• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A method is provided for damping torsional vibrations of a load-bearing element (7) of a lifting device (1), wherein at least one controller parameter is determined on the basis of a torsional vibration model of the load-bearing element (7) as a function of the lifting height (lH) and wherein for damping the torsional vibration of the Load receiving element (7) in any stroke height (lH) of the at least one controller parameters to this lifting height (lH) is adapted.
    公开号:AT520008A1
    申请号:T50448/2017
    申请日:2017-05-29
    公开日:2018-12-15
    发明作者:Martin Staudecker Dr；Ing Thomas J Frauscher Dipl；Ing Ralf Skotschek Dipl
    申请人:B & R Ind Automation Gmbh；
    IPC主号:
    专利说明:

    Summary
    A method for damping torsional vibrations of a load-bearing element (7) of a lifting device (1) is created, at least one controller parameter being determined on the basis of a torsional vibration model of the load-bearing element (7) as a function of the lifting height (1 H ) and for damping the torsional vibration of the load-bearing element (7) at any stroke height (l H ) the at least one controller parameter is adapted to this stroke height (l H ).
    Fig. 3, -191 / 25
    BN-3909 AT
    Method for damping torsional vibrations of a load bearing element
    lifter
    The present invention relates to a method for damping a torsional vibration about a vertical axis of a load-bearing element of a lifting device with a damping controller with at least one controller parameter, the load-bearing element being connected to at least three holding elements with a supporting element of the lifting device and the length of at least one holding element between the load-bearing element and the supporting element an actuator acting on the at least one holding element is adjusted by the damping controller.
    Lifting devices, in particular cranes, are available in many different designs and are used in many different areas of application. For example, there are tower cranes that are mainly used for building and civil engineering, or there are mobile cranes, e.g. for the assembly of wind turbines. Bridge cranes are e.g. used as hall cranes in factory halls and gantry cranes e.g. for the manipulation of transport containers at transshipment locations for intermodal cargo handling, e.g. in ports for the transhipment of ships to the railroad or the truck or in freight stations for the transshipment from the railroad to the truck or vice versa. The goods for transport are mainly stored in standardized containers, so-called ISO containers, which are equally suitable for transport in the three transport modes road, rail, water. The structure and mode of operation of a gantry crane is well known and is e.g. in US 2007/0289931 A1 using a "ship-to-shore crane". The crane has a supporting structure or a portal on which a boom is arranged. The portal with wheels is e.g. movably arranged on a track and can be moved in one direction. The boom is firmly connected to the portal and a trolley movable along the boom is arranged on the boom. To accommodate a freight, e.g. an ISO container, the trolley is connected to a load-bearing element, a so-called spreader, by means of four ropes. To pick up and manipulate a container, the spreader can be raised or lowered using winches, here using two winches for two ropes each. The spreader can also be adapted to containers of different sizes.
    In order to increase the efficiency of logistics processes, among other things, very fast goods handling is required, i.e. e.g. very rapid loading and unloading of cargo ships and correspondingly rapid movements of the load-bearing elements and the portal cranes as a whole. However, such rapid movement processes can lead to undesired vibrations of the load-bearing element being built up, which in turn delay the manipulation process, since the containers are not precise on the front
    BN-3909 AT seen place can be placed. In particular, torsional vibrations of the load-bearing element, that is, vibrations about the vertical axis, are disruptive, since these are difficult to compensate for with conventional cranes by the crane operator. Such torsional vibrations can also be caused by e.g. an uneven loading of the container or caused by wind influences or reinforced.
    US 2007/0289931 A1 mentions, among other things, the problem of oscillations about the vertical axis (skew), but does not suggest a satisfactory solution. To measure the deviations of the load-bearing element from a target position and to measure the distance of the load-bearing element from the trolley, a target object consisting of lighting elements is provided on the load-bearing element and a corresponding CCD camera is provided on the trolley. This enables angular deviations around the vertical axis (skew), the longitudinal axis (list) and the transverse axis (trim) to be determined. To compensate for the deviations, an actuator is provided for each tether with which the length of the tether can be changed. Depending on the deviation (trim, list or skew), the actuators are controlled in different ways, so that the individual tether cables are shortened or lengthened and the corresponding error is compensated. The disadvantage here is that the method only suggests compensation of angular errors without taking into account the dynamics of a torsional vibration. This means that no torsional vibrations can be compensated for.
    DE 102010054502 A1 proposes, in order to compensate for torsional vibrations of the load-bearing element, to arrange a slewing gear between the load-bearing element and the holding cables. However, this is very complex and therefore expensive, and the payload is also reduced by the weight of the slewing gear.
    In the publication Quang Hieu Ngo et. al., 2009, Skew Control of a quay container crane, in: Journal of Mechanical Science and Technology 23, 2009 a control method for compensating torsional vibrations of the load bearing element of a gantry crane is proposed. Analogous to US 2007/0289931 A1, an actuator for changing the rope length is arranged on each tether and a lighting element is arranged on the load-bearing element, which interacts with a CCD camera arranged on the trolley to measure the angular deviation of the load-bearing element. A mathematical model and an “input-shaping” control method are used to dampen the torsional vibration of the load-bearing element. The input shaping method is a kind of feedforward control with which it is possible to adjust the angle of rotation of the load-bearing element. It is not possible to dampen an existing torsional vibration. Another disadvantage is that the mathematical model used in the input shaping process has to be very precise, since there is no possibility of compensating for parameter deviations.
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    Accordingly, it is the object of the invention to eliminate the disadvantages of the prior art, in particular to create a method for damping torsional vibrations of a load-bearing element of a lifting device.
    According to the invention, the object is achieved in that the at least one controller parameter is determined on the basis of a torsional vibration model of the load-bearing element as a function of the lifting height and that the at least one controller parameter is adapted to this lifting height in order to dampen the torsional vibration of the load-bearing element at any lifting height. This simple method makes it possible to dampen a torsional vibration of a load-bearing element at any lifting height without the damping regulator's control parameter or parameters having to be manually set. This considerably simplifies the operation of the lifting device or the rapid movement and precise positioning of a load, which saves time and thus increases productivity.
    The load-bearing element is preferably excited to a torsional vibration at a specific lifting height of the load-bearing element, at least one actual angle of rotation of the load-bearing element about the vertical axis and an actual actuator position being recorded, and model parameters of the torsional vibration model of the load-bearing element at the given lifting height are thus identified using an identification method. As a result, unknown model parameters of a selected torsional vibration model can be determined using a suitable identification method, as a result of which an unknown vibration behavior of the load-bearing element can be determined and used for damping the torsional vibration.
    The at least one actuator is advantageously actuated hydraulically or electrically, as a result of which standard components such as e.g. Hydraulic cylinders or electric motors can be used and an existing energy supply system can be used.
    If at least four holding elements are provided between the load-bearing element and the carrying element, larger loads can be manipulated.
    It is advantageous if at least two actuators are provided, in particular one actuator per holding element. In this way, redundancy of the torsional vibration damping can be realized on the one hand, whereby the reliability can be increased. On the other hand, smaller actuators with lower inertia can be used, which means that the response time of the damping control can be reduced and the control quality can be increased.
    The lifting height is advantageously measured by means of a camera system arranged on the carrying element or on the load-bearing element or by means of a lifting drive of the lifting device. As a result, the lifting height can be recorded very precisely and in a simple manner.
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    The angle of rotation of the load-bearing element is preferably measured by means of a camera system arranged on the support element or on the load-bearing element. With this simple method, the angle of rotation of the load-bearing element can be determined very precisely. A camera system is also relatively easy to retrofit on an existing lifting device.
    According to a preferred embodiment, the torsional vibration model is a second order differential equation with at least three model parameters, in particular with a dynamic parameter δ, a damping parameter ξ and a section gain parameter ß. The mathematical modeling of the torsional vibration system using a second order differential equation creates a simple but sufficiently accurate representation of the real torsional vibration.
    It is advantageous if the identification method is a mathematical method, in particular an online least-square method. With this common mathematical method, model parameters can be determined easily and with sufficient accuracy.
    It is advantageous if a state controller with preferably five controller parameters K I , K1, K 2 , K FF , K P is used as the damping controller. This creates a fast and stable damping controller with high control quality. An integrated pilot control (controller parameter K FF ) improves the guiding behavior and an integrator (controller parameter K I ) achieves steady-state accuracy or model uncertainties can be compensated for.
    According to a preferred embodiment, the damping controller is given a target angle of rotation of the load-bearing element and the damping controller controls this target angle of rotation in a predetermined angular range, in particular in an angular range of -10 ° <ßsoii <+ 10 °. A desired rotation of the load-bearing element can thereby be achieved, whereby loads such as e.g. Containers also for targets that are not exactly aligned, e.g. tilted trucks can be positioned.
    An anti-wind-up protection is advantageously integrated in the damping controller, the damping controller being given actuator restrictions of the at least one actuator, in particular a maximum / minimum permissible actuator position s perm , a maximum / minimum permissible actuator speed v perm and a maximum / minimum permissible actuator acceleration a perm of the actuator. This so-called anti-wind-up protection prevents impermissibly large manipulated variables of the at least one actuator, which could lead to destabilization of the damping controller.
    The present invention is explained in more detail below with reference to FIGS. 1 to 4, which show exemplary, schematic and non-limiting advantageous embodiments of the invention. It shows
    -4 / 25
    BN-3909 AT
    1 shows the basic structure of a lifting device using a container crane,
    2a and 2b, a load-bearing element including a load to represent a torsional vibration,
    3 shows a section of a schematic lifting device,
    4 shows a controller structure of a damping controller,
    5 shows a state estimation unit.
    1 shows a lifting device 1 by way of example using a schematic container crane
    2, which is used for example for loading and unloading ships in a port. A container crane 2 usually has a supporting structure 3, which is either fixed or movably arranged on the floor. In the case of a movable arrangement, the supporting structure 3 can, for example, be arranged to be movable on rails in the Y direction, as shown schematically in FIG. Due to this degree of freedom in the Y direction, the container crane 2 can be used flexibly locally. The supporting structure 3 has a cantilever 4 which is fixedly connected to the supporting structure 3. A support element 5 is usually arranged on this boom 4 and is movable in the longitudinal direction of the boom 4, that is to say in the X direction in the example shown, for example a support element 5 can be mounted in guides by means of rollers. The carrying element 5 is usually connected to a load-bearing element 7 for holding a load 8 by means of holding elements 6. In the case of a container crane 2, the load 8 is usually a container 9, in most cases an ISO container with a length of 20, 40 or 45 feet and a width of 8 feet. However, there are also load-bearing elements 7 which are suitable for simultaneously holding two containers 9 next to one another (so-called dual spreaders). The type and design of the load-bearing element 7 is, however, no longer relevant for the damping method according to the invention; any embodiments of the load-bearing element 7 can be used. The holding elements 6 are usually designed as ropes, four holding elements 6 being arranged on the carrying element 5 in most cases, but more or fewer holding elements 6 can also be provided, but at least three holding elements 6. For receiving a load 8, such as, for example, one Container 9, the lifting height l H between the carrying element 5 and the load-bearing element 7 can be adjusted by means of a lifting drive 10 (see FIG. 3), as shown in FIG. 1, for example in the Z direction. If the holding elements 6 are designed as ropes, the lifting height l H is usually adjusted by means of one or more winches 10a, 10b, as is shown schematically in FIG. In order to manipulate loads 8 or containers 9, the lifting device 1 or the container crane 2 can therefore be moved in the direction of three axes. Due to fast movements, uneven loading of the container 9 or wind influences, it can happen that on the holding elements / 255
    BN-3909 AT ten 6 arranged load-bearing element 7 with the container 9 arranged thereon
    Vibrations is excited, as shown below with reference to Figures 2a and 2b.
    2a shows schematically a support element 5 on which a load-bearing element 7 including load 8 is arranged by means of four holding elements 6. The coordinate system shows the degrees of freedom of the load-bearing element 7. The straight double arrows symbolize the possible directions of movement of the load-bearing element 7, the movement in the Y direction in the example shown being effected by a movement of the entire lifting device 1 and the movement in the X direction by movement of the support element 5 on the boom 4 (lifting device 1 and boom 4 not shown in Fig.la) and the movement in the Z direction by changing the lifting height l H by means of the holding elements 6 and a lifting drive 10 (not shown). The curved double arrows symbolize the possible rotations of the load-bearing element 7 about the respective axis. Rotations about the X-axis or the Y-axis can be compensated for relatively easily by the user of the lifting device 1 or the container crane 2 and are not described in more detail here. A rotation about the Z-axis (i.e. about the vertical axis) as shown in FIG. 2b is very disturbing, as described at the beginning, since in particular a torsional vibration of the load-bearing element 7 about the Z-axis means positioning a load 8 at a specific location, such as For example, would complicate or delay the loading area of a truck or a railway wagon.
    According to the invention, a method is therefore provided with which such a torsional vibration of a load-bearing element 7 about the vertical axis can be damped simply and quickly, so that rapid movements of the load-bearing element 7 with a load 8 arranged thereon are made possible, which should contribute to an increase in the efficiency of goods manipulation. A detailed description of the method is described below with reference to FIGS. 3 and 4.
    Of course, the described embodiment of the lifting device 1 as a container crane 2 according to FIGS. 1 to 3 is only to be understood as an example. The lifting device 1 can also be designed as desired for the application of the method according to the invention, for example as an indoor crane, tower crane, mobile crane, etc. It is only important that the basic function of the lifting device 1 and that the lifting device 1 has the essential components for carrying out the damping method according to the invention, as described below.
    3 shows the essential components of a lifting device 1, here using the components of a container crane 2. The parts essential for the invention are shown. The structure and mode of operation of such cranes have already been described, are well known and therefore do not need to be explained in more detail.
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    According to a preferred embodiment of the invention, four holding elements 6a, 6b, 6c, 6d are arranged between the support element 5 (shown schematically in dashed lines in FIG. 3) and the load-bearing element 7, which can be designed, for example, as high-strength ropes, in particular as steel ropes. A lifting drive 10 is provided for lifting and lowering the load-bearing element 7 in the Z direction, that is to say for adjusting the lifting height l H. In the example according to FIG. 3, the lifting drive 10 is implemented by cable winches 10a and 10b, two retaining elements 6a, 6c and 6b, 6d being wound onto each cable winch 10a, 10b. Of course, other forms of lifting drive are also conceivable. To carry out the method according to the invention, at least one actuator 11a, 11b, 11c, 11d for changing the length of the holding element 6 is provided on at least one holding element 6a, 6b, 6c, 6d. However, an actuator 11a, 11b, 11c, 11d is advantageously provided on each holding element 6a, 6b, 6c, 6d. As can be seen in FIG. 3, four holding elements 6a, 6b, 6c, 6d, each with an actuator 11a, 11b, 11c, 11d, are preferably arranged on the lifting device 1.
    In a lifting drive 10 as shown in FIG. 3, the holding elements 6a, 6b, 6c, 6d are guided over deflection rollers which are arranged on the load-bearing element 7. The respective free end of the holding elements 6a, 6b, 6c, 6d is fixed at a stationary holding point, for example on the carrying element 5. In this embodiment, an actuator 11a, 11b, 11c, 11d is preferably fixed at a stationary stopping point, for example on the carrying element 5, and the free end of the holding elements 6a, 6b, 6c, 6d on the actuator 11a, 11b, 11c, 11d. The length of a holding element 6a, 6b, 6c, 6d can thus be adjusted by adjusting the actuator 11a, 11b, 11c, 11d, which also adjusts the distance between the carrying element 5 and the load-bearing element 7.
    An actuator 11a, 11b, 11c, 11d can be controlled by a damping controller 12 to change the length of the corresponding holding element 6a, 6b, 6c, 6d between the carrying element 5 and the load-bearing element 7, preferably the actuator 11a, 11b, 11c, 11d at least one target actuator position to s or v SollAktuatorgeschwindigkeit should be specified. For damping control, at least one actual actuator position s ist of at least one actuator 11a, 11b, 11c, 11d can be detected by damping controller 12 (damping controller 12 not shown in FIG. 3). The damping controller 12 can be designed, for example, as a separate component in the form of hardware and / or software, or can also be implemented in an existing crane controller. The at least one actuator 11a, 11b, 11c, 11d can, as will be described in detail later, be controlled by the damping controller 12 in such a way that by changing the actuator position and / or actuator speed, on the one hand, the load-bearing element 7 is excited to a torsional vibration (as in FIG .3 is symbolized by the double arrow) / 257
    BN-3909 AT or on the other hand can be controlled so that a torsional vibration of the load-bearing element 7 is damped.
    In the embodiment shown, the lengths of two diagonally opposite holding elements 6a, 6b between the carrying element 5 and the load-bearing element 7 are preferably increased by means of the corresponding actuators 11a, 11b and the lengths of the two other diagonally opposite holding elements 6c, 6d for stimulating or damping a torsional vibration reduced by means of the corresponding actuators 11c, 11d or vice versa. For example, only three holding elements 6 could also be arranged between the carrying element 5 and the load-bearing element 7 and only one actuator 11 for changing the length of one of the three holding elements 6. It is only important that the length is achieved by means of the at least one actuator 11a, 11b, 11c, 11d of at least one holding element 6a, 6b, 6c, 6d between the carrying element 5 and the load-bearing element 7 can be changed so that a torsional vibration of the load-bearing element 7 about the vertical axis, in FIG. 3 about the Z-axis, can be excited or damped.
    An actuator 11a, 11b, 11c, 11d can be of any design, preferably a hydraulic or electrical embodiment is used which enables longitudinal adjustment. If, as shown in FIG. 3, actuators 11a, 11b, 11c, 11d in the form of hydraulic cylinders are used, the energy for actuating the actuators 11a, 11b, 11c, 11d can be obtained from an existing hydraulic system, for example. An actuator 11a, 11b, 11c, 11d can also e.g. be designed as a cable winch and controlled electrically, the actuation energy can be obtained from an existing power supply. Other embodiments of an actuator 11a, 11b, 11c, 11d are also conceivable, which are suitable for changing the length of a holding element 6 between the carrying element 5 and the load-bearing element 7. In particular, an actuator 11a, 11b, 11c, 11d must master the forces to be expected during the lifting and lowering of a load 8. In order to bring about a required change in length of a holding element 6a, 6b, 6c, 6d under a certain load, an actuator 11a, 11b, 11c, 11d can, for example, also have an additional transmission gear.
    To carry out the damping method according to the invention, it is provided that at least one actual angle of rotation β ist of the load-bearing element 7 about the Z-axis (or vertical axis) can be detected, for example a measuring device 14 in the form of a camera system can be provided, with a support element 5 on Camera 14a and on the load-bearing element 7 a measuring element 14b cooperating with the camera 14a is arranged, or vice versa. But is the ß IstDrehwinkel example, can be measured in other ways, by means of a gyro-sensor, it is important that a measuring signal for the beta IstDrehwinkel is present, which can be fed to the attenuator 12th It is also provided that the lifting height l H between the support element 5 and the load-bearing element 7/258
    BN-3909 AT can be detected. For example, the lifting height l H can be detected via the lifting drive 10, for example in the form of a position signal of a cable winch 10a, 10b available in the crane control. The lifting height l H could also be obtained from the crane control. The lifting height l H can, for example, also be detected by means of the measuring device 14, for example by means of a camera system, which can detect both the lifting height l H and the actual angle of rotation β ist . Such measuring devices 14 are known in the prior art, which is why they are not dealt with in more detail here.
    The individual steps of the damping method are described below with reference to FIG. 4.
    4 shows a block diagram of a possible embodiment of the control structure according to the invention with a damping controller 12, which, as already explained, can either be implemented as a separate component or preferably in the control of the lifting device 1, and a controlled system 15, which is controlled by the damping controller 12. The damping controller 12 is designed as a state controller 13 in the exemplary embodiment shown. In principle, however, any other suitable controller can also be used. The controlled system 15 represents the system described with reference to FIG. 3. The reference variable of the damping controller 12 is a target rotation angle β so n of the load-bearing element 7 and the manipulated variable is preferably a target actuator position s S0 n of the at least one actuator 11a, 11b, 11c , 11d. Alternatively, a setpoint actuator speed v so n can be used as the manipulated variable instead of the setpoint actuator position Ssoii. As already described, the actual angle of rotation β ist can be detected using a measuring device 14, for example by means of a camera system. As a feedback, the damping controller 12 is supplied with at least the detected actual rotation angle β ist of the load-bearing element 7 (and, if the target actuator speed v so n is used as the manipulated variable, the detected actual actuator position s ist ). It would also be conceivable to add one
    Actual angular velocity β is to be recorded and fed to the damping controller 12, whereby the damping control could be further improved. From the detected IstDrehwinkel SSI S t needed may, of course, if an actual angular velocity is ß or an actual angular acceleration is ß be derived, for example by derivation with respect to time.
    The actual values required, ie in particular the actual rotational angle ß and optionally time derivatives thereof, may either be measured directly or can, at least partially, also be estimated in an observer. An advantage of the use of the estimated means of an observer actual values, eg actual rotational angle of a is ß, that is characterized A possibly existing and undesirable for the damping control measurement noise can be prevented from measured values of a measuring device fourteenth That is, -910/25
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    The main reason why, in a preferred embodiment according to FIG. 3, the actual rotation angle β ist is measured with a measuring device 14, but an estimated actual rotation angle β ist is still used for the damping control (in addition, an estimated one could also be used)
    Actual angular velocity β ist is used (see Fig. 5). Any suitable and well-known observer, such as a Kalman filter, can be used to determine the estimated values of the required actual values. In the following, estimated values are marked with Λ if necessary.
    However, it should be noted that the controller structure for the damping method according to the invention is secondary and in principle any suitable controller could be used. Depending on the implementation, the required actual variables are then supplied to the damping controller 12 as measured values or estimated values.
    The damping controller 12 has at least one controller parameter, preferably five controller parameters. The characteristic of the control can be set by means of the controller parameter (s), e.g. Responsiveness, dynamics, overshoot, damping, etc., whereby one of the properties can be adjusted by means of a controller parameter. If several properties are to be influenced, a corresponding number of controller parameters is required. This enables the system behavior of the controlled system to be adapted.
    For the design of a suitable damping controller 12, the controlled system, that is to say the technical system to be controlled (for example as shown in FIG. 3), must first be modeled. In the present case, the torsional vibration behavior of the load-bearing element 7 about the Z-axis is mapped with a torsional vibration model, for example with a 2nd order differential equation in the form δβ + ξβ + ß = i ß s. The three model parameters of this rotary vibration model is a dynamic parameter δ, ξ is a damping parameter and ß a StreckenJ R gain parameter i, which are defined, for example -with as δ = the masses c ß (1 R) d R moment of inertia J ß the load 8, together with the load-receiving member 7 and ξ = —with a c ß ( 1r )
    Spring constants c ß and a damping constant d ß of the vibration system. The spring constant c ß is modeled depending on the lifting height l H.
    It should be noted that this torsional vibration model is only to be understood as an example, and other torsional vibration models could be used which are capable of mapping or approximating the real torsional vibration.
    -1011 /: -5
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    The model parameters of the torsional vibration model, for example δ, ξ and i ß , can be known, but are generally unknown. In a first step, the model parameters can therefore be identified using an identification method. Such identification methods are well known, for example from Isermann, R.: Identification of dynamic systems, 2nd edition, Springer-Verlag, 1992 or Ljung, L .: System Identification: Theory for the User, 2nd edition, Prentice Hall, 2009, which is why is not discussed here in more detail. The identification methods have in common that the system to be identified is excited with an input function (for example a step function) and the output variable is recorded and compared with an output variable of the model. The model parameters are then varied in order to minimize the error between the measured output variable and the output variable calculated using the model. For any identification that may be necessary, the damping controller 12 can be used to excite the load-bearing element 7 with the load 8 arranged thereon at a specific lifting height l H into a torsional vibration about the Z axis. For this purpose, a separate excitation controller can be implemented in the damping controller 12, for example in the form of a two-point controller. With the two-point controller, the at least one actuator 11a, 11b, 11c, 11d, for example in dependence of the IstDrehwinkels is ß the load receiving member 7 with the maximum possible SollAktuatorgeschwindigkeit v soll driven. This means that, for example, ß at a rotation angle is> 0 ° of the load receiving member 7 of the at least one actuator 11a, 11b, 11c is driven v with the maximum possible negative actuator velocity 11d and ß at a rotation angle is <0 ° of the load receiving member 7 of at least an actuator 11a, 11b, 11c, 11d is controlled with the maximum possible positive actuator speed v. In the case of an embodiment of the lifting device 1 according to FIG. 3 with four holding elements 6a, 6b, 6c, 6d and four actuators 11a, 11b, 11c, 11d interacting therewith, the excitation advantageously takes place in opposite directions, for example by actuators 11a, 11b with the maximum possible positive actuator speed v are controlled and the actuators 11c, 11d are controlled with the maximum possible negative actuator speed v or vice versa. The excitation of the torsional vibration can take place at any but fixed lifting height l H of the load-bearing element 7. From the excited torsional vibration of the load-bearing element 7, the damping controller 12 determines the model parameters of the implemented torsional vibration model at the given one based on the detected actual rotation angle β ist of the load-bearing element 7 and the detected actual actuator position s ist of the at least one actuator 11a, 11b, 11c, 11d Lifting height lH. In the case of the above rotational vibration model of dynamic parameters are preferably meadow first δ and the damping parameter determined ξ and thereafter, preferably at standstill of the at least one actuator 11 a, 11b, 11c, 11d (IstAktuatorgeschwindigkeit is v = 0), the system gain parameter i ß. As identification 1112/25
    BN-3909 AT method, according to one embodiment of the invention, a mathematical online least square method is used to identify the model parameters, but it would also be conceivable to use other methods, for example offline least square method or optimization-based method.
    With the known (previously known or identified) model parameters, a damping controller 12 can now be designed for the torsional vibration model. A suitable controller structure is selected for this, for example a PID controller or a state controller. Each controller structure naturally has a number of controller parameters K k , k> 1, which must be set using a controller design process so that the desired control behavior results. Such controller design methods are also well known and are therefore not described in detail. Examples include the frequency characteristic curve method, the root locus curve method, the controller design by means of pole specification and the Riccati method, although there are of course a wealth of other methods. However, the concrete controller structure and the specific controller design process are not important for the present invention. The desired control behavior can also be chosen essentially arbitrarily for the invention, taking into account stability criteria and other boundary conditions, of course. It is only essential for the invention that the controller parameters are determined as a function of the lifting height l H. This can also be done in a variety of ways.
    It would be conceivable to identify the model parameters for different lifting heights l H and then to determine the controller parameters K k for the different lifting heights. In this way, characteristic curves of the controller parameters K k depending on the lifting height l H or characteristic maps depending on the lifting height l H and other variables, such as a moment of inertia J β , can be built up. That would of course be very complex and not very practical. The controller parameters Kk of the damping controller 12 are therefore preferably specified as a formula-related relationship as a function of at least the lifting height l H , and possibly other model parameters, for example K k = f (l H ) or K k = f (l H , ... ). This means that the controller parameters K k only have to be defined for a lifting height l H and can then simply be converted to other lifting heights l H. From the formula, however, the controller parameters K k can also be calculated offline for different lifting heights l H and a characteristic curve or a characteristic map can be created therefrom, which is then used in a further sequence.
    For the damping control, the controller parameters K k are adapted to the current lifting height l H in each time step of the control, for example by reading from a map or by calculation. The damping controller 12 then uses the adjusted controller parameters K k to determine the manipulated variable that is set with the at least one actuator 11a, 11b, 11c, 11d in the respective time step. The controller parameters Kk are thus based on the current one
    -1213 /: -5
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    Lifting height l H adapted to optimally dampen torsional vibrations of the load-bearing element 7 at any lifting height l H
    In the case of a lifting device 1 with a load-bearing element 7 in particular, it is often customary to use different load-bearing elements 7 or load-bearing elements 7 which are adjustable in size for different loads 8, for example for containers of different sizes. This would of course have a direct impact on the moment of inertia J ß . It can therefore be provided that the above procedure is carried out for different load-bearing elements 7. This would give 7 different controller parameters K k for different load-bearing elements.
    The method according to the invention is explained below using a specific exemplary embodiment. A torsional vibration model in the form δβ + ξβ + β = ipS as described above is assumed. The model parameters of the torsional vibration model, for example δ, ξ and i ß , are identified for a specific lifting height l H as described. Due to its high control quality or control performance, a state controller 13 is used as the controller structure for the damping controller 12, as shown in FIG. 4. Five parameters K h K P , K 2 , K FF are provided as controller parameters K k . For the design of the state controller 13, the system to be controlled is brought into a state space representation with the torsional vibration model as the controlled system 15, for example in the form sweet d_ dt ß _1 o0 ß
    3 'ß
    T
    0 .0.
    The states of the system are the actuator position s, the angle of rotation ß, the angular velocity ß and a deviation e ß between the desired angle of rotation ß so n and the actual angle of rotation ß is used. The controller parameters K k were calculated as a function of the lifting height l H , which in the model parameters δ =
    d and ξ = —inserted as follows. Where d 0 is one
    Damping constant of the closed control loop, ie the almost undamped system is converted with the help of the damping controller 12 into a damped one. The parameters ω determine the dynamics and the response behavior of the control loop and are linked to the system properties of the torsional vibration model to be identified (the index i> 0 stands for the number of parameters of the damping controller, in the example shown these are the parameters ω 0 , ω 2 ) , The damping constant d 0 and the parameters ω, are before -1314/25
    BN-3909 AT preferably pre-parameterized or specified, but can be adapted by the user if required.
    Äjs - 2 CIpL'j'u 4 4 i Jn
    -f- (Lrjj_-f-Lrjn) Lüp 1 0 '- Kp) _ (¢ 2 - | - üJj) - | - üIq 4 ~ - 1 - / Äf 3 ) tß-Kp
    4-Γ l ß
    In the damping controller 12, the controller parameters of the state controller 13 are then calculated on the basis of the current lifting height 1 H in each journal of the controller and used as the basis for the controller. The torsional vibration of the load-bearing element 7 can thus be effectively damped during a lifting operation, because the damping controller 12 automatically adapts to the current lifting height l H.
    As the manipulated variable of the control, the damping controller 12 can determine an actuator position Ssoii to be set or an actuator speed v S0 u for the at least one actuator 11a, 11b, 11c, 11d and output it at an interface 16. For this purpose, the damping controller 12 receives the required actual values via an interface 17, for example the actual position s ist of the at least one actuator 11a, 11b, 11c, 11d and the actual rotation angle ß ist of the load-bearing element 7. The time derivative of the actual rotation angle ß can be determined in the damping controller 12 or is also measured.
    Alternatively, a state estimation unit 20 (FIG. 5), in the form of hardware and / or software, can be provided, which determines estimated values for the required input variables of the damping controller 12 from measured actual variables, for example the actual rotation angle βactual of the load-bearing element 7, here for example an estimated actual rotational angle ß, and an estimated actual angular velocity is ß. The state estimation unit 20 can be implemented, for example, as a well-known Kalman filter. The torsional vibration model can also be used for this in the state estimation unit 20.
    The damping controller 12 is given a set angle of rotation β S0 n of the load-bearing element 7, which is adjusted by the damping controller 12. A nominal rotation angle ß SO ii = 0 is normally specified, which compensates for torsional vibrations around a defined zero position. But it can also deviate from the target rotation angle ß so n
    BN-3909 AT will give, with which the load-bearing element 7 is controlled by the damping controller 12 and independently of the lifting device 1 to this angle and thereby torsional vibrations are damped by this angle. For example, a load 8, e.g. a container 9 can be rotated in a predetermined angular range and thereby e.g. can also be unloaded onto the loading surface of an incorrectly positioned truck. No additional device for rotating the load-bearing element 7 about the vertical axis is required for this. Depending on the type and design of the lifting device 1 and its components, the damping controller 12 can set a rotation angle β of the load-bearing element 7 in a range of, for example, ± 10 °.
    According to an advantageous embodiment of the invention, an anti-wind-up protection is integrated in the damping controller (12), whereby the damping controller 12 is given actuator restrictions of the at least one actuator 11, in particular a maximum / minimum permissible actuator position s zul , a maximum / minimum permissible actuator speed v perm and a maximum / minimum permissible actuator acceleration a zul of the actuator 11. By means of this integrated anti-wind-up protection, the damping controller 12 can be adapted to the design of the actuator (s) 11 available for the lifting device 1. To dampen the torsional vibration of the load-bearing element 7, the damping controller 12 calculates, as described, a manipulated variable of the at least one actuator 11, for example the target actuator speed v soll . Exceeds this SollAktuatorgeschwindigkeit v to a maximum allowable Aktuatorbeschränkung, such as the actuator speed v perm that SollAktuatorgeschwindigkeit is vsoii v perm limited to this maximum actuator speed. Without Aktuatorbeschränkung or anti-wind-up protection it could for example be that the SAS 12 is to too high a target actuator speed v calculated that at least one actuator 11 due to its design could not follow. This would lead to a control error and the damping controller 12, in particular the integrator integrated in the damping controller 12, would attempt to compensate for this control error by further increasing the manipulated variable, for example the target actuator speed v soll . This “charging” of the damping regulator 12 or, in particular, of the integrator integrated in the damping regulator could lead to a destabilization of the damping regulator 12, which can be reliably avoided by the integrated anti-wind-up protection. In addition, from the target actuator speed v soll on a target Aktuatorbeschleunigung a is to be calculated and this permissible with a maximum / minimum allowable Aktuatorbeschleunigung of a respective actuator 11a, 11b, 11c are compared, 11d. If this maximum / minimum permissible actuator acceleration azul is exceeded, this can also be taken into account by limiting the target actuator speed v Soll. Different embodiments and sizes of
    -1516 /: -5
    BN-3909 AT
    Actuators 11a, 11b, 11c, 11d are taken into account in the damping controller, as a result of which the method can be used very flexibly on a wide variety of lifting devices 1.
    , -1617 /: -5
    BN-3909 AT
    权利要求:
    Claims (12)
    [1]
    claims
    1. Method for damping a torsional vibration about a vertical axis of a load-bearing element (7) of a lifting device (1) with a damping regulator (12) with at least one regulator parameter, the load-bearing element (7) with at least three holding elements (6) with a support element (5) the lifting device (1) is connected and the length of at least one holding element (6) between the load-bearing element (7) and the supporting element (5) is adjusted by the damping controller (12) with an actuator (11) acting on the at least one holding element (6), characterized in that the at least one controller parameter is determined on the basis of a torsional vibration model of the load-bearing element (7) as a function of the lifting height (l H ) and that the at least one controller parameter is applied to damp the torsional vibration of the load-bearing element (7) at any lifting height (l H ) this lifting height (l H ) is adapted.
    [2]
    2. The method according to claim 1, characterized in that the load-bearing element (7) at a certain lifting height (l H ) of the load-bearing element (7) is excited to a torsional vibration, that at least one actual angle of rotation (p ist ) of the load-bearing element (7 ) around the vertical axis and an actual actuator position (s ist ) are detected and thus model parameters of the torsional vibration model of the load-bearing element (7) at the given lifting height (l H ) are identified using an identification method.
    [3]
    3. The method according to claim 1, characterized in that the at least one actuator (11) is actuated hydraulically or electrically.
    [4]
    4. The method according to claim 1 or 3, characterized in that at least four holding elements (6) between the load-bearing element (7) and support element (5) are provided.
    [5]
    5. The method according to claim 1 to 4, characterized in that at least two actuators (11) are provided, in particular one actuator (11) per holding element (6).
    [6]
    6. The method according to claim 1 to 5, characterized in that the lifting height (l H ) by means of a, on the support element (5) or on the load-bearing element (7) arranged camera system (14) or by means of a lifting drive (10) of the lifting device (1) is measured.
    [7]
    7. The method according to claim 1 to 6, characterized in that the actual angle of rotation (p ist ) of the load-bearing element (7) is measured by means of a measuring device (14) arranged on the support element (5) or on the load-bearing element (7), preferably by means of of a camera system or gyro sensor.
    , -17
    18 /: -5
    BN-3909 AT
    [8]
    8. The method according to claim 1 to 7, characterized in that the torsional vibration model is a second order differential equation with at least three model parameters, in particular with a dynamic parameter (δ), a damping parameter (ξ) and a path gain parameter (i ß ).
    [9]
    9. The method according to claim 1 to 8, characterized in that the identification method is a mathematical method, in particular an online least-square method.
    [10]
    10. The method according to claim 1 to 9, characterized in that the damping controller (12) is a state controller with preferably five controller parameters (K I , K1, K 2 , K FF , K P ).
    [11]
    11. The method of claim 1 to 10, characterized in that the attenuator (12), a target rotational angle (ββοΐι) of the load receiving member is set (7) and the attenuator (12) the target rotational angle (p soll) of the load receiving member (7 ) in a predetermined angular range, in particular in an angular range of -10 ° <ß should <+ 10 °.
    [12]
    12. The method according to claim 1 to 11, characterized in that an anti-wind-up protection is integrated in the damping controller (12), wherein the damping controller (12) actuator restrictions of the at least one actuator (11) are specified, in particular a maximum permissible actuator position (s zul ), a maximum permissible actuator speed (v zul ) and a maximum permissible actuator acceleration (a zul ) of the actuator (11).
    , -18
    19 /: -5
    Bernecker + Rainer
    Industrie-Electronics Ges.m.b.H

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