.
  • the output signal of the differentiating unit 8 can with a factor k (p) that of the measured pressure values depends, are multiplied, whereby the signal is achieved increases disproportionately at higher pressure values. This takes account of the fact borne that the risk of the support structures of the crane from dynamic loads is particularly large given a high static base load.
  • the output signal of the differentiating unit 8 is used to determine the desired position of the valves Slider 12 defining signal, which is forwarded by the receiver 10, superimposed and then fed to the slider 12.
  • this overlay means that the adjustment speed of the valves in the slide 12 and thus the acceleration of the crane boom is reduced. Since only large accelerations are disadvantageous for the crane, low values of dp / dt the generation of a correction signal can be suppressed.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid Mechanics (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Civil Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)
  • Jib Cranes (AREA)
  • Iron Core Of Rotating Electric Machines (AREA)
  • Fluid-Pressure Circuits (AREA)
EP98116951A 1998-09-08 1998-09-08 Grue Expired - Lifetime EP0985629B1 (fr)

Priority Applications (8)

Application Number Priority Date Filing Date Title
DK98116951T DK0985629T3 (da) 1998-09-08 1998-09-08 Kran
DE59801090T DE59801090D1 (de) 1998-09-08 1998-09-08 Kran
EP98116951A EP0985629B1 (fr) 1998-09-08 1998-09-08 Grue
AT98116951T ATE203488T1 (de) 1998-09-08 1998-09-08 Kran
ES98116951T ES2158637T3 (es) 1998-09-08 1998-09-08 Grua.
KR10-1999-0035086A KR100392333B1 (ko) 1998-09-08 1999-08-24 크레인
US09/383,404 US6328173B1 (en) 1998-09-08 1999-08-26 Crane
JP11244878A JP2000191285A (ja) 1998-09-08 1999-08-31 クレ―ン

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP98116951A EP0985629B1 (fr) 1998-09-08 1998-09-08 Grue

Publications (2)

Publication Number Publication Date
EP0985629A1 true EP0985629A1 (fr) 2000-03-15
EP0985629B1 EP0985629B1 (fr) 2001-07-25

Family

ID=8232594

Family Applications (1)

Application Number Title Priority Date Filing Date
EP98116951A Expired - Lifetime EP0985629B1 (fr) 1998-09-08 1998-09-08 Grue

Country Status (8)

Country Link
US (1) US6328173B1 (fr)
EP (1) EP0985629B1 (fr)
JP (1) JP2000191285A (fr)
KR (1) KR100392333B1 (fr)
AT (1) ATE203488T1 (fr)
DE (1) DE59801090D1 (fr)
DK (1) DK0985629T3 (fr)
ES (1) ES2158637T3 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1201575A2 (fr) * 2000-10-25 2002-05-02 Veitsch-Radex GmbH Dispositif de réception et transport d'articles
EP1964756A1 (fr) * 2007-01-24 2008-09-03 Klemm Bohrtechnik GmbH Mécanisme de roulement oscillant, en particulier pour un outillage d'alésage
DE102010010386A1 (de) * 2010-03-05 2011-09-08 Liebherr-Werk Nenzing Gmbh Kranwippwerk und Kran
DE102010038218A1 (de) 2010-10-15 2012-04-19 Deutsches Zentrum für Luft- und Raumfahrt e.V. Kran mit einer Struktur, mit mindestens einem an der Struktur angreifenden Aktuator und einer den Aktuator zur Unterdrückung von Schwingungen der Struktur ansteuernden Steuerung

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Publication number Priority date Publication date Assignee Title
US6705079B1 (en) * 2002-09-25 2004-03-16 Husco International, Inc. Apparatus for controlling bounce of hydraulically powered equipment
US7386377B2 (en) * 2005-04-07 2008-06-10 Sorensen David I Vehicle and equipment monitoring apparatus
US8286652B2 (en) * 2009-09-22 2012-10-16 Eaton Corporation Configurable active jerk control
CN101746675B (zh) * 2009-12-31 2012-05-02 三一汽车制造有限公司 起重机超起装置及其控制***和控制方法
US9004842B2 (en) 2011-10-10 2015-04-14 Wastequip, Llc Hoist apparatus
CN102797787B (zh) * 2012-08-17 2013-11-20 中联重科股份有限公司 混凝土布料设备及其臂架振动抑制的方法、控制器和装置
CN102942115B (zh) * 2012-09-20 2014-07-23 宁波凯荣船用机械有限公司 船用液压回转吊变载控制装置及控制方法
US9810242B2 (en) 2013-05-31 2017-11-07 Eaton Corporation Hydraulic system and method for reducing boom bounce with counter-balance protection
EP3039301B1 (fr) 2013-08-30 2018-10-03 Eaton Corporation Procédé et système de commande pour l'utilisation d'une paire de soupapes de dosage à commande hydraulique indépendantes pour réduire des oscillations de flèche
WO2015073330A1 (fr) * 2013-11-14 2015-05-21 Eaton Corporation Stratégie de commande à des fins de réduction d'oscillation de flèche
EP3069030B1 (fr) 2013-11-14 2020-12-30 Eaton Intelligent Power Limited Mécanisme de commande pilote pour réduction de rebond de flèche
EP3169858B1 (fr) 2014-07-15 2021-02-17 Eaton Intelligent Power Limited Procédés et appareil permettant une réduction de rebond de flèche et empêchant un mouvement non commandé dans des systèmes hydrauliques
JP6595198B2 (ja) * 2015-04-08 2019-10-23 古河ユニック株式会社 増速弁装置
WO2018200689A1 (fr) 2017-04-28 2018-11-01 Eaton Intelligent Power Limited Système à capteurs de mouvement pour amortir des vibrations induites par la masse dans des machines
EP3615814A4 (fr) 2017-04-28 2021-01-27 Eaton Intelligent Power Limited Système d'amortissement de vibrations induites par la masse dans des machines ayant des bras ou des éléments allongés à commande hydraulique
EP3653562A1 (fr) * 2018-11-19 2020-05-20 B&R Industrial Automation GmbH Procédé et régulateur d'oscillation permettant de réguler les oscillations d'un système technique oscillant
DE112020006563T5 (de) * 2020-01-19 2022-12-29 Xcmg Fire-Fighting Safety Equipment Co., Ltd. Verfahren und Vorrichtung zum Steuern von Schwingung eines Auslegers und Technikmaschinerie

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EP0454923A1 (fr) * 1990-04-25 1991-11-06 Kabushiki Kaisha Kobe Seiko Sho Dispositif de commande d'orientation pour grue
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DE3719897A1 (de) * 1986-06-19 1987-12-23 Fiskars Ab Oy Kransteuersystem
EP0378129A1 (fr) * 1989-01-13 1990-07-18 Hitachi Construction Machinery Co., Ltd. Système hydraulique pour le vérin de la flèche d'une machine de construction
EP0454923A1 (fr) * 1990-04-25 1991-11-06 Kabushiki Kaisha Kobe Seiko Sho Dispositif de commande d'orientation pour grue
WO1995029118A1 (fr) * 1994-04-22 1995-11-02 Hiab Ab Dispositif d'amortissement d'oscillations indesirables dans un element de grue
DE4425455A1 (de) * 1994-07-19 1996-01-25 Bosch Gmbh Robert Hydraulische Steuereinrichtung
DE4428691A1 (de) * 1994-08-12 1996-02-15 Rexroth Mannesmann Gmbh Regelanordnung für hydraulische Antriebe
US5622226A (en) * 1996-01-29 1997-04-22 Caterpillar Inc. Method for controlling bounce of a work implement

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1201575A2 (fr) * 2000-10-25 2002-05-02 Veitsch-Radex GmbH Dispositif de réception et transport d'articles
EP1201575A3 (fr) * 2000-10-25 2002-08-14 Veitsch-Radex GmbH Dispositif de réception et transport d'articles
EP1964756A1 (fr) * 2007-01-24 2008-09-03 Klemm Bohrtechnik GmbH Mécanisme de roulement oscillant, en particulier pour un outillage d'alésage
US8485288B2 (en) 2007-01-24 2013-07-16 Klemm Bohrtechnik Gmbh Oscillating undercarriage, in particular for a drilling device
DE102010010386A1 (de) * 2010-03-05 2011-09-08 Liebherr-Werk Nenzing Gmbh Kranwippwerk und Kran
DE102010010386B4 (de) * 2010-03-05 2014-11-20 Liebherr-Werk Nenzing Gmbh Vorrichtung und Verfahren zur Überwachung eines Kranwippwerkes und Kran
DE102010038218A1 (de) 2010-10-15 2012-04-19 Deutsches Zentrum für Luft- und Raumfahrt e.V. Kran mit einer Struktur, mit mindestens einem an der Struktur angreifenden Aktuator und einer den Aktuator zur Unterdrückung von Schwingungen der Struktur ansteuernden Steuerung
DE102010038218B4 (de) * 2010-10-15 2014-02-13 Deutsches Zentrum für Luft- und Raumfahrt e.V. Kran mit einer Struktur, mit mindestens einem an der Struktur angreifenden Aktuator und einer den Aktuator zur Unterdrückung von Schwingungen der Struktur ansteuernden Steuerung

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DK0985629T3 (da) 2001-09-24
KR100392333B1 (ko) 2003-07-22
ATE203488T1 (de) 2001-08-15
EP0985629B1 (fr) 2001-07-25
JP2000191285A (ja) 2000-07-11
DE59801090D1 (de) 2001-08-30
US6328173B1 (en) 2001-12-11
KR20000022752A (ko) 2000-04-25
ES2158637T3 (es) 2001-09-01

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