EP2700604A1 - Steuerverfahren und Anordnung zur Schaukelverhinderung - Google Patents

Steuerverfahren und Anordnung zur Schaukelverhinderung Download PDF

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Publication number
EP2700604A1
EP2700604A1 EP12181009.7A EP12181009A EP2700604A1 EP 2700604 A1 EP2700604 A1 EP 2700604A1 EP 12181009 A EP12181009 A EP 12181009A EP 2700604 A1 EP2700604 A1 EP 2700604A1
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EP
European Patent Office
Prior art keywords
load
rope
swaying
pendulous motion
reeling
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.)
Withdrawn
Application number
EP12181009.7A
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English (en)
French (fr)
Inventor
Markku Lyyjynen
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.)
ABB Oy
Original Assignee
ABB Oy
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 ABB Oy filed Critical ABB Oy
Priority to EP12181009.7A priority Critical patent/EP2700604A1/de
Publication of EP2700604A1 publication Critical patent/EP2700604A1/de
Withdrawn legal-status Critical Current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 of controlling a crane and a crane arrangement.
  • the problem has been addressed in the prior art.
  • the prior art solutions try to solve the problem by measuring and controlling accelerations of a crane boom or a crane trolley in order to dampen the swaying motion of a load.
  • One example of the prior art is described in European patent EP0717004 .
  • the patent discloses a method for damping a load swing of a crane during a traversing motion of a load-carrying trolley. The method comprises determining substantially continuously the acceleration of the trolley/bridge and an instantaneous swing time constant, swing velocity and deviation from equilibrium of a pendulum formed by the load. When the velocity reference changes, the acceleration providing the desired change in velocity is determined and that acceleration is switched on immediately.
  • the acceleration compensating for the swing prevailing at the moment of change of the velocity is determined and that acceleration is switched on either immediately or, if the compensating acceleration exceeds the maximum acceleration permissible to the traversing drive when switched on immediately, when the pendulum formed by the load has reached its extreme position.
  • the disclosed method requires complex measurements and calculations of velocities and accelerations of different elements of the system. Another shortcoming is that the method functions only with a small amplitude pendulous motion. Elimination of large amplitude pendulous motion requires higher acceleration rates from the traversing drive than it is capable of providing.
  • An object of the present invention to provide a method and an apparatus for implementing the method so as to alleviate the above disadvantages.
  • the objects of the invention are achieved by a method and an arrangement which are characterized by what is stated in the independent claims.
  • the preferred embodiments of the invention are disclosed in the dependent claims.
  • the invention is based on the idea of detecting a pendulous swaying motion of a load and at least two positions of the pendulous motion, for example both extreme positions or one extreme position and an equilibrium position.
  • the pendulous motion is dampened by reeling in a rope hanging the load when the load is near an extreme position and reeling off the rope when the load is near the equilibrium position.
  • the reeling in and reeling off periods can be calculated from the at least two detected positions.
  • An advantage of the method and arrangement of the invention is that the arrangement is very simple and usually it requires very little or no additional hardware to a crane arrangement.
  • the detection steps can be realized by measuring an electrical response caused by the swaying load to the reel's drive.
  • Another advantage is that the method can be applied to virtually any amplitude of pendulous motion.
  • Figure 1 illustrates an example of a crane arrangement with a load in pendulous motion
  • Figure 2 illustrates an embodiment of a crane arrangement with a load controlled along a first path
  • Figure 3 illustrates an embodiment of a crane arrangement with a load controlled along a second path
  • Figure 1 illustrates an example of a crane arrangement.
  • the invention may not be restricted to any specific type of lifting device or crane.
  • the invention may be used in many different arrangements which comprise some kind of lifting device.
  • a crane of Figure 1 is used as an exemplary embodiment due to its simple construction.
  • the crane arrangement comprises a crane boom 4, a reel arrangement 3 and a rope 6.
  • the crane boom 4 may comprise a trolley and a trolley drive for moving the trolley along the crane boom wherein the reel arrangement may be fixed to the trolley or it can be a part of the trolley.
  • the rope 6 may be winded around a reel 2 of the reel arrangement 3 and a load 8 is suspended by the rope 6.
  • the rope may be for example a steel cable or some other string that is flexible enough so that it can be winded on the reel 2 and strong enough to lift and hold the loads 8 that are to be lifted with the crane arrangement.
  • the reel arrangement 3 comprises a reel drive for rotating the reel and a controller for controlling the reel drive.
  • the controller is programmable and has means for measuring electrical parameters of the reel drive.
  • the controller may also have communications means e.g. for receiving instructions and transmitting measurement results.
  • the reel arrangement may comprise multiple ropes on one or more reels which may be controlled with one or more controllers.
  • the pendulous motion 10 has three special positions: an equilibrium position 13 and two extreme positions 12, 14. In the equilibrium position 13 the load 8 has minimum potential energy and maximum kinetic energy. In the extreme positions 12, 14 the load 8 has maximum potential energy and no kinetic energy.
  • the pendulous motion of the load 8 is dampened if the load 8 is lifted up at the extreme positions 12, 14 and lowered down at the equilibrium point 13.
  • moving a mass almost instantaneously requires very high peak power and very strong ropes or cables which hold the mass. Therefore, in practice, the load 8 has to be lifted up near the extreme points 12, 14 by reeling in the rope 6 that holds the load 8. Similarly the load 8 has to be lowered near the equilibrium point 13.
  • FIG. 2 illustrates an example of a practical path 20 for dampening pendulous motion of a load 8. Only a moderate peak power is required to make the load 8 follow the path 20 because the load is lifted and lowered with a relatively low speed.
  • the lifting of the load 8 may begin when the load approaching the extreme point 14 has passed the middle point between the equilibrium position 13 and the extreme position 14.
  • the load may be lifted continuously until the load reaches again the middle point between the equilibrium position 13 and the extreme position 14, now approaching the equilibrium position 13.
  • the load may be lowered down and the lowering may continue when the load 8 passes the equilibrium point 13 until the load reaches the middle point between the equilibrium point 13 and the extreme point 12.
  • the load may be lifted again and the lifting may continue when the load reaches the extreme point and starts to approach the equilibrium point 13. Again, the lifting may continue until the load reaches again the middle point between the extreme point 12 and the equilibrium point 13 wherein lowering of the load may begin again.
  • Figure 3 illustrates an example of a practical path 30 for dampening pendulous motion of a load 8.
  • the path 30 of Figure 3 requires higher peak power than following the path 20 of Figure 2 because the movements of the load 8 are realized in much shorter period of time.
  • following the path 30 of Figure 3 dampens the pendulous motion 10 of the load 8 faster than following the path 20 of Figure 2 .
  • faster movements will cause more stress to crane structures, so the path 30 of Figure 3 is usable with relatively light loads compared to the lifting capacity of the crane structure.
  • the suspended load 8 that is in pendulous motion 10 causes an alternating force to the rope 6 and the alternating force causes an alternating torque to the reel 2 of the reel arrangement 3.
  • the torque may be detected and measured electrically with the reel drive and/or the controller of the reel arrangement.
  • the alternating torque has to be compensated with certain amount of power at the reel arrangement in order to prevent the reel from rotating.
  • the amount of power needed to compensate the alternating torque may be measured to detect changes in the torque.
  • the required measurements may be realized with modern electrical drives and controllers without any additional components in the electrical drive. Functions, properties and/or operations of the reel arrangement may already be monitored in existing reel arrangements so the changes caused by the load in the pendulous motion have to be identified and extracted from the monitored data.
  • the suspended load in the pendulous motion causes maximum torque to the reel at the equilibrium point and minimum torque at the extreme points.
  • half a cycle of the pendulous motion i.e. from one extreme point 12 to the other extreme point 14, is enough to determine values for quantities necessary for dampening the load's motion.
  • a quarter of a cycle i.e. from one extreme point 12 to the equilibrium point 13 may be enough for measuring the needed initial values.
  • Duration of a cycle may be calculated or estimated when at least two points of pendulous motion are detected.
  • next moments of time when the load is at extreme point or equilibrium point may be calculated or estimated when the at least two points of pendulous motion are detected and time stamped.
  • the extreme points 12, 14 may be detected also when the pendulous motion is being dampened by alternately ascending and descending the load.
  • dampening actions do not have to happen at an exact point of the pendulous motion to be effective. Therefore good estimates of next moments of time when the load is at a critical point will also result to faster dampening than without any actions.
  • certain dampening actions may be omitted during certain cycles to improve detection accuracy of the extreme points. For example, the pendulous motion of the load is only monitored and measured during the first cycle. On the second cycle the load is ascended near one of the extreme points 12. On the third cycle the load is descended near the equilibrium point 13. On the fourth cycle the load is again ascended near one of the extreme points 12, then descended again near the equilibrium point 13, and so on.
  • the amplitude may be amplified by reversing the movement directions of the dampening actions, i.e. ascending the load near the equilibrium point 13 and descending the load near the extreme points 12, 14.
  • the rotating reel and reel drive may be substituted with a linear drive arrangement.
  • the linear drive arrangement may have a limited capacity for ascending and descending the load, for example 20 centimeters, 50 centimeters, 1 meter or 2 meters from a centre position of the linear drive. The limited capacity means that in some cases the load can not be descended to ground level or ascended all the way up to touch the linear drive arrangement.
  • a crane arrangement comprises a reel and a reel drive for ascending and descending a load to different heights and a linear drive arrangement for ascending and descending the load only for purpose of dampening and amplifying the pendulous motion of the load. Similar methods may be used for dampening the pendulous motion of a load with the linear drive arrangement as described above in connection with the reel arrangements.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
EP12181009.7A 2012-08-20 2012-08-20 Steuerverfahren und Anordnung zur Schaukelverhinderung Withdrawn EP2700604A1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP12181009.7A EP2700604A1 (de) 2012-08-20 2012-08-20 Steuerverfahren und Anordnung zur Schaukelverhinderung

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP12181009.7A EP2700604A1 (de) 2012-08-20 2012-08-20 Steuerverfahren und Anordnung zur Schaukelverhinderung

Publications (1)

Publication Number Publication Date
EP2700604A1 true EP2700604A1 (de) 2014-02-26

Family

ID=46724262

Family Applications (1)

Application Number Title Priority Date Filing Date
EP12181009.7A Withdrawn EP2700604A1 (de) 2012-08-20 2012-08-20 Steuerverfahren und Anordnung zur Schaukelverhinderung

Country Status (1)

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EP (1) EP2700604A1 (de)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104310218A (zh) * 2014-09-30 2015-01-28 苏州汇川技术有限公司 起重机防摇摆控制***及方法
JP2020121875A (ja) * 2019-01-31 2020-08-13 住友重機械搬送システム株式会社 クレーン

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0717004A2 (de) 1994-12-13 1996-06-19 ABB Industry Oy, Verfahren zur Dämpfung der Lastschwingungen bei einem Kran
US5938052A (en) * 1995-04-26 1999-08-17 Kabushiki Kaisha Yaskawa Denki Rope steadying control method and apparatus for crane or the like
US20050224438A1 (en) * 2002-09-30 2005-10-13 Siemens Aktiengesellschaft Method and device for maintaining a position of a load suspended from a lifting gear

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0717004A2 (de) 1994-12-13 1996-06-19 ABB Industry Oy, Verfahren zur Dämpfung der Lastschwingungen bei einem Kran
US5938052A (en) * 1995-04-26 1999-08-17 Kabushiki Kaisha Yaskawa Denki Rope steadying control method and apparatus for crane or the like
US20050224438A1 (en) * 2002-09-30 2005-10-13 Siemens Aktiengesellschaft Method and device for maintaining a position of a load suspended from a lifting gear

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104310218A (zh) * 2014-09-30 2015-01-28 苏州汇川技术有限公司 起重机防摇摆控制***及方法
JP2020121875A (ja) * 2019-01-31 2020-08-13 住友重機械搬送システム株式会社 クレーン

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