Crane and method for controlling such a crane

Patent metadata

Field	Value
Publication number	US-11447372-B2
Application number	US-202016733619-A
Country	US
Kind code	B2
Filing date	Jan 3, 2020
Priority date	Jul 3, 2017
Publication date	Sep 20, 2022
Grant date	Sep 20, 2022

Abstract

The invention relates to a crane, in particular a rotary tower crane, comprising a lifting cable configured to run out from a crane boom and comprises a load receiving component, drive devices configured to move multiple crane elements and displace the load receiving component, a controller configured to control the drive devices such that the load receiving apparatus is displaced along a movement path, and a pendulum damping device configured to dampen pendulum movements of the load receiving apparatus and/or of the lifting cable. The pendulum damping device comprises a pendulum sensor system configured to detect pendulum movements of at least one of the lifting cable and the load receiving component and a regulator module comprising a closed control loop configured to influence the actuation of the drive devices depending on a pendulum sensor system signal returned to the control loop.

First claim

The invention claimed is:

1. A revolving tower crane, comprising:
a crane tower;
a hoist rope coupled to a crane boom and a load suspension component coupled to the hoist rope, wherein the crane tower and the crane boom comprise structural components;
drives configured to control movements of a plurality of crane elements, wherein the plurality of crane elements comprise the crane tower, the crane boom, and the load suspension component;
a control device configured to control the drives such that the load suspension component travels along a travel path; and
an oscillation damping device configured to dampen oscillating movements of at least one of the load suspension component and the hoist rope,
wherein the oscillation damping device comprises an oscillation sensor system configured to detect oscillating movements of at least one of the hoist rope and the load suspension component and comprises a regulator module having a closed feedback loop configured to influence the control of the drives based on an oscillation signal of the oscillation sensor system fed back to the feedback loop,
wherein the oscillation damping device comprises a structural dynamics sensor system configured to detect at least one of a deformation and a dynamic movement of the structural components and generate structural dynamics signals in response to a detection,
wherein the regulator module of the oscillation damping device is configured to receive as inputs both the oscillation signal of the oscillation sensor system and the structural dynamics signals fed back to the feedback loop in order to influence control of the drives, and
wherein the oscillation damping device comprises a feedforward module configured to transmit reference control signals to the regulator module, and wherein the regulator module is configured to transmit output control signals configured to control the drives to the control device.

2. The revolving tower crane of claim 1 , wherein the feedforward module is configured as a differential flatness model.

3. The revolving tower crane of claim 1 , wherein the feedforward module is configured to transmit the reference control signals to the regulator module without the oscillation signal of the oscillation sensor system and without the structural dynamics signals of the structural dynamics sensor system.

4. The revolving tower crane of claim 1 , further comprising a notch filter configured to filter input signals supplied to the feedforward module, wherein the notch filter is configured to eliminate stimulatable eigenfrequencies of the structural dynamics of the revolving tower crane from the input signals.

5. The revolving tower crane of claim 4 , wherein the notch filter is applied after at least one of a trajectory planning module and a desired value filter module and before the feedforward module.

6. The revolving tower crane of claim 1 , further comprising at least one of a trajectory planning module and a desired value filter module, wherein the trajectory planning module is configured to determine position data of a desired movement of the load suspension component and calculate time derivatives from the position data of the desired movement of the load suspension component, wherein the time derivatives and the position data are provided as inputs to the feedforward module.

7. The revolving tower crane of claim 1 , wherein the structural dynamics sensor system comprises:
a radial dynamics sensor configured to detect dynamic movements of the structural components in an upright plane in parallel with the crane boom; and
a pivot dynamics sensor configured to detect dynamic movements of the structural components about an upright axis of rotation of the revolving tower crane;
wherein the drives comprise a trolley drive and a slewing gear drive, wherein the regulator module of the oscillation damping device is configured to influence the control of the trolley drive and the slewing gear drive based on the dynamic movements of the structural components detected in the upright plane in parallel with the crane boom and on the dynamic movements of the structural components detected about the upright axis of rotation of the revolving tower crane.

8. The revolving tower crane of claim 1 , wherein the structural dynamics sensor system further comprises a hoist dynamics sensor configured to detect vertical dynamic deformations of the crane boom, wherein the drives comprise a hoisting gear drive, and wherein the regulator module of the oscillation damping device is configured to influence the control of the hoisting gear drive based on the vertical deformations of the crane boom detected by the hoist dynamics sensor.

9. The revolving tower crane of claim 1 , wherein the structural dynamics sensor system is configured to determine dynamic torsions of at least one of the crane boom and the crane tower carrying the crane boom; and wherein the regulator module of the oscillation damping device is configured to influence the control of the drives based on the dynamic torsions of at least one of the crane boom and the crane tower determined by the structural dynamics sensor system.

10. The revolving tower crane of claim 9 , wherein the structural dynamics sensor system is configured to detect all of the eigenmodes of the dynamic torsions of at least one of the crane boom and the crane tower whose eigenfrequencies lie in a predefined frequency range.

11. The revolving tower crane of claim 1 , wherein the structural dynamics sensor system comprises:
at least one tower sensor, wherein the at least one tower sensor is spaced apart from a node of an eigen-oscillation of the crane tower, and wherein the at least one tower sensor is configured to detect tower torsions; and
at least one boom sensor, wherein the at least one boom sensor is spaced apart from a node of an eigen-oscillation of the crane boom, and wherein the at least one boom sensor is configured to detect boom torsions.

12. The revolving tower crane of claim 1 , wherein the structural dynamics sensor system comprises at least one of strain gauges, accelerometers, and rotational rate sensors, wherein the structural dynamics sensor system is configured to detect at least one of deformations and dynamic movements of the structural components using least one of the accelerometers and rotational rate sensors.

13. The revolving tower crane of claim 1 , wherein the structural dynamics sensor system comprises at least one of a rotational rate sensor, an accelerometer and a strain gauge, wherein the structural dynamics sensor is configured to detect dynamic tower deformations and dynamic boom deformations using the at least one of the rotational rate sensor, the accelerometer, and the strain gauge.

14. The revolving tower crane of claim 1 , wherein the oscillation sensor system is configured to determine a deflection of at least one of the hoist rope and the load suspension component with respect to a vertical; and
wherein the regulator module of the oscillation damping device is configured to influence the control of the drives based on the deflection of at least one of the hoist rope and the load suspension component with respect to the vertical determined by the oscillation sensor system.

15. The revolving tower crane of claim 1 , wherein the regulator module comprises at least one of a filter portion and an observer portion configured to influence control variables of drive regulators configured to control the drives, wherein at least one of the filter portion and the observer portion is configured to obtain the control variables of the drive regulators and both the oscillation si

Assignees

• Liebherr Components Biberach Gmbh
• Liebherr Werk Biberach Gmbh

Inventors

• Rauscher Florentin
• Sawodny Oliver
• Palberg Michael
• Schlott Patrick

Classifications

• B66C13/063 Primary

  electrical · CPC title

• B66C23/16

  with jibs supported by columns, e.g. towers having their lower end mounted for slewing movements · CPC title

• B66C13/06

  for minimising or preventing longitudinal or transverse swinging of loads · CPC title

• B66C13/066

  for minimising vibration of a boom · CPC title

• B66C2700/0385

  Cranes with trolleys movable along adjustable or slewable arms · CPC title