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公开(公告)号：US08235231B2
公开(公告)日：2012-08-07
申请号：US12454619
申请日：2009-05-20
IPC分类号： B66C23/52
CPC分类号： B66C13/063 , B63B27/10 , B63B2017/0072 , B66C23/52
摘要： The present invention represents a procedure for compensating the heave movement of offshore cranes. The dynamic model of the compensation actuator (hydraulically operated winch) and the load hanging on a rope are derived. Based on this model, a path-tracking control unit is developed. To compensate the movement of the ship/watercraft caused by waves, the heave movement is defined as a time-varying disturbance and is analyzed with respect to uncoupling conditions. With a model expansion, these conditions are satisfied, and an inversion-based uncoupling control law is formulated. To stabilize the system, an observer is used for reconstructing the unknown state by means of a force measurement. Furthermore, the compensation efficiency can be improved by predicting the heave movement. There is proposed a prediction method in which no ship/watercraft models or properties are required. The simulation and measurement results validate the heave compensation method.
摘要翻译： 本发明代表了用于补偿海上起重机的起落运动的程序。 推导了补偿执行机构（液压操作绞车）的动力学模型和悬挂在绳索上的载荷。 基于该模型，开发了路径跟踪控制单元。 为了补偿由波浪造成的船舶/船只的运动，起伏运动被定义为时变扰动，并且关于解耦条件进行分析。 通过模型扩展，满足这些条件，并且制定了基于反演的解耦控制规律。 为了稳定系统，使用观察者通过力测量来重构未知状态。 此外，可以通过预测升沉运动来提高补偿效率。 提出了一种不需要船舶/船舶模型或属性的预测方法。 仿真和测量结果验证了起重补偿方法。
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公开(公告)号：US20100230370A1
公开(公告)日：2010-09-16
申请号：US12454619
申请日：2009-05-20
CPC分类号： B66C13/063 , B63B27/10 , B63B2017/0072 , B66C23/52
摘要： The present invention represents a procedure for compensating the heave movement of offshore cranes. The dynamic model of the compensation actuator (hydraulically operated winch) and the load hanging on a rope are derived. Based on this model, a path-tracking control unit is developed. To compensate the movement of the ship/watercraft caused by waves, the heave movement is defined as a time-varying disturbance and is analyzed with respect to uncoupling conditions. With a model expansion, these conditions are satisfied, and an inversion-based uncoupling control law is formulated. To stabilize the system, an observer is used for reconstructing the unknown state by means of a force measurement. Furthermore, the compensation efficiency can be improved by predicting the heave movement. There is proposed a prediction method in which no ship/watercraft models or properties are required. The simulation and measurement results validate the heave compensation method.
摘要翻译： 本发明代表了用于补偿海上起重机的起落运动的程序。 推导了补偿执行机构（液压操作绞车）的动力学模型和悬挂在绳索上的载荷。 基于该模型，开发了路径跟踪控制单元。 为了补偿由波浪造成的船舶/船只的运动，起伏运动被定义为时变扰动，并且关于解耦条件进行分析。 通过模型扩展，满足这些条件，并且制定了基于反演的解耦控制规律。 为了稳定系统，使用观察者通过力测量来重构未知状态。 此外，可以通过预测升沉运动来提高补偿效率。 提出了一种不需要船舶/船舶模型或属性的预测方法。 仿真和测量结果验证了起重补偿方法。
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公开(公告)号：US07850024B2
公开(公告)日：2010-12-14
申请号：US11974733
申请日：2007-10-16
申请人： Klaus Schneider , Oliver Sawodny , Joerg Neupert
发明人： Klaus Schneider , Oliver Sawodny , Joerg Neupert
IPC分类号： B66C13/06
CPC分类号： B66C13/063
摘要： A control system for a boom crane, having a tower and a boom pivotally attached to the tower, a first actuator for creating a luffing movement of the boom, a second actuator for rotating the tower, first means for determining the position rA and/or velocity {dot over (r)}A of the boom head by measurement, second means for determining the rotational angle φD and/or the rotational velocity {dot over (φ)}D of the tower by measurement, the control system controlling the first actuator and the second actuator. In the control system of the present invention the acceleration of the load in the radial direction due to a rotation of the tower is compensated by a luffing movement of the boom in dependence on the rotational velocity {dot over (φ)}D of the tower determined by the second means. The present invention further comprises a boom crane having such a system.
摘要翻译： 一种用于悬臂起重机的控制系统，其具有枢转地附接到塔架的塔架和悬臂，用于产生起重臂的变幅运动的第一致动器，用于旋转塔架的第二致动器，用于确定位置rA和/或 通过测量来测量动臂头的速度{dot over（r）} A，用于通过测量来确定塔的旋转角度θ和/或旋转速度{dot over（＆phgr）} D的第二装置，控制系统 控制第一致动器和第二致动器。 在本发明的控制系统中，由于塔架的旋转，由径向引起的载荷的加速度通过悬臂的变幅运动来补偿，这取决于旋转速度{ 塔由第二种手段确定。 本发明还包括具有这种系统的吊臂起重机。
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4.发明授权Method for the automatic transfer of a load hanging at a load rope of a crane or excavator with a load oscillation damping and a trajectory planner 有权用于负载振荡阻尼和轨迹计划器的起重机或挖掘机的负载绳索的自动传递方法公开(公告)号：US07831333B2
公开(公告)日：2010-11-09
申请号：US11376752
申请日：2006-03-14
IPC分类号： G06F7/00
CPC分类号： B66C23/94 , B66C13/04 , B66C13/063 , B66C13/085 , B66C23/62
摘要： The invention relates to a method for the transfer of a load hanging at a load rope of a crane or excavator comprising a slewing gear, a luffing mechanism and a hoisting gear comprising a computer-controlled regulator for the damping of the load oscillation which has a trajectory planner, a disturbance observer and a state regulator with a pre-control, wherein the working space is first fixed by selection of two points, with one of the two points being fixed as the destination point by direction presetting by means of the hand lever and with the nominal speeds for the slewing gear and the luffing mechanism being preset by the hand lever signals.
摘要翻译： 本发明涉及一种用于传递悬挂在起重机或挖掘机的负载绳索上的负载的方法，该起重机或挖掘机包括回转齿轮，变幅机构和提升齿轮，该装置包括用于阻尼负载振荡的计算机控制调节器， 轨迹计划器，扰动观察器和具有预控制的状态调节器，其中首先通过选择两个点来固定工作空间，其中两个点中的一个通过手柄方向预定的方式固定为目的地点 并且通过手柄杆信号预设旋转齿轮和变幅机构的额定转速。
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公开(公告)号：US20080156761A1
公开(公告)日：2008-07-03
申请号：US11974733
申请日：2007-10-16
申请人： Klaus Schneider , Oliver Sawodny , Joerg Neupert
发明人： Klaus Schneider , Oliver Sawodny , Joerg Neupert
IPC分类号： B66C13/06
CPC分类号： B66C13/063
摘要： A control system for a boom crane, having a tower and a boom pivotally attached to the tower, a first actuator for creating a luffing movement of the boom, a second actuator for rotating the tower, first means for determining the position rA and/or velocity {dot over (r)}A of the boom head by measurement, second means for determining the rotational angle φD and/or the rotational velocity {dot over (φ)}D of the tower by measurement, the control system controlling the first actuator and the second actuator. In the control system of the present invention the acceleration of the load in the radial direction due to a rotation of the tower is compensated by a luffing movement of the boom in dependence on the rotational velocity {dot over (φ)}D of the tower determined by the second means. The present invention further comprises a boom crane having such a system.
摘要翻译： 一种用于悬臂起重机的控制系统，具有塔架和枢轴连接到塔架的起重臂，用于产生起重臂的变幅运动的第一致动器，用于旋转塔架的第二致动器，用于确定位置的第一装置， 和/或速度（通过测量而在悬臂头部的顶端上），用于确定旋转角度的第二装置和/或旋转角度 速度（通过测量点）（塔架的底部），控制系统控制第一致动器和第二致动器在本发明的控制系统中，径向加载负载 根据由第二装置确定的塔的旋转速度（点），由悬臂的变幅运动补偿塔的旋转，本发明还包括一个悬臂 起重机具有这样的系统。
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公开(公告)号：US08839967B2
公开(公告)日：2014-09-23
申请号：US12832498
申请日：2010-07-08
IPC分类号： B66C13/06
CPC分类号： B66C13/063
摘要： The present invention relates to a crane for handling a load hanging on a load cable, comprising a slewing gear for rotating the crane, a luffing gear for luffing up the boom, and a hoisting gear for lowering or lifting the load hanging on the load cable, with a control unit for calculating the actuation of slewing gear, luffing gear and/or hoisting gear, wherein the calculation of the actuation commands for actuating slewing gear, luffing gear and/or hoisting gear is effected on the basis of a desired movement of the load indicated in Cartesian coordinates.
摘要翻译： 本发明涉及一种用于处理挂在负载电缆上的负载的起重机，包括用于使起重机旋转的回转齿轮，用于使起重臂变幅的变速齿轮，以及用于降低或提升挂在负载电缆上的负载的提升齿轮 具有用于计算回转齿轮，变幅齿轮和/或提升齿轮的致动的控制单元，其中用于致动回转齿轮，变幅齿轮和/或起重齿轮的致动指令的计算是基于期望的运动 以笛卡尔坐标表示的载荷。
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公开(公告)号：US20110006025A1
公开(公告)日：2011-01-13
申请号：US12832498
申请日：2010-07-08
CPC分类号： B66C13/063
摘要： The present invention relates to a crane for handling a load hanging on a load cable, comprising a slewing gear for rotating the crane, a luffing gear for luffing up the boom, and a hoisting gear for lowering or lifting the load hanging on the load cable, with a control unit for calculating the actuation of slewing gear, luffing gear and/or hoisting gear, wherein the calculation of the actuation commands for actuating slewing gear, luffing gear and/or hoisting gear is effected on the basis of a desired movement of the load indicated in Cartesian coordinates.
摘要翻译： 本发明涉及一种用于处理挂在负载电缆上的负载的起重机，包括用于使起重机旋转的回转齿轮，用于使起重臂变幅的变速齿轮，以及用于降低或提升挂在负载电缆上的负载的提升齿轮 具有用于计算回转齿轮，变幅齿轮和/或提升齿轮的致动的控制单元，其中用于致动回转齿轮，变幅齿轮和/或起重齿轮的致动指令的计算是基于期望的运动 以笛卡尔坐标表示的载荷。
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8.发明申请Method for the automatic transfer of a load hanging at a load rope of a crane or excavator with a load oscillation damping an a trajectory planner 有权一种吊挂在起重机或挖掘机的负载绳索上的负载自动传递的方法，其中负载振荡阻尼为轨迹规划器公开(公告)号：US20070219662A1
公开(公告)日：2007-09-20
申请号：US11376752
申请日：2006-03-14
IPC分类号： G06F7/00
CPC分类号： B66C23/94 , B66C13/04 , B66C13/063 , B66C13/085 , B66C23/62
摘要： The invention relates to a method for the transfer of a load hanging at a load rope of a crane or excavator comprising a slewing gear, a luffing mechanism and a hoisting gear comprising a computer-controlled regulator for the damping of the load oscillation which has a trajectory planner, a disturbance observer and a state regulator with a pre-control, wherein the working space is first fixed by selection of two points, with one of the two points being fixed as the destination point by direction presetting by means of the hand lever and with the nominal speeds for the slewing gear and the luffing mechanism being preset by the hand lever signals.
摘要翻译： 本发明涉及一种用于传递悬挂在起重机或挖掘机的负载绳索上的负载的方法，该起重机或挖掘机包括回转齿轮，变幅机构和提升齿轮，该装置包括用于阻尼负载振荡的计算机控制调节器， 轨迹计划器，扰动观察器和具有预控制的状态调节器，其中首先通过选择两个点来固定工作空间，其中两个点中的一个通过手柄方向预定的方式固定为目的地点 并且通过手柄杆信号预设旋转齿轮和变幅机构的额定转速。
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公开(公告)号：US10046953B2
公开(公告)日：2018-08-14
申请号：US12832475
申请日：2010-07-08
IPC分类号： B66C13/06
摘要： The present invention comprises a method for the control of a drive of a crane, in particular of a slewing gear and/or of a luffing mechanism, wherein a desired movement of the boom tip serves as an input value on the basis of which a control parameter for the control of the drive is calculated, characterized in that the oscillation dynamics of the system comprising the drive and the crane structure are taken into account in the calculation of the control parameter to reduce natural oscillations. The present invention furthermore comprises a method for the control of a hoisting gear of a crane, wherein a desired hoisting movement of the load serves as an input value on the basis of which a control parameter for the control of the drive is calculated.
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公开(公告)号：US08025167B2
公开(公告)日：2011-09-27
申请号：US12152717
申请日：2008-05-16
申请人： Klaus Schneider , Oliver Sawodny , Jörg Neupert
发明人： Klaus Schneider , Oliver Sawodny , Jörg Neupert
IPC分类号： B66C13/06
CPC分类号： B66C13/46 , B66C13/063 , B66C13/085
摘要： The present invention shows a crane control of a crane which includes at least one cable for lifting a load, wherein at least one sensor unit is provided for determining a cable angle relative to the direction of gravitational force. Furthermore, there is shown a crane control for driving the positioners of a crane which includes at least one first and one second strand of cables for lifting the load, with a load oscillation damping for damping spherical pendular oscillations of the load, wherein first and second sensor units are provided, which are associated to the first and second strands of cables, in order to determine the respective cable angles and/or cable angular velocities, and the load oscillation damping includes a control in which the cable angles and/or cable angular velocities determined by the first and second sensor units are considered. Furthermore, a corresponding crane and a method are shown.
摘要翻译： 本发明示出了起重机的起重机控制装置，其包括用于提升负载的至少一个电缆，其中提供至少一个传感器单元以确定相对于重力方向的电缆角度。 此外，示出了用于驱动起重机的定位器的起重机控制器，其包括用于提升负载的至少一个第一和第二绳索，用于阻尼负载的球形摆振荡的负载振荡阻尼，其中第一和第二 提供传感器单元，其与第一和第二股线束相关联，以便确定相应的电缆角度和/或电缆角速度，并且负载振荡阻尼包括其中电缆角度和/或电缆角度 考虑由第一和第二传感器单元确定的速度。 此外，示出了相应的起重机和方法。
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