Crane or digger for swinging a load hanging on a support cable with damping of load oscillations
AssigneeLiebherr-Werk Nenzing GmbH
InventorsOliver Sawodny, Jörg Kümpel, Cristina Tarin-Sauer, Harald Aschemann, Eberhard P. Hofer, Klaus Schneider
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Abstract
The invention concerns a crane or excavator for traversing a load hanging from a load cable, which is movable in three spatial directions. The crane or excavator has a computer-controlled regulation for the damping of load swings, which contains a path planning module, a centripetal force compensation unit and at least one shaft regulator for the rotating gear, one shaft regulator for the luffing gear and one shaft regulator for the lifting gear.
Claims32
A crane for traversing a load hanging on a load cable, which comprises:
- a rotating mechanism (1) for rotating the crane,
- a luffing mechanism (7) for elevating and lowering a jib (5),
- a lifting mechanism for raising and lowering the load (3) hanging on the load cable, and
- a computer-based control system (31) for damping the oscillations of the load including a path planning module (39), a centripetal force compensating device (150) and at least one axis controller (43) for the rotating mechanism, an axis controller (45) for the luffing mechanism, and an axis controller (47) for the lifting mechanism, wherein the angle of oscillation and the speed of oscillation of the load (φSt, {dot over (φ)}St., φSr., {dot over (φ)}Sr) are calculated from gyroscopic signals from at least one gyroscope,
- wherein the path of the load in the working space is generated in the path planning module and is passed on to a respective axis controller in the form of a time function for the load position, speed, acceleration of the jerk and derivative of the jerk, and
- further including a mechanical system and hydraulic system, wherein each axis controller includes a feed-forward control unit in which the dynamic behavior of the mechanical system and hydraulic system is depicted in an idealized dynamic model, and
- a state control unit in which deviations from the idealized dynamic model of the feed forward control are registered.
The crane of claim wherein a load swivelling mechanism is arranged between a bottom block of the load cable and a load-lifting means, and the control system additionally includes an axis controller for damping the oscillation of the load, which is connected to the path planning module.
A crane for traversing a load hanging on a load cable, which comprises:
- a rotating mechanism (1) for rotating the crane,
- a luffing mechanism (7) for elevating and lowering a jib (5),
- a lifting mechanism for raising and lowering the load (3) hanging on the load cable, and
- a computer-based control system (31) for damping the oscillations of the load including a path planning module (39), a centripetal force compensating device (150) and at least one axis controller (43) for the rotating mechanism, an axis controller (45) for the luffing mechanism, and an axis controller (47) for the lifting mechanism, wherein
- the angle of oscillation and the speed of oscillation of the load (φSt., {dot over (φ)}St., φSr., {dot over (φ)}Sr) are calculated from gyroscopic signals from at least one gyroscope, and
- disturbances in the measured signal from the gyroscope are estimated and compensated for in a disturbance observer.
A crane for traversing a load hanging on a load cable, which comprises:
- a rotating mechanism (1) for rotating the crane,
- a luffing mechanism (7) for elevating and lower a jib (5),
- a lifting mechanism for raising and lowering the load (3) hanging on the load cable, and
- a computer-based control system (31) for damping the oscillations of the load including a path planning module (39), a centripetal force compensating device (150) and at least one axis controller (43) for the rotating mechanism, an axis controller (45) for the luffing mechanism, and an axis controller (47) for the lifting mechanism, wherein
- the angle of oscillation and the speed of oscillation of the load (φSt., {dot over (φ)}St., φSr., {dot over (φ)}Sr) are calculated from gyroscopic signals from at least one gyroscope, and
- the axis controller (47) for the lifting mechanism has a cascade control system having an outer control loop for position and an inner control loop for speed.
Dependencies are inferred from the claim text.