EP2636636B1 - Commande de grue avec répartition de la grandeur du dispositif de levage réduite par cinématique - Google Patents

Commande de grue avec répartition de la grandeur du dispositif de levage réduite par cinématique Download PDF

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Publication number
EP2636636B1
EP2636636B1 EP13000100.1A EP13000100A EP2636636B1 EP 2636636 B1 EP2636636 B1 EP 2636636B1 EP 13000100 A EP13000100 A EP 13000100A EP 2636636 B1 EP2636636 B1 EP 2636636B1
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EP
European Patent Office
Prior art keywords
control
hoisting gear
crane
operator
acceleration
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EP13000100.1A
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German (de)
English (en)
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EP2636636A1 (fr
Inventor
Klaus Dr. Schneider
Sebastian Di Küchler
Oliver Dr.-Ing. Sawodny
Johannes Karl Dr. Eberharter
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Liebherr Werk Nenzing GmbH
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Liebherr Werk Nenzing GmbH
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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
    • 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
    • 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
    • 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
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • B66D1/48—Control devices automatic
    • B66D1/52—Control devices automatic for varying rope or cable tension, e.g. when recovering craft from water
    • B66D1/525—Control devices automatic for varying rope or cable tension, e.g. when recovering craft from water electrical

Definitions

  • the present invention relates to a crane control for a crane having a hoist for lifting a load suspended on a rope.
  • the crane control system has an active sea state compensation which at least partially compensates for the movement of the cable suspension point and / or a load release point due to the seaway by controlling the lifting mechanism.
  • the crane control further has an operator control, which controls the hoist on the basis of specifications of the operator.
  • Such a crane control is for example from the DE 10 2008 024513 A1 known.
  • a prediction device is provided, which predicts a future movement of the cable suspension point on the basis of the determined current seaward movement and a model of the seaward movement, wherein the web control takes into account the predicted movement in the control of the hoist.
  • the present invention in a first aspect shows a crane control for a crane having a hoist for lifting a load suspended on a rope.
  • an active sea state compensation is provided which at least partially compensates for a movement of the cable suspension point and / or a Lastabsetzthes due to the sea state by a control of the hoist.
  • an operator control is provided, which controls the hoist based on specifications of the operator.
  • a division of at least one kinematic limited size of the hoist between sea state compensation and operator control is adjustable. This allows the crane operator to divide the at least one kinematic limited size of the hoist itself and thereby determine what proportion of it for the compensation of the sea state, and what proportion of it is available for operator control.
  • the at least one kinematically limited size of the hoisting gear can be, for example, the maximum available power and / or the maximum available speed and / or the maximum available acceleration of the hoisting gear.
  • the division of the at least one kinematic limited size of the hoist can therefore comprise a distribution of the maximum available power and / or maximum available speed and / or maximum available acceleration of the hoist.
  • the maximum available speed and / or the maximum available acceleration of the hoist can be divided by the crane operator between sea state compensation and operator control.
  • the distribution is infinitely adjustable at least in a partial area. This allows the crane operator a sensitive distribution of at least one kinematically limited size of the hoist.
  • the swell compensation can be switched off by the allocation of the entire at least one kinematically limited size of the hoist for operator control. This makes it possible to switch off the active sea state compensation at the same time by setting the division.
  • a continuous adjustment of the distribution of the at least one kinematically limited size of the hoisting gear from and / or to completely switched-off operator control is possible.
  • a continuous transition between a pure operator control and active sea state compensation is possible.
  • the present invention includes a crane control for a crane having a hoist for lifting a load suspended on a rope.
  • the crane control comprises an active sea state compensation, which compensates for the movement of the cable suspension point and / or a Lastabsetzsees due to the sea state at least partially by a control of the hoist.
  • an operator control is provided, which controls the hoist based on specifications of the operator.
  • the controller has two separate path planning modules, via which trajectories for the sea state compensation and for the operator control are calculated separately. In this way, the crane can continue to be controlled via the operator control in the event of failure of the swell compensation, without the need for a separate control unit and without a different driving behavior.
  • the two separate path planning modules are included respectively calculated target trajectories of the position and / or speed and / or acceleration of the hoist.
  • the trajectories predetermined by the two separate path planning modules are summed and used as setpoint values for the control and / or regulation of the hoisting gear.
  • the regulation of the hoist returns measured values for the position and / or speed of the hoist winch and thus compares the setpoints with actual values.
  • the control of the hoist can take into account the dynamics of the drive of the hoist winch.
  • a corresponding pilot control can be provided for this purpose.
  • this is based on the inversion of a physical model of the dynamics of the drive of the hoist winch.
  • the two separate path planning modules take into account at least one limitation of the drive, in each case, and thereby generate desired trajectories which the hoist can actually approach.
  • the crane control at least a kinematically limited size between sea state compensation and operator control.
  • the maximum available power and / or the maximum available speed and / or the maximum available acceleration of the hoist between the sea state compensation and the operator control is divided.
  • the trajectories in the two separate path planning modules then taking into account each assigned at least one kinematic limited size, in particular the maximum available power and / or speed and / or the maximum available acceleration, which on the sea state compensation or the operator control not applicable, calculated.
  • the manipulated variable limitation may not be fully utilized by this division of the at least one kinematically limited variable.
  • the division of the at least one limited kinematics size allows the use of two completely separate path planning modules, each independently taking into account the drive restriction.
  • the use of two separate path planning modules according to the second aspect of the present invention allows a particularly simple adjustability of the distribution of the at least one kinematically limited size.
  • it can be specified by the crane operator, how much of the at least one kinematic limited size for the operator control and the sea state compensation is available, this division is then considered by the two path planning modules in the calculation of the target trajectories for controlling the hoist as a limitation.
  • the swell compensation can have an optimization function which calculates a trajectory based on a predicted movement of the cable suspension point and / or a load release point and taking into account the power available for the swell compensation.
  • a trajectory for controlling the hoist is calculated, which compensates as well as possible the predicted movement of the cable suspension point and / or a load release point taking into account the power available for the swell compensation.
  • the trajectory can thereby minimize the residual movement of the load due to the movement of the cable suspension point and / or a difference movement between the load and the load release point which arises due to the seaway.
  • the crane control according to the present invention advantageously comprises a prediction device which predicts a future movement of the cable suspension point and / or a load release point on the basis of the determined current seaward movement and a model of the seaward movement, wherein a measuring device is provided which determines the current seaward movement on the basis of sensor data.
  • the forecasting device predicts the future movement of the cable suspension point and / or a load release point in the vertical direction. The movement in the horizontal direction, however, can be neglected.
  • the forecasting device and / or the measuring device can be designed as shown in the DE 10 2008 024513 A1 is described.
  • the operator control can continue to calculate a trajectory on the basis of specifications of the operator and taking into account the available for operator control at least one kinematic limited size.
  • the operator control also takes into account the maximum available for the operator control at least one kinematic limited size, and calculated from specifications of the operator a trajectory for controlling the hoist.
  • the trajectories are determined in each case in the path planning modules described above.
  • the crane control system has at least one control element, via which the crane operator can set the distribution of the available at least one kinematically limited variable, and in particular can specify the weighting factor.
  • the distribution of the available at least one kinematically limited size during the stroke can be changed.
  • This allows the crane operator to provide more power, for example, for operator control, if he wants a faster lift.
  • more power can be applied to the swell compensation if the crane operator feels that the swell is not sufficiently compensated.
  • the crane operator can respond flexibly to changes in the weather and sea state.
  • the change in the distribution of the available at least one kinematic limited size is carried out as described above by changing the weighting factor.
  • the crane control according to the invention further has a calculation function which calculates the currently available at least one kinematically limited variable.
  • the maximum available power and / or speed and / or acceleration of the lifting mechanism can be calculated. Since the maximum available power or the maximum available speed and / or acceleration of the hoist can change during the stroke, it can be adapted via the calculation function to the current conditions of the stroke.
  • the calculation function takes into account the length of the unwound cable and / or the cable force and / or the power available for driving the hoisting gear.
  • the maximum available speed and / or acceleration of the hoist can be different, since the weight of the unwound rope, especially in strokes with very long cables loaded the hoist.
  • the maximum available speed and / or acceleration of the hoist can vary depending on the mass of the lifted load.
  • this is also taken into account.
  • the currently available at least one kinematically limited variable is divided according to the specification of the crane operator between sea state compensation and operator control, in particular based on the weighting factor prescribed by the crane operator.
  • the optimization function of the swell compensation can initially include a change in the distribution of the available at least one kinematic limited variable and / or a change in the available at least one kinematic limited variable during a stroke only at the end of the prediction horizon. This enables a stable optimization function over the entire prediction horizon.
  • the altered available at least one kinematic limited variable is then pushed to the beginning of the prediction horizon as the time progresses.
  • the optimization function of the swell compensation according to the invention determines a desired trajectory, which enters into the control and / or regulation of the hoist.
  • the desired trajectory can specify a desired movement of the hoist.
  • the optimization can be done via a discretization.
  • the optimization can be carried out at each time step on the basis of an updated forecast of the movement of the load pick-up point.
  • the first value of the desired trajectory can be used to control the lifting mechanism. If an updated desired trajectory is then available, again only its first value is used for regulation.
  • the optimization function can operate with a larger sampling time than the control. This makes it possible to choose larger sampling times for the compute-intensive optimization function, for the less computationally intensive control, however, to achieve greater accuracy through lower sampling times.
  • the optimization function relies on emergency trajectory planning if no valid solution can be found. This will ensure proper operation even if a valid solution can not be found.
  • the operator control calculates, based on a signal given by an operator through an input device, the speed of the hoist winch desired by the operator.
  • a hand lever can be provided.
  • the desired speed can be calculated as the predetermined by the position of the input device portion of the maximum available speed for the operator control.
  • the desired trajectory is generated by integration of the maximum allowable positive jerk until the maximum acceleration is reached. This ensures that the hoist is not overloaded by the operator control.
  • the maximum acceleration corresponds to the proportion of the maximum available acceleration of the lifting mechanism, which is assigned to the operator control.
  • the speed is then increased by integration of the maximum acceleration until the desired speed can be achieved by applying the maximum negative jerk.
  • the present invention further comprises a crane with a crane control as described above.
  • the crane can be arranged on a float.
  • the crane may be a ship crane. Alternatively, it may also be an offshore crane, a port crane or a crawler crane.
  • the present invention further comprises a floating body with a crane according to the present invention, in particular a ship with a crane according to the invention.
  • the present invention comprises the use of a crane according to the invention or a crane control according to the invention for raising and / or lowering a load located in the water and / or the use of a crane according to the invention or a crane control according to the invention for raising and / or lowering a load of and or on a load settling position in the water, for example on a ship.
  • the present invention comprises the use of the crane according to the invention or the crane control according to the invention for deep-sea turns and / or the loading and / or unloading of ships.
  • the present invention further includes a method of controlling a crane having a hoist for lifting a load suspended on a rope.
  • compensating a sea state compensation by an automatic control of the hoist, the movement of the rope suspension point and / or Lastabsetzcons due to the sea state at least partially.
  • the hoist is controlled based on specifications of the operator via an operator control.
  • a second aspect it is provided that separate trajectories for the sea state compensation and for the operator control are calculated.
  • the method is preferably carried out as already described in greater detail with regard to the crane control and its function according to the invention. Furthermore advantageously, the method according to the invention serves for the purpose of use, which has also already been described above.
  • the method according to the invention can be carried out by means of a crane control, as has been shown above, or with the aid of a crane, as has been described above.
  • the present invention further comprises software with code for carrying out a method according to the invention.
  • the software can be stored on a machine-readable data carrier.
  • a crane control according to the invention can be implemented.
  • Figure 0 shows an embodiment of a crane 1 with a crane control according to the invention for controlling the hoist 5.
  • the hoist 5 has a hoist winch, which moves the cable 4.
  • the rope 4 is connected via a cable suspension point 2, in the exemplary embodiment, a deflection roller at the end of Crane jib, guided on crane. By moving the cable 4, a load hanging on the rope 3 can be raised or lowered.
  • At least one sensor may be provided which measures the position and / or speed of the hoist and transmits corresponding signals to the crane control.
  • At least one sensor can be provided which measures the cable force and transmits corresponding signals to the crane control.
  • the sensor can be arranged in the region of the crane structure, in particular in a fastening of the winch 5 and / or in a fastening of the pulley 2.
  • the crane 1 is arranged in the embodiment on a float 6, here a ship. Like also in Figure 0 to recognize the float 6 moves due to the sea at its six degrees of freedom. As a result, the arranged on the float 6 crane 1 and the cable suspension point 2 is moved.
  • the crane control according to the present invention may have an active sea state compensation, which at least partially compensates for a control of the hoist and the movement of the cable suspension point 2 due to the sea.
  • the vertical movement of the cable suspension point due to the sea is at least partially compensated.
  • the sea state compensation may include a measuring device which determines a current sea state movement from sensor data.
  • the measuring device may comprise sensors which are arranged on the crane foundation.
  • these may be gyroscopes and / or inclination angle sensors.
  • three gyroscopes and three inclination angle sensors are provided.
  • a prediction device can be provided which predicts a future movement of the cable suspension point 2 on the basis of the determined seaward movement and a model of the seaward movement. Especially The forecasting device predicts only the vertical movement of the cable suspension point. Sometimes. can be converted in the context of the measuring and / or the forecasting device, a movement of the ship at the point of the sensors of the measuring device in a movement of the cable suspension point.
  • the forecasting device and the measuring device are advantageously designed as shown in the DE 10 2008 024513 A1 is described in more detail.
  • the crane according to the invention could also be a crane which is used for lifting and / or lowering a load from or onto a load settling point arranged on a floating body, which therefore moves with the seaway.
  • the forecasting device must in this case predict the future movement of the load take-off point. This can be done analogously to the procedure described above, wherein the sensors of the measuring device are arranged on the float of Lastabsetzthes.
  • the crane may be, for example, a harbor crane, an offshore crane or a crawler crane.
  • the hoist winch of the hoist 5 is hydraulically driven in the embodiment.
  • a hydraulic circuit of hydraulic pump and hydraulic motor is provided, via which the hoist winch is driven.
  • a hydraulic accumulator can be provided, via which energy is stored when the load is lowered, so that this energy is available when lifting the load.
  • an electric drive could be used. This could also be connected to an energy storage.
  • a follow-up control consisting of a precontrol and a feedback in the form of a two-degree-of-freedom structure is used in the exemplary embodiment.
  • the feedforward control is calculated by a differential parameterization and requires twice continuously differentiable reference trajectories.
  • v max and a m a x are divided by means of a weighting factor 0 ⁇ k l ⁇ 1 (cf. Fig. 1 ). This is specified by the crane driver and thus allows the individual distribution of power, which is available for the compensation or the method of the load.
  • a weighting factor 0 ⁇ k l ⁇ 1 (cf. Fig. 1 ).
  • a change of k l can be carried out during operation. Since the maximum possible travel speed or acceleration depends on the total mass of rope and load, v max and a max can also change during operation. Therefore, the valid values are also transferred to the trajectory planning.
  • the crane operator can easily and intuitively adjust the influence of the active sea state compensation.
  • the first part of the chapter first explains the generation of reference trajectories y a * . y ⁇ a * and y ⁇ a * for compensating the vertical movement of the cable suspension point.
  • the essential aspect here is that with the planned Trajectories the vertical motion is compensated as far as it is possible due to the given and set by k l restrictions.
  • the second part of the chapter deals with the planning of trajectories y l * . y ⁇ l * and y ⁇ l * for moving the load. These are generated directly from the hand lever signal of the crane driver w hh . The calculation is done by adding the maximum allowable jerk.
  • trajectory planning for the compensating movement of the hoisting winch, sufficiently smooth trajectories are to be generated from the predicted vertical positions and speeds of the rope suspending point, taking into account the valid drive restrictions.
  • This task is considered below as a limited optimization problem, which is to be solved online in each time step. Therefore, the approach is similar to the design of a model-predictive control, but in the sense of a model-predictive trajectory generation.
  • an optimal time sequence for the compensation movement can then be determined.
  • an emergency function can be implemented in this concept, in case the optimization does not find a valid solution, independently of the regulation. It consists of a simplified trajectory planning, whereupon the regulation resorts to such an emergency situation and continues to control the winds.
  • the third derivation must be made at the earliest y ... a * . be considered as capable of jumping.
  • making only the fourth derivative y a * can be considered as capable of jumping.
  • the jerk y ... a * . plan at least steadily and the Trajektoriengener ist for the compensation movement is based on the in Fig. 2 illustrated fourth order integrator chain.
  • this time-continuous model first becomes on the grid ⁇ 0 ⁇ ⁇ 1 ⁇ ... ⁇ ⁇ K p - 1 ⁇ ⁇ K p where K p represents the number of prediction steps for the prediction of the vertical movement of the cable suspension point.
  • Fig. 3 makes it clear that the selected grid is not equidistant, which reduces the number of necessary nodes on the horizon. This makes it possible to keep the dimension of the optimal control problem to be solved small.
  • the influence of the grosser discretization towards the end of the horizon does not adversely affect the planned trajectory since the prediction of vertical position and velocity towards the end of the prediction horizon is less accurate.
  • x a ⁇ k + 1 1 ⁇ k ⁇ ⁇ k 2 2 ⁇ ⁇ k 3 6 0 1 ⁇ k ⁇ ⁇ k 2 2 0 0 1 ⁇ k 0 0 0 1 + ⁇ ⁇ k 4 24 ⁇ ⁇ k 3 6 ⁇ ⁇ k 2 2 ⁇ u a ⁇ k .
  • ⁇ k ⁇ k +1 - ⁇ k describes the valid for the respective time step discretization step size .
  • a trajectory is to be planned which follows the predicted vertical movement of the cable suspension point as close as possible and at the same time satisfies the given restrictions.
  • the weights q w, 3 and q w, 4 only penalize deviations from zero, which is why they are less than the weights for the position q w, 1 ( ⁇ k ) and velocity q w, 2 ( ⁇ k ) can be selected.
  • ⁇ a ( ⁇ k ) represents a reduction factor chosen so that the respective limit at the end of the horizon is 95% of that at the beginning of the horizon.
  • ⁇ a ( ⁇ k ) follows from linear interpolation. The reduction of the restrictions along the horizon increases the robustness of the method with respect to the existence of permissible solutions.
  • the jerk limitations are j max and the derivative of the jerk d dt j Max constant. To increase the lifespan of the hoist winch and the entire crane, they are selected for maximum shock load. There are no restrictions on the position condition.
  • Fig. 4 clarifies this procedure based on the speed limit.
  • care must also be taken that it matches its maximum permissible derivative. This means that, for example, the speed limit ( 1 -k l ) v max may be reduced at most as fast as the current acceleration limitation (1 k l ) a max permits.
  • a constrained initial condition x a ( ⁇ 0 ) always has a solution which in turn does not violate the updated constraints. However, it takes the complete prediction horizon until a changed restriction finally affects the planned trajectories at the beginning of the horizon.
  • the optimal control problem is through to be minimized square merit function (1.5), the system model (1.4) and the inequality constraints of (1.8) and (1.9) in the form of a linear-quadratic optimization problem (QP problem for Q uadratic P rogramming PROBLEM) completely given.
  • QP problem for Q uadratic P rogramming PROBLEM
  • the value x a ( ⁇ 1 ) calculated in the last optimization step for the time step ⁇ 1 is used as the initial condition.
  • the actual solution to the QP problem is calculated in each time step using a numerical method known as the QP solver.
  • the sampling time for the trajectory planning of the compensatory motion is greater than the discretization time of all remaining components of the active sea state compensation; thus ⁇ ⁇ > ⁇ t.
  • the simulation of the integrator chain takes place Fig. 2 outside the optimization with the faster sampling time ⁇ t instead.
  • the states x a ( ⁇ 0 ) are used as an initial condition for the simulation, and the manipulated variable at the beginning of the prediction horizon u a ( ⁇ 0 ) is written to the integrator chain as a constant input.
  • Fig. 5 shows, it also serves as the input of a third-order integrator chain.
  • the planned trajectories must also meet the currently valid speed and acceleration restrictions which result for the lever control in k l v max and k l a max .
  • the hand lever signal of the crane driver -100 ⁇ w hh ⁇ 100 is interpreted as a relative speed specification in relation to the currently maximum permissible speed k l v max .
  • the setpoint speed currently given by the hand lever depends on the hand lever position w hh , the variable weighting factor k l and the current maximum permissible winch speed v max .
  • the task of trajectory planning for the hand lever control can now be specified as follows: From the setpoint speed given by the hand lever, a continuously differentiable speed profile is to be generated so that the acceleration has a steady course. As a method for this task offers a so-called jerk-on.
  • the maximum permissible jerk j max in a first phase acts on the input of the integrator chain until the maximum permissible acceleration is reached.
  • the speed is increased with constant acceleration; and in the last phase, the maximum permissible negative jerk is switched on so that the desired final speed is reached.
  • Fig. 7 illustrates an exemplary course of the jerk for a speed change together with the switching times.
  • T l, 0 denotes the time at which a rescheduling takes place.
  • the times T l, 1 , T l, 2 and T l, 3 each refer to the calculated switching times between the individual phases. Their calculation is outlined in the following paragraph.
  • a new situation occurs as soon as the setpoint speed v hh * or the currently valid maximum acceleration for the hand lever control K / a max changes.
  • the desired speed may change due to a new hand lever position w hh or by a new specification of k l or v max (cf. Fig. 6 ). Analogously, a variation of the maximum valid acceleration by k l or a max is possible.
  • y ⁇ l * T l . 1 y ⁇ l * T l . 0 + ⁇ T 1 y ⁇ l * T l . 0 + 1 2 ⁇ T 1 2 u l . 1 .
  • ⁇ T 1 a ⁇ - y ⁇ l * T l . 0 u l . 1 .
  • ⁇ T 3 0 - a ⁇ u l . 3 .
  • ⁇ stands for the maximum acceleration achieved.
  • the speed and acceleration curves to be planned y ⁇ l * and y ⁇ l * can be calculated analytically with the individual switching times. It should be mentioned here that the trajectories planned by the switching times are often not traversed completely, since a new situation occurs before reaching the switching time T l, 3 , as a result a rescheduling takes place and new switching times are calculated. As already mentioned, a new situation occurs by a change of w hh , v max , a max or k l .
  • Fig. 8 shows a trajectory exemplified by the method presented.
  • the course of the trajectories includes both cases, which can occur on the basis of (1.24).
  • the maximum allowable acceleration due to the hand lever position is not fully achieved.
  • the associated position history is calculated according to Fig. 5 by integrating the velocity profile, the position being initialized at startup by the rope length currently being handled by the hoist winch.
  • the control consists of two different modes of operation: the active sea state compensation for decoupling the vertical load movement from the ship movement with free-hanging load and the constant voltage control to avoid slack rope, as soon as the load is deposited on the seabed.
  • the sea state compensation is initially active. Based on a detection of the settling process is automatically switched to the constant voltage control.
  • Fig. 9 illustrates the overall concept with the associated control and control variables.
  • each of the two different modes of operation could also be implemented without the other mode of operation.
  • a constant voltage mode as described below, can also be used independently of the use of the crane on a ship and independently of an active sea state compensation.
  • Active hoist compensation is intended to control the hoist winch so that the winch movement controls the vertical movement of the rope suspension point z a H compensates and the crane operator moves the load with the help of the hand lever in the considered as inertial h-coordinate system.
  • the driver In order for the driver to have the required predictive behavior for minimizing the compensation error, it is converted by a pilot control and stabilization part in the form of a two-degree-of-freedom structure.
  • the feedforward control is calculated from a differential parameterization with the aid of the flat output of the wind dynamics and results from the planned trajectories for moving the load y l * . y ⁇ l * and y ⁇ l * and the negative trajectories for the compensation movement - y a * .
  • the resulting desired trajectories for the system output of the drive dynamics or the wind dynamics are with y H * . y ⁇ H * and y ⁇ H * designated. They represent the target position, speed and acceleration for the winch movement and thus for the winding and unwinding of the rope.
  • the cable force at the load F sl should be regulated to a constant amount in order to avoid slack rope. Therefore, in this mode of operation, the hand lever is deactivated and the trajectories planned from the hand lever signal are no longer applied.
  • the control of the winch is again by a two-degree-of-freedom structure with pilot control and stabilization part.
  • the length l s is obtained indirectly from the angle of rotation ⁇ h measured using an incremental encoder and the winding radius r h ( j l ) dependent on the winding position j l .
  • the associated cable speed i s can be calculated by numerical differentiation with suitable low-pass filtering.
  • the cable force F c acting on the cable suspension point is detected by means of a force measuring axis.
  • Fig. 10 illustrates the control of the hoist winch for the active sea state compensation with a block diagram in the frequency domain.
  • the compensation of the vertical movement of the cable suspension point acting as an input disturbance on the cable system G s , z ( s ) takes place Z a H s purely pre-taxing; Rope and load dynamics are neglected.
  • the rope's own dynamics are excited, but in practice it can be assumed that the resulting load movement in the water is strongly damped and decays very rapidly.
  • Neglecting the compensation movement Y a * s can be the reference size Y H * s be approximated at constant or stationary Handhebelauslenkung as a ramp-shaped signal, since in such a case, a constant target speed v hh * is present.
  • the open chain K a ( s ) G h ( s ) must therefore have l 2 behavior [9].
  • the decrease in the negative spring force ⁇ F c is calculated in each case with respect to the last high point F c in the measured force signal F c .
  • the force signal is preprocessed by a corresponding low-pass filter.
  • the two parameters ⁇ 2 ⁇ 1 and F ⁇ ⁇ c . Max were also determined experimentally.
  • the crane operator manually maneuvers the change from the constant tension mode to the active sea state compensation with the load suspended.
  • Fig. 11 shows the converted control of the hoist winch in the constant voltage mode in a block diagram in the frequency domain.
  • the output of the cable system F c ( s ) ie the force measured at the cable suspension point, is returned instead of the output of the winch system Y h ( s ).
  • the measured force F c ( s ) is based on (2.12) the force change ⁇ F c ( s ) and the static force Weight m e g + ⁇ s l s g, which is referred to in the image area with M ( s ) together.
  • the cable system is again approximated as a spring-mass system.
  • the precontrol F ( s ) of the two-degree-of-freedom structure is identical to that for active sea state compensation and given by (2.2) or (2.3). However, in the constant voltage mode, the hand lever signal is not applied, which is why the reference trajectory only from the negative target speed and - acceleration - y ⁇ a * and - y ⁇ a * exists for the compensation movement.
  • the pilot control component initially compensates for the vertical movement of the cable suspension point Z a H s , However, there is no direct stabilization of the winch position by a return of Y h ( s ) . This is done indirectly by the return of the measured force signal.
  • the compensation error E a ( s ) is compensated by a stable transfer function G CT, 1 ( s ) and the wind position stabilized indirectly.
  • the request to the controller K s ( s ) also results in this case from the expected command signal which after a transition phase by the constant desired force from (2.21).
  • the open chain must have K s ( s ) G h ( s ) G s, F ( s ) l behavior.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)
  • Jib Cranes (AREA)

Claims (15)

  1. Commande de grue pour une grue qui présente un mécanisme de levage pour lever une charge suspendue à un câble, comportant
    une compensation de houle active qui, par un pilotage du mécanisme de levage, compense au moins partiellement le mouvement du point de suspension de câble et/ou un point de dépose de charge en raison de la houle, et
    une commande par opérateur qui pilote le mécanisme de levage à l'aide de spécifications de l'opérateur,
    caractérisée en ce que
    la répartition d'au moins une grandeur cinématiquement réduite du mécanisme de levage est réglable entre la compensation de houle et la commande par opérateur.
  2. Commande de grue selon la revendication 1, dans laquelle la répartition d'au moins une grandeur cinématiquement contrainte du mécanisme de levage comprend une répartition de la puissance disponible au maximum et/ou la vitesse disponible au maximum et/ou l'accélération disponible au maximum, et/ou dans laquelle la répartition d'au moins une grandeur cinématiquement contrainte est produite par au moins un facteur de pondération par l'intermédiaire duquel la puissance et/ou la vitesse et/ou l'accélération disponible au maximum du mécanisme de levage est/sont répartie(s) entre la compensation de houle et la commande par opérateur.
  3. Commande de grue selon la revendication 1 ou 2, dans laquelle la répartition peut être réglée de manière continue sur une plage partielle et/ou dans laquelle la compensation de houle peut être désactivée par l'allocation de toute la au moins une grandeur cinématiquement contrainte du mécanisme de levage à la commande par opérateur.
  4. Commande de grue selon l'une des revendications 1 à 3, caractérisé en ce que la commande présente deux modules de planification de cheminement par l'intermédiaire desquels des trajectoires sont calculées séparément l'une de l'autre pour la compensation de houle et pour la commande par opérateur.
  5. Commande de grue selon la revendication 4, dans laquelle les trajectoires prédéterminées par les deux modules de planification de cheminement séparés sont totalisées et servent de valeurs de consigne pour la commande et/ou la régulation du mécanisme de levage, la régulation du mécanisme de levage renvoyant avantageusement des valeurs de mesure à la position et/ou la vitesse du treuil de levage et/ou tenant compte de la dynamique de l'entraînement du treuil de levage.
  6. Commande de grue selon l'une des revendications précédentes, dans laquelle la compensation de houle présente une fonction d'optimisation qui, à l'aide d'un mouvement pronostiqué du point de suspension de câble et/ou d'un point de dépose de charge et en tenant compte de ladite au moins une grandeur cinématiquement contrainte, disponible pour la compensation de houle, une trajectoire est calculée et/ou dans laquelle la commande par opérateur calcule une trajectoire à l'aide des spécifications de l'opérateur et en tenant compte de ladite au moins une grandeur cinématiquement contrainte disponible.
  7. Commande de grue selon l'une des revendications précédentes, dans laquelle la répartition d'au moins une grandeur cinématiquement contrainte pendant un levage peut être modifiée, en particulier en modifiant le facteur de pondération.
  8. Commande de grue selon l'une des revendications précédentes, comportant une fonction de calcul qui calcule ladite au moins une grandeur cinématiquement contrainte actuellement disponible et en particulier la puissance et/ou la vitesse et/ou l'accélération disponibles au maximum, la fonction de calcul tenant avantageusement compte de la longueur du câble déroulé et/ou de la force de câble et/ou la puissance disponible pour l'entraînement du mécanisme de levage.
  9. Commande de grue selon la revendication 7 ou 8, dans laquelle la fonction d'optimisation de la compensation de houle tient compte d'une modification dans la répartition de ladite au moins une grandeur cinématiquement contrainte du mécanisme de levage et/ou d'une modification de ladite au moins une grandeur cinématiquement contrainte du mécanisme de levage disponible, pendant un levage, tout d'abord seulement à la fin de l'horizon de prévision et ensuite, avec le temps, elle pousse celle-ci avantageusement vers le début.
  10. Commande de grue selon l'une des revendications précédentes, dans laquelle la fonction d'optimisation de la compensation de houle détermine une trajectoire de consigne qui est retenue dans la commande et/ou dans la régulation du mécanisme de levage,
    l'optimisation ayant lieu à chaque étape de temps sur la base d'une prévision actualisée du mouvement du point de réception de la charge et/ou
    la première valeur de la trajectoire de consigne étant respectivement mise à contribution pour la régulation,
    la fonction d'optimisation travaillant avec une durée de balayage plus grande que la régulation, et/ou
    la fonction d'optimisation ayant recours à une planification de cheminement d'urgence si une solution valable ne peut être trouvée.
  11. Commande de grue selon l'une des revendications précédentes, dans laquelle la commande par opérateur calcule une vitesse souhaitée par l'opérateur sur la base d'un signal prédéterminé par un opérateur grâce à un dispositif d'entrée, en particulier un levier à main, et/ou dans laquelle la planification de cheminement de la commande par opérateur génère la trajectoire par intégration d'une secousse positive maximale admissible jusqu'à ce que l'accélération maximale soit atteinte, et ensuite, avantageusement par intégration de l'accélération maximale jusqu'à ce que la vitesse souhaitée puisse être atteinte par application de la secousse négative maximale.
  12. Grue comportant une commande de grue selon l'une des revendications précédentes.
  13. Procédé de commande d'une grue qui présente un mécanisme de levage pour soulever une charge suspendue à un câble,
    dans lequel une compensation de houle compense au moins partiellement le mouvement du point de suspension du câble et/ou un point de dépose de la charge par pilotage automatique du mécanisme de levage, et
    dans lequel le mécanisme de levage est piloté sur la base de spécifications de l'opérateur par l'intermédiaire d'une commande par opérateur, caractérisé en ce que
    au moins une grandeur cinématiquement contrainte du mécanisme de levage est répartie de façon variable entre la compensation de houle et la commande par opérateur et/ou des trajectoires pour la compensation de houle et pour la commande par opérateur sont calculées séparément l'une de l'autre.
  14. Procédé selon la revendication 13 au moyen d'une commande de grue selon l'une des revendications 1 à 11.
  15. Logiciel avec code pour la mise en oeuvre du procédé selon la revendication 13 ou 14.
EP13000100.1A 2012-03-09 2013-01-09 Commande de grue avec répartition de la grandeur du dispositif de levage réduite par cinématique Active EP2636636B1 (fr)

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KR20130103432A (ko) 2013-09-23
US20130245815A1 (en) 2013-09-19
DE102012004802A1 (de) 2013-09-12
KR102028074B1 (ko) 2019-10-02
CN103303798A (zh) 2013-09-18
JP6189055B2 (ja) 2017-08-30
EP2636636A1 (fr) 2013-09-11
CN103303798B (zh) 2017-03-01
US9790061B2 (en) 2017-10-17
JP2013184824A (ja) 2013-09-19

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