Crane and method for controlling such a crane

A crane comprising:

• a hoist cable, which extends from a crane boom and carries a load-receiving means;
• drive devices for moving a plurality of crane elements and displacing the load-receiving means;
• a control apparatus for controlling the drive devices such that the load-receiving means travels along a travel path;
• and
• a pendulum damping device for damping pendulum movements of the load-receiving means and/or of the hoist cable;
• wherein the pendulum damping device has a pendulum sensor for detecting and/or estimating deflection of the hoist cable and/or of the load-receiving means with respect to a vertical, and a controller component having a closed control circuit for influencing the control of the drive devices depending on the detected and/or estimated deflection;
• wherein the pendulum sensor has an inertial measurement unit (IMU), which is mounted on the load-receiving means, and has:
• acceleration and rotation rate sensor means for providing acceleration and rotation rate signals;
• first determining means for determining and/or estimating a tilt of the load-receiving means from the acceleration and rotation rate signals of the IMU;
• and
• second determining means for determining the detected and/or estimated deflection of the hoist cable and/or of the load-receiving means with respect to the vertical from the determined and/or estimated tilt of the load-receiving means and an inertial acceleration of the load-receiving means;
• and
• wherein the second determination means comprises a filter device and/or an observer device that takes account of the determined and/or estimated tilt of the load-receiving means as an input value and determines the detected and/or estimated deflection of the hoist cable and/or the load-receiving means with respect to the vertical from an inertial acceleration at the load-receiving means.

A crane comprising:

• a hoist cable, which extends from a crane boom and carries a load-receiving means;
• drive devices for moving a plurality of crane elements and displacing the load-receiving means;
• a control apparatus for controlling the drive devices such that the load-receiving means travels along a travel path;
• and
• a pendulum damping device for damping pendulum movements of the load-receiving means and/or of the hoist cable;
• wherein the pendulum damping device has a pendulum sensor for detecting and/or estimating deflection of the hoist cable and/or of the load-receiving means with respect to a vertical, and a controller component having a closed control circuit for influencing the control of the drive devices depending on the detected and/or estimated deflection;
• wherein the pendulum sensor has an inertial measurement unit (IMU), which is mounted on the load-receiving means, and has:
• acceleration and rotation rate sensor means for providing acceleration and rotation rate signals;
• first determining means for determining and/or estimating a tilt of the load-receiving means from the acceleration and rotation rate signals of the IMU;
• and
• second determining means for determining the detected and/or estimated deflection of the hoist cable and/or of the load-receiving means with respect to the vertical from the determined and/or estimated tilt of the load-receiving means and an inertial acceleration of the load-receiving means;
• and
• wherein the second determination means comprises a calculation device configured to calculate the detected and/or estimated deflection of the hoist cable and/or the load-receiving means with respect to the vertical from the quotient of a horizontal inertial acceleration and of an acceleration due to gravity.

A crane comprising:

• a hoist cable, which extends from a crane boom and carries a load-receiving means;
• drive devices for moving a plurality of crane elements and displacing the load-receiving means;
• a control apparatus for controlling the drive devices such that the load-receiving means travels along a travel path;
• and
• a pendulum damping device for damping pendulum movements of the load-receiving means and/or of the hoist cable;
• wherein the pendulum damping device has a pendulum sensor for detecting and/or estimating deflection of the hoist cable and/or of the load-receiving means with respect to a vertical, and a controller component having a closed control circuit for influencing the control of the drive devices depending on the detected and/or estimated deflection;
• wherein the pendulum sensor has an inertial measurement unit (IMU), which is mounted on the load-receiving means, and has:
• acceleration and rotation rate sensor means for providing acceleration and rotation rate signals;
• first determining means for determining and/or estimating a tilt of the load-receiving means from the acceleration and rotation rate signals of the IMU;
• and
• second determining means for determining the detected and/or estimated deflection of the hoist cable and/or of the load-receiving means with respect to the vertical from the determined and/or estimated tilt of the load-receiving means and an inertial acceleration of the load-receiving means;
• wherein the pendulum damping device has a structural dynamics sensor system configured to detect deformations and/or dynamic movements in themselves of structural components of the crane;
• and
• wherein the controller component of the pendulum damping device is configured to take account of both the signals of the pendulum sensor and structural dynamics signals of the structural dynamics sensor system fed back to the control circuit that indicate the deformations and/or the dynamic movements in themselves of the structural components on the influencing of the control of the drive devices.

A crane comprising:

• a hoist cable, which extends from a crane boom and carries a load-receiving means;
• drive devices for moving a plurality of crane elements and displacing the load-receiving means;
• a control apparatus for controlling the drive devices such that the load-receiving means travels along a travel path;
• and
• a pendulum damping device for damping pendulum movements of the load-receiving means and/or of the hoist cable;
• wherein the pendulum damping device has a pendulum sensor for detecting and/or estimating deflection of the hoist cable and/or of the load-receiving means with respect to a vertical, and a controller component having a closed control circuit for influencing the control of the drive devices depending on the detected and/or estimated deflection;
• wherein the pendulum sensor has an inertial measurement unit (IMU), which is mounted on the load-receiving means, and has:
• acceleration and rotation rate sensor means for providing acceleration and rotation rate signals;
• first determining means for determining and/or estimating a tilt of the load-receiving means from the acceleration and rotation rate signals of the IMU;
• and
• second determining means for determining the detected and/or estimated deflection of the hoist cable and/or of the load-receiving means with respect to the vertical from the determined and/or estimated tilt of the load-receiving means and an inertial acceleration of the load-receiving means;
• and
• wherein the controller component comprises a filter device and/or observer device configured to influence control variables of drive regulators configured to control the drive devices, with the filter device and/or the observer device being further configured to obtain the control variables of the drive regulators and both the signals of the pendulum sensor and/or structural dynamics signals that are fed back to the control circuit that give deformations and/or dynamic movements of structural components of the crane in themselves as input values, and to influence the control variables of the drive regulators based on the dynamic movements of the structural components and/or deformations of the structural components obtained for specific control variables of the drive regulators.

A method for controlling a crane whose load-receiving means attached to a hoist cable is moved by drive devices, which drive devices are controlled by a control apparatus of the crane;

• wherein the control of the drive devices is influenced by a pendulum damping device comprising a controller module with a closed control circuit in dependence on pendulum-relevant parameters, characterized in that acceleration and rotation rate signals, which indicate the rotation rates and translatory accelerations at a lifting hook, are provided at the lifting hook by an inertial measurement unit (IMU) mounted there with acceleration and rotation rate sensors and are transmitted wirelessly to the controller module;
• wherein a tilt of the load-receiving means is determined from the acceleration and rotation rate signals of the IMU, and then a deflection of the hoist cable and/or of the load-receiving means with respect to a vertical is determined from the determined tilt of the load-receiving means and an inertial acceleration of the load-receiving means and fed back to the closed control circuit;
• and
• wherein at least one of:
• (i) the acceleration signals, which indicate the translatory accelerations at the lifting hook are determined with respect to three at least two spatial axes and the rotation rate signals, which indicate the rotation rates at the lifting hook are detected with respect to the at least two spatial axes, wherein the acceleration and rotation rate signals are fed back to a complementary filter having a highpass filter configured to filter the rotation rate signal of the IMU and a lowpass filter configured to filter the acceleration signal of the inertial measurement unit or a signal derived therefrom, wherein, the complementary filter is configured to link an estimate of the tilt of the load-receiving means that is supported by rotation rate and that is based on the highpass filtered rotation rate signal and an estimate of the tilt of the load-receiving means that is supported by acceleration and that is based on the lowpass filtered acceleration signal, and to determine the determined and/or estimated tilt of the load-receiving means from the linked estimates of the tilt of the load-receiving means supported by rotation rate and by the acceleration;
• or
• (ii) the deflection of the hoist cable and/or of the load-receiving means with respect to the vertical is determined from an inertial acceleration at the load-receiving means by a filter device and/or an observer device to which the determined and/or estimated tilt of the load-receiving means is fed back as an input variable.