EP3305710A1 - Verfahren zum steuern eines krans mit pendelaussteuerung mit einem filter dritter ordnung - Google Patents

Verfahren zum steuern eines krans mit pendelaussteuerung mit einem filter dritter ordnung Download PDF

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Publication number
EP3305710A1
EP3305710A1 EP17190875.9A EP17190875A EP3305710A1 EP 3305710 A1 EP3305710 A1 EP 3305710A1 EP 17190875 A EP17190875 A EP 17190875A EP 3305710 A1 EP3305710 A1 EP 3305710A1
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EP
European Patent Office
Prior art keywords
load
max
trol
pulsation
setpoint
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Granted
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EP17190875.9A
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English (en)
French (fr)
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EP3305710B1 (de
Inventor
Xavier Claeys
Silvère BONNABEL
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Manitowoc Crane Group France SAS
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Manitowoc Crane Group France SAS
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/16—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with jibs supported by columns, e.g. towers having their lower end mounted for slewing movements

Definitions

  • the gross control setpoint (suspended load speed setpoint) expressed by the driver of the machine is advantageously carried out a planning of the profile of the speed reference that we will apply to the drive motors, that is to say that we plan the evolution over time (and more particularly the rate of change per unit of time) of the value of the instruction of execution (trolley speed reference value), according to an evolution profile which best reflects the desired control setpoint but which is also and above all compatible with the ability of the motors to provide a response that is at each moment up to said performance instruction.
  • the proposed third-order filter simplifies the implementation of appropriate saturations, during the processing of the control setpoint, and thus the implementation of "intelligent" dynamic limits of the execution instruction, which make it possible to draw the best of the drive motors while ensuring a permanent, precise and reliable control of the movements of the point of attachment and the suspended load.
  • control method according to the invention advantageously makes it possible to control the hoist by an open-loop servocontrol, simply by applying the execution instruction (speed reference) to the drive motor concerned, without Require no measurement of the effective dangling (that is, without the need for feedback on the actual angle of the balloon), which limits the number of sensors and the computing power necessary to control, and therefore reduces the complexity, congestion, and energy consumption of the steering system.
  • the present invention relates to a method for controlling the movement of a load 1 suspended at a point of attachment H of a hoist 2.
  • the hoist 2 is designed so as to be able to move the point of attachment H , and consequently the suspended load 1, according to a component of yaw rotation ⁇ about a first vertical axis (ZZ '), called " axis of orientation ", and / or according to a radial component R , corresponding to a movement called" distribution ", here in translation along a second axis (DD ') said” distribution axis "intersecting said axis of orientation (ZZ '), as illustrated in the Figures 1 and 2 .
  • the hoist 2 may in particular form a tower crane, whose mast 3 materializes the axis of orientation (ZZ '), and whose arrow 4 materializes the axis of distribution (DD'), as it is illustrated on the figure 1 .
  • the point of attachment H is preferably formed by a carriage 5, which can advantageously be guided in translation along the distribution axis (DD '), along the arrow 4.
  • the orientation movement ⁇ , and, respectively, the dispensing movement R , and more particularly the drive movement of the carriage 5 in translation R along the arrow 4, can be provided by any drive motor 7, 8 suitable, preferably electric, and more particularly by at least one (electric) motor 8 and, respectively, a motor (electric) distribution 7.
  • the load 1 is suspended at the point of attachment H by a suspension device 6, such as a suspension cable.
  • a suspension device such as a suspension cable.
  • said suspension device will be assimilated to such a suspension cable 6, for convenience.
  • the suspended load 1 may also preferably be moved in a vertical component, called "lifting", so as to vary the height at which the suspended load 1 relative to the ground.
  • the method comprises a control instruction acquisition step (a) during which a setpoint known as a "control setpoint" V u is acquired that is representative of a traveling speed V load that the driver of the hoist 2 wishes to confer on the suspended load 1.
  • the method according to the invention then comprises a step (b) of processing during which is developed, from said control setpoint V u , here by means of a processing module 10, an instruction called "instruction d ' V trol , which is intended to be applied to at least one drive motor 7, 8 to move the suspended load 1, and, more particularly, to move the carriage 5 to which said load 1 is suspended.
  • the method makes it possible to control the speed, rather than the trajectory, and more particularly to control the speed of the carriage 5, from a speed reference V u which corresponds to the desired speed. for suspended load 1.
  • the execution instruction V trol will preferably express the speed setpoint that must reach the point of attachment H (that is to say, the speed setpoint that must reach the carriage 5).
  • the method according to the invention is valid both for controlling the orientation movement ⁇ and for controlling the dispensing movement R , or for controlling any combination of these two movements simultaneously.
  • each mobile member considered a Frenet coordinate system making it possible to express the radial component V r (according to the distribution movement R ) and the orthoradial component V ⁇ (according to the tangent to the orientation movement ⁇ ) of the speed of the movable member in question, as shown in particular in FIG. figure 5 .
  • the carriage 5 necessarily has a finite (bounded) acceleration.
  • V ⁇ load d 2 d t 2 V load the speed of the suspended load (driving speed) V load .
  • the treatment step (b) advantageously comprises a regulation sub-step (b4) C 3 during which the driving instruction V u is processed so as to confer on said control setpoint V u of the properties of differentiability third with respect to time and of continuity with respect to time, in order to generate, from said control setpoint V u , a filtered control setpoint V f which is of class C 3 , then the execution setpoint V trol is set from said filtered control setpoint V f .
  • the regularization C 3 can be carried out using interpolation polynomials.
  • control setpoint V u is interpolated, and more particularly several or all of the values considered among the succession of different values taken by the control setpoint V u during a given time interval, by means of a polynomial.
  • Such a polynomial thus provides a class C 3 planning of the control set.
  • control setpoint V u is applied to regulate C 3 said control setpoint, a third order filter F3 in order to generate the filtered control setpoint V f which is of class C 3 .
  • the sub-step (b4) preferably constitutes a third-order filter sub-step in the course of which a third-order filter F3 is applied to the control setpoint V u in order to generate an instruction of filtered control V f which is three times differentiable (and more exactly regularity class C 3 ).
  • the regularization C3, and more particularly the third-order filtering is performed by means of a third-order filtering module 12, formed by a computer or electronic computer.
  • the filtered control setpoint V f is intrinsically defined, and more generally "planned", so as to gradually converge towards the control setpoint V u , without ever being too stiff.
  • This conversion formula simple and fast to execute, has the advantage of being intrinsically an anti-dangling function.
  • the above conversion formula comes from a simplified model of pendulum, in which it is considered that the swing angle ⁇ is almost zero, that is to say that the suspended load 1 is not balanced not (or almost no) with respect to the carriage 5.
  • the determination of the execution instruction V trol according to the invention with regularization C 3 on the one hand and use of the anti-dangling conversion formula mentioned above on the other hand, however, it will be possible to generate an execution instruction (trolley speed reference) V trol already optimized, not generating a dangling (intrinsically), so that the dancer compensation task assigned to the closed loop of the servo will be greatly simplified. (since this will only reduce possible dangling caused by the only disturbances external to the control system).
  • drive motors 7, 8 have, by their nature, limited (finite) speed, acceleration, and torque capabilities.
  • V trol execution instruction is compatible with these capabilities, so that the motors 7, 8 can actually execute said V trol execution instruction , and thus generate, as a result of the application of said V trol performance instruction to said motors 7, 8, movements of the carriage 5 and the suspended load 1 without dangling, which are consistent with the movements that are expected with respect to said performance instruction.
  • said parameter chosen as representative of the maximum acceleration MAX admissible by the drive motor 7.8 may be the pulsation ⁇ of the third order filter F3, in the form of a so-called "calculated pulsation" pulse ⁇ 0 which will be determined in particular according to said maximum acceleration value permissible at MAX .
  • the inventors have indeed established that there is a link between pulsation and maximum acceleration.
  • the processing step (b) may therefore preferably comprise a sub-step (b1) for adjusting the pulsation of the third-order filter F3, during which the pulsation ⁇ , ⁇ 0 of said filter of the filter is calculated.
  • third order F3 from a value a MAX which is representative of the maximum acceleration that the driving motor 7, 8 can give to the point of attachment H to which the load 1 is suspended.
  • the step (b) processing will preferably comprise a sub-step (b1) for adjusting the pulsation ⁇ of the third order filter F3, during which the third order filter's pulsation ⁇ is adjusted, and more particularly the calculated pulsation ⁇ 0 , depending on the value of the control setpoint V u , V JOY applied by the driver of the hoist at time t considered.
  • the value of the pulsation ⁇ of the third order filter F3 is modified according to whether the control set point V u , V JOY is lower or on the contrary higher than a reference speed V thresh which is defined from the value of maximum speed V MAX that the driving motor 7, 8 can give to the point of attachment H to which the load 1 is suspended.
  • the pulsation ⁇ will be varied so as to increase said pulsation ⁇ and thus use a pulsation considered as high, called "high value" ⁇ high , and therefore a more reactive filter F3, when the absolute value of the pilot setpoint (that is to say the amplitude of the speed reference) V u , V JOY is low compared to the maximum permissible speed V MAX , and decreasing on the contrary said pulsation ⁇ in favor of a lower pulsation so-called "low value” ⁇ low , when the absolute value of the driving setpoint V u , V JOY will increase to approach the maximum permissible speed V MAX .
  • the dual purpose of this adaptation (in real time) of the pulsation ⁇ is to optimize the reactivity of the third order filter 3 (constraint No. 2) by increasing said pulsation ⁇ when possible, because the response time of the filter F3 is inversely proportional to said pulsation ⁇ (with the coefficients c 1 , c 2 chosen as indicated above, the response time at 5% is of the order of 4 / ⁇ ), while respecting the constraint No. 3 related not exceeding the maximum acceleration capacity of the drive motor 7, 8, which sets an allowable upper limit for said pulsation ⁇ .
  • the inventors have empirically found that, in order to avoid destabilizing the third order filter F3, especially during transitions between the high value ⁇ high and the low value ⁇ low , the (calculated) pulse ⁇ , ⁇ 0 should be two once differentiable (in relation to time).
  • the filter of the third order F3 uses as pulsation ⁇ a filtered calculated pulse ⁇ F.
  • V u 0 m / s.
  • the pulse ⁇ , ⁇ F of the third order filter F3 is then close to, or equal to, its high value ⁇ high .
  • V u V MAX .
  • V u V MAX .
  • the first saturation law SAT1 is applied to the raw setpoint (in speed) V JOY , before the third order filtering F3, so as to form (at the output of the first saturation module 15) the control setpoint V u which is then sent to the third order filter F3.
  • the solution proposed by the inventors consists in limiting the execution setpoint V trol when it reaches a predefined allowable limit (typically +/- V MAX ), by suitably saturating the driving setpoint V u .
  • the processing step (b) preferably comprises a sub-step (b3) of secondary saturation, which is intended to keep the execution instruction (ie the setpoint of speed of the point of attachment H ) V trol when said performance instruction V trol reaches substantially the maximum speed V MAX that the drive motor 7, 8 can give to the point of attachment H (that is to say say in practice to the carriage 5).
  • V trol performance set constant As indicated above, it is sought to keep the constant V trol performance set constant or to decrease it when it reaches the maximum permissible speed V max .
  • V u the driving setpoint
  • the step (b) of treatment preferably comprises, according to a characteristic which can constitute an invention in its own right. but which will preferably be implemented in addition to the first saturation law SAT1, a substep (b5) of saturation of the third derivative of the filtered control setpoint during which the third (temporal) derivative V ⁇ is applied to f of the filtered control set V f a third saturation law SAT3 whose saturation thresholds depend on the maximum acceleration a MAX (typically as defined above) that the drive motor 7, 8 can give to the point d H hook to which the load is suspended 1.
  • the control of the crane is carried out - in a fairly intuitive way for the driver - in distribution (modification of the radius r) and in orientation (modification of the azimuth ⁇ ), the driving setpoint V u , V JOY , as well as the execution instruction V trol , will each comprise a distribution component, intended for the engine 7 distribution (which allows to act on the spoke) and an orientation component, for the motor 8 orientation (which allows to to act on the azimuth).
  • the most appropriate coordinate system will be the spherical coordinate system, in which the position of the carriage 5 is located (and driven) by its azimuth (orientation of the luffing arrow in yaw), its declination (orientation of the luffing arrow in pitch) and its radius (distance from the carriage relative to the articulated base of the luffing jib).
  • the length L of the suspension cable 6 can be known in real time by means of a sensor measuring the absolute rotation of the winch or the hoisting motor which generates the winding of said suspension cable 6.
  • r load (0) r trol (0), where "0" corresponds to an initial moment when the system is at rest .
  • the invention as such relates to the implementation of a regularization C 3 , and more particularly to the implementation of the third order filter F 3 , respectively of all or some of the laws of saturation, regardless of the type of calculation used to determine the components of the V trol execution instruction .
  • the invention also relates to a control box for a lifting vehicle, comprising one and / or the other of the modules (that is to say computers, electronic and / or computer) for regularization C 3 / filtering third order 12, conversion 13, pulse adjustment 14, or saturation 15, 16, 17 described above, and a hoist 2 equipped with such a control box.
  • a control box for a lifting vehicle comprising one and / or the other of the modules (that is to say computers, electronic and / or computer) for regularization C 3 / filtering third order 12, conversion 13, pulse adjustment 14, or saturation 15, 16, 17 described above, and a hoist 2 equipped with such a control box.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Control Of Electric Motors In General (AREA)
EP17190875.9A 2016-10-05 2017-09-13 Verfahren zum steuern eines krans mit pendelaussteuerung mit einem filter dritter ordnung Active EP3305710B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1659607A FR3056976B1 (fr) 2016-10-05 2016-10-05 Procede de commande de grue anti-ballant a filtre du troisieme ordre

Publications (2)

Publication Number Publication Date
EP3305710A1 true EP3305710A1 (de) 2018-04-11
EP3305710B1 EP3305710B1 (de) 2019-05-29

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EP17190875.9A Active EP3305710B1 (de) 2016-10-05 2017-09-13 Verfahren zum steuern eines krans mit pendelaussteuerung mit einem filter dritter ordnung

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Country Link
US (1) US20180093868A1 (de)
EP (1) EP3305710B1 (de)
CN (1) CN108163712A (de)
ES (1) ES2743527T3 (de)
FR (1) FR3056976B1 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3653562A1 (de) * 2018-11-19 2020-05-20 B&R Industrial Automation GmbH Verfahren und schwingungsregler zum ausregeln von schwingungen eines schwingfähigen technischen systems

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3071240B1 (fr) * 2017-09-21 2019-09-06 Manitowoc Crane Group France Optimisation dynamique d’une courbe de charge de grue
CN108303883A (zh) * 2018-01-22 2018-07-20 五邑大学 基于一阶动态滑模变结构的桥吊防摆方法
CN110342405B (zh) * 2019-07-25 2020-10-02 上海振华重工(集团)股份有限公司 一种集装箱跨运车起升机构精确定位的控制方法
JP7176645B2 (ja) * 2019-10-11 2022-11-22 株式会社タダノ 制御システムおよびクレーン
CN112456361A (zh) * 2020-11-25 2021-03-09 西北工业大学 一种减小吊放声纳液压绞车水下分机摆动幅度的控制方法
CN114803851A (zh) * 2021-01-18 2022-07-29 台达电子工业股份有限公司 基于变频器架构的桥式天车***全时程防摇摆的控制方法
CN113682966B (zh) * 2021-07-19 2023-06-02 杭州大杰智能传动科技有限公司 用于智能塔吊的运行数据监控识别***及其方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1652810A1 (de) * 2003-08-05 2006-05-03 Sintokogio, Ltd. Kran und steuerung dafür
FR3016872A1 (fr) * 2014-01-30 2015-07-31 Manitowoc Crane Group France Procede de commande anti-ballant a assistance reglable pour le transport d’une charge suspendue
US9120650B2 (en) * 2012-03-09 2015-09-01 Liebherr-Werk Nenzing Gmbh Crane controller with cable force mode

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1652810A1 (de) * 2003-08-05 2006-05-03 Sintokogio, Ltd. Kran und steuerung dafür
US9120650B2 (en) * 2012-03-09 2015-09-01 Liebherr-Werk Nenzing Gmbh Crane controller with cable force mode
FR3016872A1 (fr) * 2014-01-30 2015-07-31 Manitowoc Crane Group France Procede de commande anti-ballant a assistance reglable pour le transport d’une charge suspendue

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3653562A1 (de) * 2018-11-19 2020-05-20 B&R Industrial Automation GmbH Verfahren und schwingungsregler zum ausregeln von schwingungen eines schwingfähigen technischen systems
CN111196557A (zh) * 2018-11-19 2020-05-26 B和R工业自动化有限公司 用于补偿可振动的技术***的振动的方法和振动调节器
US11334027B2 (en) 2018-11-19 2022-05-17 B&R Industrial Automation GmbH Method and oscillation controller for compensating for oscillations of an oscillatable technical system
CN111196557B (zh) * 2018-11-19 2023-12-22 B和R工业自动化有限公司 用于补偿可振动的技术***的振动的方法和振动调节器

Also Published As

Publication number Publication date
FR3056976A1 (fr) 2018-04-06
CN108163712A (zh) 2018-06-15
FR3056976B1 (fr) 2018-11-16
ES2743527T3 (es) 2020-02-19
EP3305710B1 (de) 2019-05-29
US20180093868A1 (en) 2018-04-05

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