EP3957594A1 - Système de commande de grue à flèche et procédé de commande de grue à flèche - Google Patents

Système de commande de grue à flèche et procédé de commande de grue à flèche Download PDF

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Publication number
EP3957594A1
EP3957594A1 EP21191589.7A EP21191589A EP3957594A1 EP 3957594 A1 EP3957594 A1 EP 3957594A1 EP 21191589 A EP21191589 A EP 21191589A EP 3957594 A1 EP3957594 A1 EP 3957594A1
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EP
European Patent Office
Prior art keywords
jib
hoist
crane
connection structure
distance
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
EP21191589.7A
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German (de)
English (en)
Other versions
EP3957594C0 (fr
EP3957594B1 (fr
Inventor
Jens Peter Nebsbjerg
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HMF Group AS
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HMF Group AS
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Publication date
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Publication of EP3957594A1 publication Critical patent/EP3957594A1/fr
Application granted granted Critical
Publication of EP3957594C0 publication Critical patent/EP3957594C0/fr
Publication of EP3957594B1 publication Critical patent/EP3957594B1/fr
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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
    • 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
    • B66C23/62—Constructional features or details
    • B66C23/64—Jibs
    • B66C23/68—Jibs foldable or otherwise adjustable in configuration
    • 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
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • 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
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • 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
    • B66C23/54—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 pneumatic or hydraulic motors, e.g. for actuating jib-cranes on tractors
    • 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
    • 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
    • B66D1/485—Control devices automatic electrical

Definitions

  • the present invention relates to a control system and a method for controlling a crane comprising an articulated jib and a hoist (cable winch).
  • the invention also relates to a lorry crane (truck-mounted) comprising a control system for controlling a crane comprising an articulated jib and a hoist.
  • the motion of the jib will often affect the hoist in an undesired manner.
  • the jib is articulated, or parts of the jib are being telescopically displaced relative to each other the distance between a load carried by the hoist and the tip of the jib will change because the length of the uncoiled cable remains constant.
  • US20050035077A1 discloses a method, by which this undesired effect can be avoided by installing a measuring device arranged and configured to send movement specific feedback to a regulator. Accordingly, the regulation loop can adjust the distance by sending a control signal to the hoist. When applying this regulation loop, one needs to measure the undesired effect continuously and correcting it by using the regulator. This means that the method has a limited speed of correction and requires that accurate measurements are carried out on a continuous basis.
  • WO2019172415A1 discloses a method and a system for controlling a crane by applying sensor measurements to introduce correction movements when the sensor data reveals that the motion that the crane experienced has an undesired component. This solution is capable of carrying out corrections. However, the corrections can only be carried out after the undesired components of the motion has been realized. Accordingly, it would be desirable to provide a solution, in which this drawback could be avoided.
  • the method according to the invention is a method for controlling a crane comprising a jib having a crane tip and a hoist comprising a load connection structure, wherein the crane is configured to carry a load attached to the load connection structure and comprises:
  • the method suggests application of a feedforward approach. In this manner it is possible to generate a correcting signal and activate the one or more hoist actuators by using the determined correcting signal at that point in time, at which the operator selects and executes a command causing a motion of the jib.
  • the errors that has to be corrected by the method according to the invention are smaller than the errors needed to be corrected by using prior at systems.
  • the method according to the invention is capable of providing a faster and more precise system than the prior art systems.
  • the hoist will release wire at the same time, hereby minimising the errors to be adjusted by the feedback.
  • the method according to the invention provides a simple, faster and more accurate regulation because it is proactive eliminating majority of the side-effect before it appears instead of allowing it to appear and then react.
  • the hoist is sometimes known as a cable winch used for lowering and hoisting a load.
  • the one or more of jib actuators comprise one or more hydraulic cylinders.
  • the one or more hoist actuators comprise one or more motors. In one embodiment, the one or more hoist actuators comprise one or more hydraulically driven motors. In one embodiment, the one or more hoist actuators comprise one or more electrically driven motors.
  • control unit configured control the one or more jib actuators and the one or more hoist actuators configured to change the distance between the load and the crane tip.
  • control is meant activate and/or deactivate and/or turning on and/or turning off.
  • Providing a command to the control unit to activate the one or more jib actuators means that the control unit is applied to initiate activation of the one or more jib actuators. This step may comprise application of a regulator connected to the one or more jib actuators.
  • Determining the expected change of the distance between the load connection structure and the crane tip caused by motion of the jib when executing the command may be calculated by using the control system and kinematics of the jib.
  • one or more sensor output may be used to carry out the determination of the change of the distance between the load and the crane tip caused by motion of the jib when executing the command.
  • Determining a correcting signal suitable for at least partly counteracting the change of the distance between the load connection structure and the crane tip may be done in several ways.
  • the correcting signal is a feedback in the form of a linear or angular position or derivative thereof (e.g. linear or angular velocity or acceleration).
  • This feedback is sent to the control unit which through a closed loop path regulates the error from an operator-defined setpoint.
  • the control unit will through the feedforward path calculate a proactive response.
  • the activation of the one or more hoist actuators by using the determined correcting signal may be carried out in several ways.
  • the command is forwarded to a control valve.
  • the term "determining" includes that one or more calculations are carried out.
  • control unit comprises a single control device configured to control the one or more jib actuators and the one or more hoist actuators.
  • control unit comprises a first control device configured to control the jib actuators and a second control device configured to control the hoist actuator(s).
  • determining a correcting signal suitable for at least partly counteracting the change of the distance between the load connection structure and the crane tip is meant determining a correcting signal that at reduces the magnitude of the change of the distance between the load connection structure and the crane tip.
  • the load connection structure is a hook.
  • the load connection structure is an eye (ringshaped structure).
  • the crane is a lorry crane (truck-mounted).
  • the correcting signal is selected in such a manner that activating the one or more hoist actuators by using the determined correcting signal, when not considering the effect of the jib, will cause a hoist induced change of the distance between the load connection structure and the crane tip that is smaller than the jib induced change of the distance between the load connection structure and the crane tip.
  • ⁇ D hoist ⁇ 0.9 ⁇ D jib
  • ⁇ D hoist ⁇ 0.75 ⁇ D jib
  • ⁇ D hoist ⁇ 0.5 ⁇ D jib
  • ⁇ D hoist ⁇ 0.3 ⁇ D jib
  • ⁇ D hoist 0.25 ⁇ D jib
  • the method can take into consideration that the speed of the hoist is faster than the speed of the displacement of telescopic extensions of the jib. It provides a simple way to implement the system.
  • the command is forwarded to a control valve in a scale from +100 to -100. If the operator of the crane commands +100 straight away this is reached through a first order filter. In this situation it may be advantageous that the correcting signal is decreased by a factor in the rage -0.45 to -0,15. It may be preferred that the correcting signal is decreased by a factor in the range -0.3 to -0.2 such as -0.25. This is a very simple way to execute the correction.
  • the feedforward is only activated by the extensions of the jib and fly-jib.
  • the feedforward is, however, carried out in such a manner that the feedback does correct all other movements detected in the tip of the crane.
  • the method and control system according to the invention comprises a filter is a system that performs mathematical operations to reduce or enhance certain aspects of a signal.
  • the filter is a recursive filter.
  • the filter is a non-recursive filter.
  • the method and control system according to the invention comprises both a recursive and a non-recursive filter.
  • the filter may include the current value or a combination of the current and previously values. Filters can be simple or complex, of lower or higher order.
  • the feedforward calculation is carried out by using a table. This may be accomplished in a manner, in which the table is applied by the control system to look up the current value in the table to see the expected reaction.
  • one column in the table would be inputs, whereas another column would be outputs.
  • the control system would therefore for each command be able to select a counter-command from the table.
  • control system carries out the feedforward calculation by using intervals.
  • intervals allow the system to react different to an input depending on its value.
  • a threshold exists. Accordingly, a certain value acts as a threshold. Therefore, the system should react different on each side of the threshold.
  • control system carries out the feedforward calculation by using an equation of a line.
  • the equation of a line is another option.
  • an input value gets multiplied by a factor before a constant is subtracted or added on. In this way the line can be lifted over a threshold.
  • the control system carries out the feedforward calculation by using transfer functions.
  • a transfer function is a mathematical expression of an action. It allows the control system to calculate an output if we know the input or vice versa. It transfers the input to an output.
  • the action is the action of a crane's dynamic actions. In order to make the operation in the controller faster this mathematical expression is simplified. It is a balance between accuracy and efficiency.It is possible to calculate an action from its command to the extensions and hence calculate another command to the hoist to counter this action.
  • a transfer function is modelled a regulator can be found mathematical. It is therefore both used for the feedforward and the feedback.
  • the method comprises the following steps:
  • the basic idea is to control the hoist in such a manner that, which allow us to keep the distance between the load and the crane tip constant.
  • the method is configured to be used to control a crane that comprises one or more sensors and wherein a sensor output is provided from one or more of the sensors, wherein the sensor output is used by the control unit to determine the change of the distance between the load and the crane tip caused by motion of the jib when executing the command.
  • the one or more sensors are configured and arranged to measure a position of structure with respect to a predefined coordinate system.
  • the one or more sensors are configured and arranged to measure a velocity of structure with respect to a predefined coordinate system.
  • the one or more sensors are configured and arranged to measure an acceleration of structure with respect to a predefined coordinate system.
  • the one or more sensors are configured and arranged to measure an angular position of structure with respect to a predefined coordinate system.
  • the one or more sensors are configured and arranged to measure an angular velocity of structure with respect to a predefined coordinate system.
  • the one or more sensors are configured and arranged to measure an angular acceleration of structure with respect to a predefined coordinate system.
  • the sampling frequency is at least 10 Hz.
  • the sampling frequency is at least 20 Hz.
  • the sampling frequency is at least 30 Hz.
  • the sampling frequency is at least 40 Hz.
  • the sampling frequency is at least 50 Hz.
  • the sampling frequency is 50 Hz.
  • the method comprises the step of applying a regulator to regulate the one or more hoist actuator(s).
  • the regulator is in fluid communication with the one or more hoist actuator(s), wherein the one or more hoist actuator(s) are hydraulically driven.
  • the regulator is electrically connected with the one or more hoist actuator(s), wherein the one or more hoist actuator(s) are electrically driven.
  • the crane comprises a manual hoist control element, wherein the method comprises the following steps
  • the operator may control the hoist manually if the operator desires. If the operator does not activate the manual hoist control element. This allows (experienced) operators to operate the crane in the same way as they are used to.
  • the manual hoist control element is an operating lever.
  • the manual hoist control element is a J-stick.
  • the sampling frequency depends on the mode.
  • the acceleration of the load is determined by using a position sensor or an accelerometer arranged on a structure, to which the load is mechanically connected.
  • the acceleration of the load is determined by using a position sensor or an accelerometer arranged on the tip of the jib.
  • control system is primarily activated. This means that the system is constantly activated in order to keep the distance between the load connection structure and the crane tip constant.
  • control system is configured to allow the operator to use the hoist to temporarily disable the control system.
  • control system is primarily deactivated. This means that the system is deactivated. In this way the operator can activate control system to maintain the distance between the load connection structure and the crane tip at a fixed level when needed.
  • the acceleration of the load is determined by using a position sensor or an accelerometer arranged on a structure, to which the load is mechanically connected.
  • the acceleration of the load is determined by using a position sensor or an accelerometer arranged on the tip of the jib.
  • control system is primarily activated. This means that the system is constantly activated in order to keep the distance between the load and the crane tip constant.
  • the method is configured to allow the operator to use the hoist to temporarily disable the control system.
  • control system is primarily deactivated.
  • the control system according to the invention is a control system for a crane comprising a jib having a crane tip and a hoist comprising a load connection structure, wherein the crane is configured to carry a load attached to the load connection structure and comprises:
  • the control system method is based on application of a feedforward approach. In this manner it is possible to generate a correcting signal and activate the one or more hoist actuators by using the determined correcting signal at that point in time, at which the operator selects and executes a command causing a motion of the jib. Accordingly, the errors that has to be corrected when using the invention are smaller than the errors needed to be corrected by using prior at systems. At the same time, the invention provides a faster and more precise system than the prior art systems.
  • the hoist will release wire at the same time, hereby minimising the errors to be adjusted by the feedback.
  • the control system according to the invention provides a simple, faster and more accurate regulation because it is proactive eliminating majority of the side-effect before it appears instead of allowing it to appear and then react.
  • control unit configured control the one or more jib actuators and the one or more hoist actuators configured to change the distance between the load connection structure and the crane tip.
  • control is meant activate and/or deactivate and/or turning on and/or turning off.
  • control system is configured to select the correcting signal in such a manner that activating the one or more hoist actuators by using the determined correcting signal when not considering the effect of the jib will cause a hoist induced change of the distance between the load connection structure and the crane tip that is smaller than the jib induced change of the distance between the load connection structure and the crane tip.
  • ⁇ D hoist ⁇ 0.9 ⁇ D jib
  • ⁇ D hoist ⁇ 0.75 ⁇ D jib
  • ⁇ D hoist ⁇ 0.5 ⁇ D jib
  • ⁇ D hoist ⁇ 0.3 ⁇ D jib
  • ⁇ D hoist 0.25 ⁇ D jib
  • control system can take into consideration that the speed of the hoist is faster than the speed of the displacement of telescopic extensions of the jib. It provides a simple way to implement the system.
  • control system is configured to:
  • the basic idea is to control the hoist in such a manner that, which allow us to keep the distance between the load connection structure and the crane tip constant.
  • control system is configured to be used to control a crane that comprises one or more sensors configured to provide sensor output, wherein control unit is configured to apply the sensor output to determine the change of the distance between the load connection structure and the crane tip caused by motion of the jib when executing the command.
  • control system is configured to:
  • the sampling frequency is at least 10 Hz.
  • the sampling frequency is at least 20 Hz.
  • the sampling frequency is at least 30 Hz.
  • the sampling frequency is at least 40 Hz.
  • the sampling frequency is at least 50 Hz.
  • the sampling frequency is least 50 Hz.
  • the crane comprises a manual hoist control element, wherein the control system is configured to:
  • the invention allows the operator to operate the crane in the same way as the operator is used to.
  • the manual hoist control element is an operating lever.
  • the manual hoist control element is a J-stick.
  • the sampling frequency depends on the mode.
  • control system is primarily activated.
  • the system is constantly activated keeping the distance between the load connection structure and the crane tip constant at all time. When needed the operator will use the hoist to temporarily disable the system and in rare cases disable the system from the controller.
  • control system is primarily deactivated.
  • the system is deactivated. In this way the operator can activate to maintain the distance between the load connection structure and the crane tip constant when needed from the controller.
  • the crane according to the invention is a crane comprising a control system according to the invention.
  • the control system is suitable for operating a lorry crane (truck mounted crane) having at least one boom configured to carry a load.
  • the jib may be a telescopic, or fixed arm that is used to move objects.
  • the jib may be of any suitable type and size.
  • the jib is a multi-segment telescopic jib.
  • the jib is a fixed arm.
  • the jib comprises a pair of sections and hinge members pivotally connecting one section to the other for swinging movement with respect thereto.
  • the control system is configured to be integrated with the hoist.
  • the control system is activated when the hoist is activated. If the distance between the tip of the crane and the load connection structure be changed it can be done by adjusting with the hoist on the controller. This operation will yield a new setpoint with the new distance and the system will continue to keep this distance until another is chosen by the operator.
  • the invention makes it possible to activate the system when the operator activates the hoist because they work together. If the operator does not want the system active, he can simply use the system to lock a certain position and disable the system afterwards.
  • a crane 2 of the present invention is illustrated in Fig. 1 .
  • Fig. 1 is a schematic, perspective side view of a crane 2 according to the invention.
  • the crane 2 is a truck-mounted crane (lorry crane) that comprises a crane base, onto which a telescopic and articulated jib 4 is mounted.
  • the jib 4 comprises a first telescopic segment S 1 and a second segment S 2 rotatably attached to the first segment S 1 .
  • the first telescopic segment S 1 is rotatably attached to the crane base and a jib actuator 8 formed as a hydraulic cylinder 8 is arranged to rotate the first telescopic segment S 1 with respect to the crane base.
  • Another jib actuator 8" is arranged to telescopically extend (lengthen) and shorten the first telescopic segment S 1 .
  • the second segment S 2 can be rotated relative to the first segment S 1 by means of a hydraulic cylinder 8'.
  • the crane 2 comprises a hoist comprising a cable 22 guided by rotatably mounted cable rollers 24.
  • the hoist comprises a hoist actuator 10.
  • the hoist actuator 10 is arranged at the crane base but may be arranged in a different position.
  • the crane 2 carries a load 14 fixed to a load connection structure (a hook) 28 provided in the distal end of the cable 22.
  • a sensor 18 configured to detect the distance D between the load connection structure 28 and the crane tip 16. When the distance D is changed, the distance between the load 14 and the crane tip 16 will change equally. Accordingly, the sensor can monitor any change distance D between the load connection structure 28 and the crane tip 16 in order to keep the distance D constant.
  • the sensor is a wire sensor. In one embodiment, the sensor is an optical sensor.
  • Fig. 2 illustrates a block diagram of a crane according to the invention.
  • the crane 2 comprises a jib 4 having three segments S 1 , S 2 , S 3 and a crane tip 16.
  • the jib 4 is telescopic and articulated.
  • the jib 4 is mounted on a column 32 placed on a crane base 30.
  • the crane 2 is equipped with at hoist (cable winch) 6 driven by a hoist actuator 10 arranged to coil and uncoil a cable 22 (indicated with a dotted line).
  • the cable 22 is wound on the hoist 6 and is guided along the jib 4 by means of a plurality of cable rollers 24 to the tip 16 of the jib 4.
  • An attachment structure (for instance a hook like shown in Fig. 1 and Fig. 4 ), may arranged at the free end of the cable 22 hereby enabling attachment to a load 14.
  • the direction and magnitude of movements of the cable 22 is measured by a sensor 18 arranged at the roller 24 that is closest to the load 14.
  • the sensor signals are fed to a control unit 12 preferably on a continuous basis.
  • the jib 4 carries a load 14 attached to a load connection structure 28 arranged in a distance D from the crane tip 16.
  • the crane 2 comprises one or more of jib actuators (not shown) arranged to activate the jib 4 and hereby achieve articulation of the segments S 1 , S 2 , S 3 .
  • the crane 2 comprises one or more of jib actuators (not shown) arranged to activate the jib 4 and hereby achieve thrust movements B 1 (jib extension) and/or B 2 (fly-jib extension).
  • the jib 4 of the crane 1 can perform both articulation movements A 1 (boom movement), A 2 (jib movement), A 3 (fly-jib movement) and also thrust movements B 1 (jib extension), B 2 . (fly-jib extension).
  • the control unit 12 is configured control the one or more jib actuators (see Fig. 1 og Fig. 4 ) and the hoist actuators 10.
  • the hoist actuator 10 is configured to change the distance D between the load connection structure 28 and the crane tip 16.
  • the control unit 12 is adapted to maintain distance D relative constant by carrying out a feedforward approach. This means that the control unit 12 configured to ensure that change ⁇ D of the distance D between the load connection structure 28 and the crane tip 16 remains close to zero (within a predefined range so that the change ⁇ D of the distance D is smaller than a predefined level). This can be expressed as: ⁇ D ⁇ L wherein L is a predefined allowable level (e.g. 25 cm).
  • the control system 20 is configured to execute commands. These commands may be inserted by operator of the crane 2 by means og a human-machine interface (HMI) device 34 of suitable type.
  • HMI human-machine interface
  • the HMI device 34 is a remote control 34 configured to communicate with the control unit 12.
  • the command C A , C B will be received by the control unit 12.
  • the control unit 12 will determine the change ⁇ D jib of the distance D between the load connection structure 28 and the crane tip 16 caused by motion of the jib 4 when executing the command C A , C B .
  • control unit 12 will determine a correcting signal Cs suitable for at least partly counteracting the change ⁇ D jib of the distance D between the load connection structure 28 and the crane tip 16 caused by the motion of the jib 4.
  • the control unit 12 will immediately activate the hoist actuator 10 by using the determined correcting signal Cs. Accordingly, the hoist actuator 10 and the jib actuators are activated simultaneously. In this manner it is possible to achieve that the change ⁇ D of the distance D between the load connection structure 28 and the crane tip 16 remains close to zero so that the load 14 can be manipulated with the highest possible accuracy by the crane 2.
  • the control unit 12 is connected to a hydraulic valve 26 that is in fluid communication with the hoist actuator 10 and the jib actuators (not shown).
  • the hydraulic valve 26 is configured to generating actuating signals C' A , C' B , C' S to the hoist actuator 10 and the jib actuators, respectively.
  • the actuating signal C' A is applied to actuate the jib actuators responsible for articulation A 1 , A 2 , A 3 of the jib 4.
  • the actuating signal C' B is applied to actuate the jib actuators responsible for trust movements B 1 , B 2 of the jib 4.
  • the actuating signal C's is applied to actuate the hoist actuator 10.
  • the sensor 18 configured to detect the distance D between the load 14 and the crane tip 16 on the basis of one or more sensor signals X.
  • the sensor signals X may include an angular position ⁇ an, an angular velocity ⁇ , an angular acceleration ⁇ , a position y, a velocity v or an acceleration a. Since the sensor 18 monitors the distance D, the control unit 12 has updated information about the distance D. Accordingly, the control unit 12 can determine the most optimum correcting signal Cs for remain a constant distance D between the load connection structure 28 and the crane tip 16.
  • control system 20 If the control system 20 is deactivated, it would be possible to raise or lower the load 14 relative to the crane tip 16. In Fig. 2 a lowered load 14 is indicated with a dotted line. When the control system 20 is activated, the control system 20 would use a feedforward approach to keep the distance D constant.
  • control unit 12 When the operator 36 gives a command C A and/or C B the control unit 12 will immediately generate a correcting signal Cs that causes the hoist actuator 12 to counteract the expected change ⁇ D jib of the distance D between the load connection structure 28 and the crane tip 16 caused by the motion of the jib 4.
  • control system 20 is capable of providing a faster and more precise regulation of the distance D than the prior art systems.
  • the hoist actuator 10 will release cable 22 at the same time, leaving a small error to be adjusted by the feedback.
  • the system and method according to the invention provides a simple, fast and more accurate regulation by proactively eliminating majority of the side-effect before it appears instead of allowing it to appear and then react afterwards.
  • Cs Cs_feedforward + Cs_feedback , where Cs is the correcting signal, C s_feedforward is the part of the correcting signal which comes from the feedforward signal and C s_feedback is the part from the feedback loop.
  • Cs the correcting signal
  • C s_feedforward the part of the correcting signal which comes from the feedforward signal
  • C s_feedback is the part from the feedback loop.
  • Cs Cs_feedback ⁇ D jib ⁇ ⁇ D feedback + ⁇ D feedforward ⁇ D jib > ⁇ D feedforward
  • Fig. 3 illustrates a flowchart illustrating the workflow of a method according to the invention. The method comprises four steps I, II, III, IV.
  • a command C A or C B is selected.
  • the selection may be accomplished by an operator as shown in and explained with reference to Fig. 2 .
  • Using a remote control 34 to select the command C A or C B is a practical solution.
  • the command C A or C B may be inputted directly to the control unit 12.
  • the expected change of the distance D between the load connection structure 28 and the crane tip 16 caused by executing the command C A and/or C B is determined. This may be done by using the control unit 12 to perform a calculation taking into account parameters indicative of the kinematic of the crane jib 4. Such parameters may be measured by sensors arranged at the jib 4.
  • a correcting signal Cs to be sent to the hoist actuator 10 is determined. The determination may be based on a calculation of the expected change of the distance D between the load 14 and the crane tip 16 caused by motion of the jib 4 when executing the command C A and/or C B referred to in the second step II.
  • the command C A and/or C B are executed by the jib actuator(s) 8 and the correcting signal C S is simultaneously executed by the hoist actuator 10.
  • step I-IV is repeated in an ongoing manner as long as the control is suitable (as long as the distance D is intended to remain zero or close thereto).
  • Fig. 4 illustrates a perspective view of a crane 2 according to the invention.
  • the crane 2 is a lorry crane (truck-mounted crane) equipped with a telescopic and articulated jib 4.
  • the jib 4 comprises a first segment S 1 and a second segment S 2 rotatably attached to the first segment S 1 .
  • the jib 4 comprises a third telescopic segment S 3 that is rotatably attached to the second segment S 2 .
  • the first segment S 1 is attached to a crane base.
  • a first jib actuator 8 formed as a hydraulic cylinder 8 is arranged to rotate the second segment S 2 with respect to the first segment S 1 .
  • a second jib actuator 8' formed as a hydraulic cylinder 8' is arranged to rotate the second segment S 2 with respect to the third segment S 3 .
  • a third jib actuator 8" is arranged to telescopically extend (lengthen) and shorten the third telescopic segment S 3 .
  • the second segment S 2 can be rotated relative to the first segment S 1 by means of a hydraulic cylinder 8'.
  • the crane 2 comprises a hoist comprising a cable 22 guided by rotatably mounted cable rollers 24.
  • the hoist comprises a hoist actuator 10.
  • the hoist actuator 10 is arranged at the crane base but may be arranged in a different position.
  • the crane 2 carries a load 14 fixed to a load connection structure formed as hook 28 attached to the free end of the cable 22.
  • a sensor adapted to detect the distance between the load connection structure 28 and the crane tip is arranged at the crane tip. Accordingly, the sensor can monitor any change distance D between the load connection structure 28 and the crane tip.
  • Fig. 5 illustrates a flowchart illustrating the workflow of a method according to the invention. The method comprises five steps V, VI, VII, IIX, XI.
  • the manual hoist control element may for example be an operating lever or a J-stick.
  • step X If the manual hoist control element is activated nor correcting signal is executed by the hoist actuator 10 as indicated in step X. This means that the operator operates the hoist manually. This manual control mode continues as long as the operator activates the manual hoist control element.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)
  • Jib Cranes (AREA)
EP21191589.7A 2020-08-18 2021-08-17 Système de commande de grue à flèche et procédé de commande de grue à flèche Active EP3957594B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DKPA202000935A DK180746B1 (en) 2020-08-18 2020-08-18 Control system for cantilever crane and method for controlling a cantilever crane

Publications (3)

Publication Number Publication Date
EP3957594A1 true EP3957594A1 (fr) 2022-02-23
EP3957594C0 EP3957594C0 (fr) 2025-02-19
EP3957594B1 EP3957594B1 (fr) 2025-02-19

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EP (1) EP3957594B1 (fr)
DK (1) DK180746B1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT202300016389A1 (it) * 2023-08-02 2025-02-02 Pm Oil & Steel S P A Sistema di movimentazione di carichi sospesi
US20250276877A1 (en) * 2024-03-01 2025-09-04 Palfinger Ag Control circuitry for a crane, crane, winch arrangement for a crane, remote control unit for a crane and method to operate a crane
DK202430276A1 (en) * 2024-05-28 2025-12-16 Liftra Ip Aps Method and control system for lifting a wind turbine component

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050035077A1 (en) 2003-08-14 2005-02-17 Erich Wimmer Crane comprising a telescopic jib, a cable winch and a regulating device
JP2018092279A (ja) * 2016-11-30 2018-06-14 株式会社タダノ アクチュエータの制御装置及びクレーン
EP3532425A1 (fr) * 2016-11-09 2019-09-04 Liebherr-Werk Biberach GmbH Dispositif de compensation de traction oblique dans des grues
WO2019172415A1 (fr) 2018-03-09 2019-09-12 株式会社タダノ Grue

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7428146B2 (ja) * 2019-02-14 2024-02-06 株式会社タダノ 地切り判定装置、地切り制御装置、移動式クレーン、及び、地切り判定方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050035077A1 (en) 2003-08-14 2005-02-17 Erich Wimmer Crane comprising a telescopic jib, a cable winch and a regulating device
EP3532425A1 (fr) * 2016-11-09 2019-09-04 Liebherr-Werk Biberach GmbH Dispositif de compensation de traction oblique dans des grues
JP2018092279A (ja) * 2016-11-30 2018-06-14 株式会社タダノ アクチュエータの制御装置及びクレーン
WO2019172415A1 (fr) 2018-03-09 2019-09-12 株式会社タダノ Grue

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT202300016389A1 (it) * 2023-08-02 2025-02-02 Pm Oil & Steel S P A Sistema di movimentazione di carichi sospesi
US20250276877A1 (en) * 2024-03-01 2025-09-04 Palfinger Ag Control circuitry for a crane, crane, winch arrangement for a crane, remote control unit for a crane and method to operate a crane
DK202430276A1 (en) * 2024-05-28 2025-12-16 Liftra Ip Aps Method and control system for lifting a wind turbine component
DK182220B1 (en) * 2024-05-28 2025-12-16 Liftra Ip Aps Method and control system for lifting a wind turbine component

Also Published As

Publication number Publication date
EP3957594C0 (fr) 2025-02-19
DK180746B1 (en) 2022-02-10
DK202000935A1 (en) 2022-02-10
EP3957594B1 (fr) 2025-02-19

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