Method and device for operating a slewing jib crane, slewing jib crane, and program

Abstract

The present invention relates to a method for operating a slewing jib crane (2) by state control, particularly implemented by a computer, which controls the movement of a load (L) in at least one direction of movement and is based on a state vector. The method comprises the following steps: - A hoisting rope (HSL), a cargo handling device (UF) arranged at the lower end of the hoisting rope (HSL), and a movable lifting point (AUP) from which a load system including a load (L) suspended below the cargo handling device (UF) is suspended. Information about TIFF2026503624000113.tif6150 and The center of gravity of the load system relative to the suspension point (AUP) Information about TIFF2026503624000114.tif6150 and and detecting the state variables of said state vector including: At least one manipulated variable for moving the suspension point (AUP) in the at least one direction of movement based on the state control. Determine TIFF2026503624000115.tif6150. the at least one manipulated variable Operate the slewing jib crane (2) based on TIFF2026503624000116.tif6150.

Description

[Technical Field]

[0001] The present invention relates to a revolving jib crane, and more particularly to a method for controlling the movement of a suspended load, and more particularly to a means for preventing pendulum oscillation. [Background technology]

[0002] Slewing jib cranes and handling cranes, especially tower cranes and mobile cranes, allow the movement of a load by suspending it from a hoisting rope on the jib, lifting it, moving it in a substantially horizontal plane, and lowering it. Thus, the movement of the jib is effected by a suitable drive, and the lifting and lowering of the load is effected by a hoisting device connected to the hoisting rope.

[0003] For handling cranes, the time required for a transfer cycle is crucial for trouble-free operation. During a transfer cycle, the non-productive downtime of the crane must be minimized and the productive operating time of the crane must be maximized.

[0004] For example, in a tower crane, load movement is achieved by rotating the jib and moving the trolley along the jib. In a mobile crane, load movement is achieved by rotating the jib and, as needed, by raising and lowering the jib along the horizontal luffing axis. The drive and hoisting devices are typically controlled manually by the crane operator or by manipulating appropriate operating elements on a crane control unit, whereupon the load swings relative to its suspension point on the jib during acceleration and deceleration, triggering pendulum motion. Pendulum loads can pose a potential hazard to both construction workers and construction equipment. To prevent such undesirable pendulum motion of the load, prior art exists that discloses means for damping pendulum motion during crane operation.

[0005] For example, document DE 10 2009 032 270 A1 discloses a method for controlling the drive of a mobile crane, in which the desired movement of the jib tip serves as an input variable, on the basis of which control variables for controlling the drive are calculated, and when calculating the control variables, the vibration characteristics of the system consisting of the drive and the crane structure are taken into account to reduce natural vibrations.

[0006] Document EP 1 628 902 B1 discloses a crane for handling a load suspended from a load rope, the crane comprising a slewing drive for rotating the crane, a hoisting device for tilting the jib, and a hoisting device for hoisting the load suspended from the rope. A path control system calculates a model-based optimal control trajectory based on a nonlinear modeling approach and updates it by feedback of state variables. The output variables of the path control are directly or indirectly incorporated as input variables of a control system for controlling the position or velocity of the crane. The path control reference variables are generated to obtain load motion with minimized sway angle.

[0007] Document EP 1 652 810 B1 discloses a method for controlling a crane operating unit for suppressing vibrations of a load suspended from the ropes of a crane, by carrying out the control by operating a control device having a filter unit.

[0008] To prevent pendulum oscillation, predictive control of crane motion to suppress pendulum oscillation is known for its application to cranes. See, for example, J. Smoczek et al., “Robust Predictive Control of an Overhead Crane,” https: / / doi.org / 10.5604 / 01.3001.0010.2940.

[0009] The “Cycotronic” function is known from Liebherr Werk Nenzing GmbH’s “Liebherr Electronics” brochure, published in September 2012, which illustrates the pendulum-free operation of a mobile harbor crane when handling ISO containers between a cargo ship and the port end.

[0010] Especially for complex crane structures, conventional anti-sway devices are insufficient to sufficiently damp or suppress pendulum vibration. In particular, the various dynamic effects during lifting, lowering, and load movement caused by various deformations of the crane structure cannot be satisfactorily modeled using physical models, resulting in insufficient damping of pendulum vibration.

[0011] Conventional methods are typically based on an estimated approximate load position, which is typically determined based on the hoist rope angle relative to the vertical at the hoist rope's suspension point on the jib. However, wind pressure and other dynamic influences can cause lateral vibration of the hoist rope so that the measured hoist rope angle does not match the angle of the line between the suspension point on the jib and the load's center of gravity. Furthermore, in crane operations, the suspended load is suspended from a load-carrying device such as a hook block. The weight of the load-carrying device is significant, leading to a double-pendulum system that often exhibits chaotic oscillatory motion upon excitation. This is difficult to predict using conventional physical models, significantly compromising the quality of sway control based solely on the hoist rope angle. Furthermore, insufficient prediction accuracy of the load's pendulum oscillation can lead to intervention by the pendulum damping algorithm, which, in the worst case scenario, could result in increased pendulum oscillation of the load.

[0012] An object of the present invention is to provide a method and device for operating a rotating jib crane, a rotating jib crane, and a computer program product for executing the method, which more effectively damp or suppress pendulum oscillation of a suspended load and enable additional operating modes, thereby making the load transportation process safer, faster, and easier. Summary of the Invention [Means for solving the problem]

[0013] This problem is solved by a method for operating a slewing jib crane with state control according to claim 1, as well as by a corresponding device and a slewing jib crane according to the independent claims.

[0014] Further embodiments are disclosed in the dependent claims.

[0015] According to a first aspect, there is provided a method for operating a revolving jib crane using state control, the state control controlling the movement of a load in at least one direction of movement and based on a state vector, the method comprising the steps of: Detecting state variables of the state vector, which include information about the position and speed of a movable suspension point from which a load system including the hoisting rope, a load handling device arranged at the lower end of the hoisting rope, and a load suspended below the load handling device (UF) is suspended, and information about the load position and load speed of the center of gravity of the load system relative to the suspension point. · determining at least one manipulated variable for moving the suspension point in the at least one direction of movement based on the state control; · operating the slewing jib crane as a function of the at least one manipulated variable.

[0016] As mentioned above, one of the basic challenges when transporting a load using a revolving jib crane is to sufficiently damp or suppress the pendulum oscillation of the suspended load so that construction site workers can quickly and safely lift and lower the load, as well as attach and remove the load. The object of the present invention is to dampen the pendulum oscillation at each stage of load transportation, to prevent pendulum oscillation from occurring, and to enable the load to be lifted and lowered in a shorter time.

[0017] The load system includes a suspended load, a load handling device, an adjustable-length hoisting rope connecting the load handling device to a suspension point, and a sling for suspending the load from the load handling device. Due to the mass of the hoisting rope and the mass of the load handling device located at the lower end of the hoisting rope, the vibrating load system with the suspended load forms a multiple pendulum system that cannot be simply modeled, and when a lateral force is applied, irregular pendulum vibrations generally occur. Therefore, it is not easy to accurately identify the actual load position.

[0018] The actual load position may be indicative of the relative position of the center of gravity of the entire load system with respect to the suspension points on the jib, and may be expressed in one or more directions of lateral movement, for example as a lateral load deflection with respect to a vertical line passing through said suspension points and / or as a pendulum angle at the suspension points of the load system with respect to a vertical line passing through said suspension points. The load velocity may correspond to the relative velocity of the center of gravity of the entire load system with respect to the suspension points.

[0019] In a typical anti-sway method for suppressing pendulum oscillation, the load position, i.e., the load deflection or pendulum angle, is estimated based only on the hoisting rope angle and hoisting rope length at the jib suspension point and the load velocity, which is calculated by the time derivative of the hoisting rope angle. However, in practice, such a method cannot adequately determine the load position and load velocity that are useful for performing state control. The use of such a simplified load position estimation leads to inaccurate control operations, especially when a state controller is used, resulting in insufficient suppression of pendulum oscillation during crane operation.

[0020] In this regard, it is advantageous to interpret it as a control for moving the load to the actual load position or to a load position determined with increased accuracy, thereby eliminating the disturbing effects of load position estimation errors.

[0021] For this purpose, the load position of the center of gravity can be determined based on the hoisting rope angle, which indicates the angular deviation of the hoisting rope attached to the suspension point from a vertical line passing through the suspension point, the load rope angle, which indicates the angular deviation of the center of gravity relative to a suspension point on the load handling device from a vertical line, the hoisting rope length between the suspension point and the center of gravity of the load handling device, and the load rope length between the suspension point and the center of gravity of the load, which is the length of the lifting tool.

[0022] The more precise determination of the load position allows the use of state control for the operation of the rotating jib crane. In this case, the state control is suitable for implementing various modes of operation of the rotating jib crane. The state control is based on a state vector and, when a target value is given, determines a respective manipulated variable, particularly the adjustment speed of the drive, for at least one direction of movement. The adjustment speed of the drive may be, for example, the adjustment speed of the trolley traveling unit of a tower crane, the adjustment speed of the jib hoisting angle of a mobile crane, and / or the adjustment speed of the swing drive. The state control is performed periodically according to a time-defined control period, the length of which is in the range of 10 ms to 500 ms, preferably 50 ms to 150 ms.

[0023] It has been shown to be advantageous for the state control operating in the control unit of a slewing jib crane to use a state vector which indicates, on the one hand, the position and velocity of the suspension point of the load system in the direction of movement, and, on the other hand, the load position, i.e. the position of the center of gravity of the load system relative to the suspension point (e.g. load deflection and pendulum angle).

[0024] The load velocity, i.e., the pendulum angular velocity, is obtained by time-differentiating the load position (load deflection / pendulum angle). The pendulum angle indicates the angle of the actual load deflection, i.e., the deflection of the center of gravity, relative to the vertical line passing through the suspension point on the jib in at least one direction of motion, i.e., the radial (x-direction) and / or tangential (y-direction).

[0025] By directly applying state control to such a state vector, inaccuracies caused by elastic deformations and / or lateral influences on the load or its suspension can be avoided. The state control can be configured to act separately on the slewing drive for jib rotation and the drive for jib hoisting, for example, in a mobile crane, or separately on the slewing drive for jib rotation, the trolley travel unit for trolley movement, and the hoisting device, for example, in a tower crane. This is because the dynamic characteristics of each motion system are significantly different. Thus, radial load movement can be controlled by controlling the corresponding drive for jib hoisting or the trolley travel unit for trolley movement according to the manipulated variable, while tangential load movement, i.e., around the jib's rotation axis, is achieved by controlling the slewing drive for jib rotation.

[0026] Therefore, each control can be configured and implemented independently of the others, which allows various functions, including anti-sway functions, to be implemented for different directions of movement, and the corresponding state controllers can be adapted to the different operating dynamics of the drive units, such as the slewing drive unit and the trolley traveling unit.

[0027] By using a state controller, it is possible to accurately define the trajectory of the manipulated variable that controls the drive unit for moving the load, thereby making it possible to prevent, for example, pendulum oscillation of the load while it is moving.

[0028] By suppressing the occurrence of load vibration at all stages during crane operation, pendulum vibration can be suppressed at all points during the load transportation process, i.e., at the time of attaching, lifting, moving, unloading, and removing the load. This eliminates waiting time due to the vibration damping process, and allows the transportation process to be carried out more quickly.

[0029] The load system forms a multiple pendulum system between the suspension point on the trolley (LK) and the center of gravity of the load, and there is a non-negligible additional mass along the suspension of the load, such as the load handling gear, which forms another vertex of the pendulum motion.It has been found that the double or multiple pendulum system of the load system consisting of the hoisting rope, load handling gear, load rope and load can be treated as a single pendulum in state control implementations if the load position relative to the suspension point on the jib is determined more precisely by sensor fusion or other methods.

[0030] In principle, the actual load position can be determined in a variety of ways. For example, the load position can be determined using a positioning system that determines the position vector between a stationary point and a point on the suspended load. For this purpose, a positioning system based on a camera system or a transponder system can be used, as is known from document DE 10 2020 120 699 A1.

[0031] Furthermore, it has proven effective to determine the relative position of the load by sensor data fusion of a first angle sensor device and a second angle sensor device, which detect angle data and transmit it to a control unit. The first angle sensor device is arranged at the suspension point of the hoisting rope at the suspension point on the jib and is used to determine the hoisting rope angle in the radial and / or tangential directions, i.e., the x-direction and / or y-direction, relative to the rotation axis of the jib. The hoisting rope angle is determined relative to a vertical line passing through the suspension point.

[0032] Since the hoisting rope angle of the hoisting ropes must be determined relative to the vertical, it is preferable to correct the measured value of the jib angle at the suspension point of the hoisting ropes. In this case, the difference in the angle of rotation of the jib about the support point due to the elastic deflection of the jib can be taken into account, for example, using known physical models or by measurements. Similarly, the vertical hoisting angle and the difference in the vertical hoisting angle (inclination angle) due to the elastic deflection of the jib can also be taken into account, for example, using known physical models or by measurements.

[0033] The second angle sensor device, when installed on a load handling device suspended from a hoisting rope, can determine the load rope angle of the suspended load in the x and / or y directions relative to a vertical line passing through the load's suspension point on the load handling device. By combining the hoisting rope angle and the load rope angle (each in the same direction), if the hoisting rope length, i.e., the distance between the suspension point on the jib and the center of gravity of the load handling device, is known, and the length of the sling or load rope suspending the load from the load handling device is known or specified, the relative load position, i.e., the lateral displacement of the load system's center of gravity relative to a vertical line passing through the suspension point, or the pendulum angle of the load system's center of gravity relative to a vertical line passing through the suspension point on the jib, can be determined. The load position can be determined by applying known trigonometric functions or, if the hoisting rope angle and load rope angle are relatively small, less than 5° each, by approximation using linear functions.

[0034] The slewing jib crane can then be operated using a state controller based on a virtually assumed single pendulum system without considering the elastic deformation of the crane structure due to torsional and bending moments, thereby making it easy to implement the corresponding state control.

[0035] When the state of the crane changes, in particular when the length of the hoisting rope changes, the parameters of the state space description may be updated, in particular depending on the mass of the load and / or the radial position of the suspension point, and state control may be performed by determining a linear combination of the control deviations of the state variables by a method based on pole assignment or LQ and using this to calculate at least one manipulated variable for the movement of the suspension point.

[0036] Therefore, the state space representation for radial (x-direction) motion is:

[0037] TIFF2026503624000002.tif19150

[0038] System matrix A LK and the input vector bLK Exemplary parameter settings for are as follows:

[0039] TIFF2026503624000003.tif18150

[0040] TIFF2026503624000004.tif18150

[0041] And, for example,

[0042] TIFF2026503624000005.tif26150

[0043] Here, x represents the radial position (x direction) of the suspension point, φx represents the pendulum angle in the radial direction (as the load position), c represents a predetermined constant, and T represents the operation amount u LK represents the time constant of the transfer function of the suspension point tracking when controlled by the velocity (preferably velocity), g represents the gravitational constant, and l represents the pendulum length l of the load system. "'" represents the first time derivative, and "''" represents the second time derivative. Z represents the state vector, and A LK represents the system matrix, and b LK represents the input vector. System matrix A LK and the input vector b LK Other parameter settings are also possible. LK corresponds to the 4x4 system matrix, and b LK corresponds to a four-dimensional input vector with state-space parameters of the state-space representation for the radial motion of the suspension point.

[0044] Here, the system matrix A LK and the input vector b LK The parameterization of changes whenever the pendulum length l changes.

[0045] By applying the pole assignment method or LQ method, the updated system matrix A is calculated for the control equations applied to the motion of the suspension point. LK Based on this, the control vector Kx in the x direction is [K1, K2, K3, K4] T can be obtained.

[0046] TIFF2026503624000006.tif11150

[0047] where t denotes the current time step of the control, and u * LK are the control variables, x(t), x'(t), φ x (t),φ' x (t) is the currently measured and determined state variable.

[0048] Pole assignment and LQ methods are widely known in the art, as disclosed, for example, in Holger Lutz and Wolfgang Wendt, "Taschenbuch der Regelungstechnik", Europa-Lehrmittel, 2021, ISBN 9783808558706, and Otto Follinger, "Regelungstechnik", VDE Verlag GmbH, 2022, ISBN 9783800755189.

[0049] Furthermore, the state space representation for tangential (y or θ) motion may be:

[0050] TIFF2026503624000007.tif20150

[0051] System matrix A DW and the input vector b DW Example parameters are as follows:

[0052] TIFF2026503624000008.tif18150

[0053] TIFF2026503624000009.tif18150

[0054] And, for example:

[0055] TIFF2026503624000010.tif28150

[0056] Here, θ indicates the position of the suspension point, and φ y indicates the tangential deflection angle, and I A is a predetermined value, particularly a value depending on the mass of the load handling system, and represents the moment of inertia acting on the slewing device, m represents the mass of the load handling system, and u DW denotes the input variable (preferably velocity) for the swivel, i.e., the drive for the tangential suspension point movement. A DW denotes the 4x4 system matrix, and b DW denotes the input vector with the state-space parameters of the state-space representation for the motion of the suspension point in the tangential direction. Other parameterizations of the system matrices and input vectors are possible.

[0057] By applying the pole assignment method or LQ method, the control equations applied to the motion of the suspension point are given by the control vector Ky = [K5, K6, K7, K8] related to the y direction. T can be obtained.

[0058] TIFF2026503624000011.tif14150

[0059] where t denotes the current time step of the control, and u * DW are the control variables to be set, and θ(t), θ'(t), φ y (t),φ' y (t) is the current measured and determined state variable.

[0060] This also allows the state control to be easily adapted to various crane configurations by selecting a manageable number of control parameters. The state control can be based on a state vector Z, which includes the load position and load velocity (relative to the lifting point), i.e., the load deflection and load deflection velocity, and / or the sway angle and sway angular velocity in one or two lateral directions of movement. The state vector Z can further include indicators for the current drive position and adjustment speed of the relevant drive elements, such as the jib, trolley, etc. Here, the current adjustment speed in the x-direction corresponds to or is a function of, for example, the jib hoisting speed in a mobile crane or the trolley speed in a tower crane, and in the y-direction it is the jib rotation angular velocity. Thus, the control position corresponds, for example, to the jib hoisting angle or the trolley position on the jib in the x-direction, and to the rotation angle in the y-direction.

[0061] The state control can be implemented to perform an anti-sway function, particularly in manual or automatic crane operation, when the speed of the suspension point in at least one direction of movement is specified, whereby for anti-sway purposes the target values ​​of the load position information and load speed information of the center of gravity of the load handling system are set to zero, the target value of the suspension point speed is also set to zero, and the target value of the suspension point position is set to a position as a function of the specified suspension point speed.

[0062] The anti-sway device controls the load position and load speed by active state control. xsoll ,φ ysoll =0, φ' xsoll , φ' ysoll This is achieved by specifying the load swing amount as 0, the load swing speed as 0, or the pendulum angle as 0, and the pendulum angular speed as 0. The purpose of this is to prevent the center of gravity of the load system from moving relative to the suspension point, and to control the center of gravity so that it is accurately located directly below the suspension point.

[0063] Target value of suspension point speed x' soll, θ' sollis set to zero as a target variable specified manually or automatically, while the target value of the suspension point position is determined as a function of the suspension point speed specified by the crane operator. Therefore, the target position of the suspension point can be obtained by accumulating distance increments over time corresponding to the product of the target speed specified by the crane operator and the control cycle time to prevent overshoot when reaching the final position. For example, when operating the crane, the crane operator can specify the jib hoisting movement or the trolley movement speed in the x-direction, and / or the jib rotation speed in the y-direction to move the load according to the operation request.

[0064] The setpoint value can be entered using a joystick or the like and corresponds to the desired adjustment speed of the corresponding drive, in particular in the form of a motor speed for the drive of the slewing gear, the trolley travelling gear, etc. This setpoint speed value may indirectly specify an operating variable for the movement of the suspension point via a control or may specify an operating variable for the speed of the suspension point according to a predetermined coupling function (known depending on the crane configuration) and corresponding to a mechanical coupling by an overdrive transmission or a reduction mechanism.

[0065] Various operational functions can be realized by specifying a target state. When the anti-sway function is used during crane operation, the adjustment speed (x and / or y direction) specified by the crane operator is adjusted to the target value of the suspension point position in the x or y direction (x soll , θ soll ) is periodically added to the speed of the suspension point, in which case no target value is set for the speed of the suspension point.

[0066] The anti-sway function is enabled during crane operation, which is characterized by either one of the target values ​​being non-zero or the operation of an operating element to move the crane. The anti-sway function may also remain enabled as long as a predetermined continuous operation time has not elapsed after the operation of the operating element has ended.

[0067] By implementing state control, further comfort functions can be realized in the operation of a rotary jib crane.

[0068] As described above, the control is only executed while the crane is in operation and terminates after a predetermined continuous operating time has elapsed after the operation has been stopped or after the automatic control of the crane's motion has ended. However, residual pendulum vibration may remain after the crane operation has ended and the state control has been stopped, for example, due to external disturbances. For this reason, the anti-sway function can be activated for a predetermined period by the crane operator or another construction site worker who can communicate with the crane control device, even when the rotary jib crane is in a stopped state, by actively operating the first operation control element. In this case, the target state variables for load position and load velocity, i.e., pendulum angle and pendulum angular velocity, or load swing amount and load swing velocity, are set to zero. After operating the first operation control element, the state control remains active for a predetermined continuous operating time of 5 to 20 seconds, or until the load position and load velocity indicate no load motion or load motion below a predetermined threshold for, for example, 1 to 5 seconds.

[0069] Furthermore, after operating the corresponding first operating element, the peak position of the pendulum oscillation can be identified by a known method and the peak position can be set as the target position.In addition, the continuous operation time of the active state control can be set according to the oscillation period, in this case, the continuous operation time can be set to half the period.

[0070] The state control may be configured to be activated or operable to perform a disturbance variable compensation function. In this disturbance variable compensation function, a target value for information about the position of the suspension point is determined as a function of the stored absolute position of the load, and a target value for the speed of the suspension point is continuously set to 0, without taking into account the load swing amount and load swing speed of the center of gravity of the load system. In particular, while the disturbance variable compensation function is operating, the load swing amount and load swing speed are not taken into account by setting the control deviations corresponding to the load swing amount and load swing speed of the center of gravity of the load system to 0. In particular, the target value for information about the position of the suspension point is determined based on the current load position of the center of gravity of the load system, the pendulum length of the load system, and the current position of the suspension point.

[0071] Thus, the disturbance variable compensation function can be provided as an alternative or additional operating function. Thus, when the disturbance variable compensation function is activated, for example by operating the second operating element, the current absolute position of the load can be specified or stored as a target position. The current absolute position of the load is obtained by adding the existing position of the suspension point on the jib at the time of activation of the disturbance variable compensation function and the existing load position in the form of a load swing relative to the vertical line in one or both lateral directions. The absolute position is calculated via the load swing or pendulum angle, for example by applying trigonometric functions. The control is then performed according to a target value for the absolute position of the suspension point, which is periodically adjusted depending on the respective load position of the center of gravity of the load system and the corresponding load speed. Therefore, the load position and load speed are not taken into account in the control, particularly by setting the corresponding control deviation or the relevant element (coefficient) of the control vector K to 0 during the operation of the disturbance variable compensation function.

[0072] The disturbance variable compensation function can be manually activated and deactivated. The disturbance variable compensation function can be automatically deactivated when active crane operation is required, since the active anti-sway method will then be activated and it will no longer be necessary to maintain a memorized absolute position of the load system's center of gravity.

[0073] The state control may be configured to operate or be operable to perform a positioning function, in which the target values ​​of the state control are specified as zero relative position and relative velocity of the center of gravity of the load system, without taking into account the position and velocity of the suspension points. In particular, while the positioning function is active, the position and velocity of the suspension points may be ignored by setting the corresponding control deviation or the relevant element (coefficient) of the control vector K to zero.

[0074] The positioning function allows an operator, particularly via a mobile operating device, to activate a function for controlling the load swing amount or pendulum angle and the load swing speed or pendulum angular velocity of the center of gravity of the load system by operating a suitable third operating element, without controlling the position of the lifting point. Thus, only the load swing amount or pendulum angle, or the load swing speed or pendulum angular velocity, are controlled to zero, respectively. The third operating element is preferably configured as a touch element, and while it is held in an activated state, it allows manual movement of the load or the load handling equipment. When a lateral force is applied to the load or the load, the activated positioning function operates to return the load swing amount or pendulum angle, which has deviated from zero, to zero, thereby displacing the load handling equipment laterally. This causes the corresponding drive to operate to perform a compensating movement in the direction of the force applied to the load handling equipment. After the third operating element is deactivated or released, the anti-sway control is activated for a predetermined period of time, for example, 5 to 20 seconds, thereby reducing residual vibration.

[0075] To implement the lifting function, a state control can be performed or made executable when the load is being lifted. In this case, information about the load position is determined when the lifting force on the hoisting rope exceeds a predetermined lifting force threshold and the load has not yet been lifted. The state control is performed using zero target values ​​for the load position and load speed as well as the speed of the lifting point, without taking into account the control deviations for the lifting point position. In particular, during an active lifting function, no control of the lifting point position is performed by setting the corresponding control deviation or the relevant element (coefficient) of the control vector K to zero.

[0076] In particular, the lifting function can be activated when a load is being lifted during crane operation. In practice, when a load is attached, the center of gravity of the load system and the lifting point of the hoisting ropes are not usually located exactly on a vertical line. When a load is lifted, a significant degree of pendulum motion can occur due to the non-zero relative position of the center of gravity of the load system. Therefore, before lifting the load, the hoisting ropes are intended to be tightened so that they are taut. The tightening of the hoisting ropes can be detected by monitoring the increase in force applied to the hoisting ropes during the tightening process. Active state control for an unlifted load corrects a non-zero load position (a biased pendulum angle or detected load swing amount) and results in a zero control error related to the pendulum angle / load swing amount. This positions the lifting point on the jib exactly above the center of gravity of the load system. Once this state is achieved, the load can be lifted without pendulum oscillation. In particular, this embodiment is configured to delay lifting of the load until the pendulum angle is controlled to zero.

[0077] Furthermore, by executing or making executable the state control, a position approach function can be realized. This position approach function is a function of approaching a stored absolute position of a load and stopping the load at that position, and the absolute position of the load is stored according to a user's request. The state control is executed using a target value for the position of the suspension point corresponding to the stored position, a target value for the speed of the suspension point which is zero, and a target value for the position and speed of the center of gravity of the load system which are zero. Then, when the position of the suspension point approaches the stored position of the suspension point during crane operation, particularly when it is less than a predetermined threshold distance, the state control based on these target values ​​is executed.

[0078] According to the position approach function, the function is activated by operating the fourth operating element, and the specific position can be approached in one or more directions of movement, i.e., the x-direction and / or y-direction. This initiates crane operation, and the load is moved in accordance with the crane operation. When the current position approaches the stored position, the load stops at the stored position, and the function is then stopped. Therefore, after the load has stopped at the stored position, it can be moved in any direction. If the threshold distance is exceeded again, the position approach function can be activated again.

[0079] The position approach function is based on state control in the x and / or y directions by monitoring the distance between the position of the suspension point and the stored position of the suspension point. If the distance falls below a predetermined threshold, the manually or automatically specified target value for the speed of the suspension point is set to 0, and the stored load position is set as the target value. Then, the load position (sway angle or load sway amount) and load velocity (sway angular velocity or relative load velocity) are also set to 0. Thus, storing the position of the suspension point sets a limit that cannot be exceeded in ongoing crane operation without stopping the load at that position or limit position. The stored position can be deleted by disabling the position approach function.

[0080] The corridor function allows a load sway trajectory to be specified as a series of target load positions for which the movement of a suspended load is controlled or controllable. For example, the load sway trajectory can be specified as a load position trajectory taking into account an allowable error, i.e., as a range of absolute load positions within which load movement is permitted. When the load reaches an absolute position at the limit of the specified load sway range, the movement of the load is stopped and the load is guided along the limit of the load sway range so that the load moves along the limit range. In this way, if a prohibited area exists on the direct travel path between the start position and the target position, the prohibited area can be avoided.

[0081] According to a further aspect, there is provided an apparatus, in particular a control unit, for operating a slewing jib crane by state control, the state control providing control of the movement of a load in at least one direction of movement and based on a state vector, which is configured as follows: Detecting state variables of the state vector, which include information about the position and speed of a movable suspension point from which a load system including the hoisting rope, a load handling device arranged at the lower end of the hoisting rope, and a load suspended below the load handling device (UF) is suspended, and information about the load position and load speed of the center of gravity of the load system relative to the suspension point. · determining at least one manipulated variable for moving the suspension point in the at least one direction of movement based on the state control; · operating the slewing jib crane as a function of the at least one manipulated variable.

[0082] Furthermore, the method of the present invention can be implemented on a slewing jib crane via a control unit, using a computer program product for executing the method in the control unit, by means of which the control unit receives instructions for executing the individual method steps, thereby achieving the aforementioned advantageous technical effects and enabling the aforementioned functionality on the slewing jib crane.

[0083] Furthermore, as another aspect of the present invention, there is provided a slewing jib crane comprising one or more drive devices for moving the suspension point of a load system and the device, and the slewing jib crane is controlled by controlling the one or more drive devices. [Brief explanation of the drawings]

[0084] The preferred embodiment is described in more detail below in connection with the following figures: [Figure 1] FIG. 1 is a schematic diagram of a tower crane. [Figure 2] Figure 2 shows the load system as a multiple pendulum. [Figure 3] Figure 3 shows the load system as a simple pendulum. [Figure 4] FIG. 4 is a schematic diagram of a control unit for operating the tower crane of FIG. [Figure 5] FIG. 5 is a flowchart showing the steady state function. [Figure 6] FIG. 6 is a flowchart showing the disturbance compensation function. [Figure 7] FIG. 7 is a flow chart illustrating the positioning function. [Figure 8] FIG. 8 is a flow chart showing the unloading function. [Figure 9] FIG. 9 is a flow chart illustrating the location approach function. DETAILED DESCRIPTION OF THE INVENTION

[0085] FIG. 1 shows a schematic side view of a tower crane 2 for lifting, moving, and unloading a load L. The tower crane 2 represents an example of a slewing jib crane in this specification. The tower crane 2 includes a tower T, at least a portion of which is fixed to a base G and has an imaginary vertical axis H, and a trolley-type jib KA protruding from the tower T. The trolley-type jib KA is not configured to be raised and lowered as shown in FIG. 1. In an example not shown, the trolley-type jib KA can also be configured to be raised and lowered, in which case the trolley-type jib KA is moved by a hoisting drive device.

[0086] The tower crane 2 includes a slewing device DW arranged on a rotation axis for rotating at least the trolley-type jib KA about the vertical axis H. The tower crane 2 includes a rotation angle sensor device 510 configured, for example, as a rotation angle sensor for measuring the rotation angle θ_u of the trolley-type jib KA about the vertical axis H in the xy plane. The xy plane is generally defined as the tangential y direction and the radial x direction.

[0087] The trolley LK is movable along the trolley jib KA and is provided with a first deflection roller 202 and a second deflection roller 204 for deflecting the hoisting rope HSL in the direction of the load handling device UF. The load handling device UF can be configured as a bottom block or a hook block and may be provided with at least one deflection roller 302 for the hoisting rope HSL or may be provided with several deflection rollers.

[0088] The hoisting rope HSL extending from the hoisting device HW is guided via a first direction-changing roller 202 of the trolley LK, one direction-changing roller 302 of the cargo handling device UF, and a second direction-changing roller 204 of the trolley LK, whereby the hoisting rope HSL is wound up and unwound. The hoisting rope HSL is attached to the tip 4 of the trolley jib KA.

[0089] The hoisting device HW may be equipped with a brake, an electric motor, a gearbox and a rope winch as known in the art. The hoisting rope HSL is wound onto the rope winch of the hoisting device HW to hoist the load L and is unwound to lower the load L. The hoisting rope HSL is guided, for example, from the hoisting device to a deflection roller 202 of the trolley LK via two deflection rollers 20 and 22 arranged on or near the vertical axis H.

[0090] The hoisting rope length l1 is measured by a hoisting rope length sensor 610, for example in the form of a rotation angle sensor which counts the number of revolutions of the hoisting device HW. For example, the distance between the load handling device UF and the trolley LK and between the suspension point AUP, which is considered to be the hoisting rope length l1, can be determined by detecting the rotational position of the hoisting device HW.

[0091] As shown in Fig. 1, a mass sensor device 620 is coupled to the deflection roller 22 to detect the mass m of the load L or the trolley LK at the suspension point AUP of the load system, respectively. The mass sensor device 620 measures, for example, the tension acting on the deflection roller 22. The sensor signal obtained by the mass sensor device 620 represents the mass m.

[0092] The first angle sensor device 210 arranged on the trolley LK detects the hoisting rope angle φ of one or more sections HSL#1, HSL#2 of the hoisting rope HSL located between the trolley LK and the cargo handling device UF. 1y , φ 1x (y-direction and x-direction) as a relative angle with respect to a vertical line passing through the suspension point AUP. The first angle sensor device 210 comprises, for example, an optical or ultrasonic distance measuring system that measures the distance between the first angle sensor device 210 and a part of the hoisting rope HSL, which is a function of the hoisting rope angle, and based on this, determines the hoisting rope angle φ 1y , φ 1x (y direction and x direction) can be calculated. 1y , φ 1x Other known measurement methods can also be applied to calculate the hoisting rope angle φ 1y , φ1x The y-direction and x-direction correspond to the angle formed by the line connecting the suspension point AUP and the center of gravity of the cargo handling device UF with the vertical line passing through the suspension point AUP. 1y , φ 1x The information about the above is transmitted to the control unit 100 for provision.

[0093] The second angle sensor device 310 is arranged on the cargo handling device UF as, for example, a gyroscope, and detects the load rope angle φ from the suspension point ANP of the load L to the cargo handling device UF. 2x , φ 2y (the angle relative to the vertical line in the x or y direction) 2x , φ 2y indicates the angle in the x-direction or y-direction that the line connecting the suspension point ANP and the center of gravity of the suspended load makes with the vertical line passing through the suspension point ANP. The second angle sensor device 310 is connected to the control unit 100 so as to be able to communicate with it.

[0094] The length l2 of the load rope LSL, or in the case of other lifting devices, the distance between the load handling device UF and the center of gravity of the load L, can be set or determined, for example, by the user, or this distance can be determined using suitable measuring devices.

[0095] The trolley traveling unit KW is arranged to be fixed to the trolley jib KA and is connected to the trolley LK via the trolley rope KSL, and moves the trolley LK along the trolley jib KA. The trolley traveling unit KW is equipped with a brake, an electric motor, a transmission, and a double rope winch, which has two sections connected by a common shaft, and when the double rope winch is rotated in one direction, it winds up one part of the trolley rope KSL and unwinds the other part, thereby moving the trolley LK.

[0096] The position sensor device 420 is, for example, a rotation angle sensor that counts the number of rotations of the trolley traveling unit KW and generates a sensor signal indicating the position x of the trolley LK, and is arranged to be fixed to the frame 402. The position x of the trolley LK corresponds to the position of the suspension point AUP.

[0097] The angle difference sensor device 410 is configured to determine the rotation angle difference Δθ between the rotation angle θ_u of the trolley jib KA about the vertical axis H and the current rotation angle θ about the vertical axis H at the position of the trolley LK. The angle difference sensor device 410 for determining the rotation angle difference Δθ is arranged to be fixed to the trolley jib KA, particularly to the frame 402 of the trolley jib KA or the trolley traveling unit KW. The angle difference sensor device 410 may be configured to measure the lateral distance between the angle difference sensor device 410 and a portion KSL#1 of the trolley rope KSL located between the fixed deflection roller 6 on the proximal side of the trolley jib KA and the trolley LK, for example, by ultrasonic measurement technology. The deflection roller 8 arranged on the distal side of the trolley jib KA deflects the trolley rope KSL from the trolley traveling unit KW toward the trolley LK. The rotation angle difference Δθ can be determined by either the angle difference sensor device 410 or the control unit 100 based on a sensor signal representing the distance. Other known methods for determining the rotation angle difference Δθ may also be applied. The angle difference sensor device 410 is used to determine the deviation between the rotation angle θ_u of the trolley jib KA and the actual rotation angle θ of the trolley LK or the suspension point AUP of the load system, which is caused by the elastic deformation of the trolley jib KA.

[0098] The trolley traveling unit KW includes a frame 402 and a drive unit fixed to the frame 402 for winding and unwinding the trolley rope KSL. The angle difference sensor device 410 arranged to be fixed to the frame 402 is configured to determine the rotation angle difference Δθ between the rotation angle θ_u of the trolley jib KA about the vertical axis H of the tower T of the tower crane 2 and the current rotation angle θ of the trolley LK or the hanging point AUP about the vertical axis H.

[0099] A further tilt sensor device 220, for example in the form of a gyroscope, is fixed to the trolley LK, in particular to its chassis, and is used to determine the tilt angle Δφ (height angle difference) of the trolley LK with respect to the horizontal plane. The tilt sensor device 220 determines a sensor signal characterizing the tilt of the trolley LK with respect to the horizontal plane, in particular the tilt angle with respect to the horizontal plane in the xh plane spanned by the vertical axis h and the longitudinal axis x of the trolley jib KA. The control unit 100 determines the current hoisting rope angle φ in the x direction. 1x When calculating the angle of the hoisting rope φ with respect to the vertical line passing through the suspension point AUP, 1x The tilt angle Δφ can be taken into account as a correction for determining the angle error. This is because the first angle sensor device 210 normally tilts together with the trolley LK, and this angle error is calculated by the hoisting rope angle φ 1x This is necessary to avoid recognition during measurement.

[0100] The control unit 100 is configured as a conventional data processing device and controls the slewing drive DW, the hoisting device HW and the trolley traveling device KW based on the following variables: slewing angle θ_u, slewing angle difference Δθ, hoisting rope angle φ 1x , φ 1y , load rope angle φ 2y , φ 2x The system is configured to execute processing to operate the system in accordance with all or part of the hoisting rope length l1, the load rope length l2, the mass of the suspended load, the position x of the trolley traveling device, and the tilt angle Δφ.

[0101] The operating speed u is the manipulated variable of the motors provided to control the slewing drive unit DW, the hoisting unit HW, and the trolley traveling unit KW. * DW , u * HW , u * KW In another embodiment, control can also be performed by specifying a torque.

[0102] The hoisting rope HSL suspended from the trolley LK, the load handling device UF, the load rope LSL, and the load L constitute a load system. The load system constitutes a multiple pendulum, and it is assumed that its suspension point AUP is located between the two sections HSL#1 and HSL#2 of the hoisting rope HSL. The multiple pendulum is illustrated in Figures 2 and 3 below and includes the two sections HSL#1 and HSL#2 of the hoisting rope HSL, the load handling device UF suspended from the hoisting rope HSL, the load rope LSL arranged below the load handling device UF, and the load L arranged on the load rope LSL. In this specification, the multiple pendulum or double pendulum refers to the load system located below the trolley LK or the deflection rollers 202, 204 of the trolley LK.

[0103] An operation unit 900 for operating the crane is provided. The operation unit 900 is configured as, for example, an operation panel in a crane cab or a remote control capable of communicating with the control unit 100. For example, a joystick 910 of the operation unit 900 is used to control a target variable S that defines the movement speed in the x direction and / or y direction. soll can be implicitly transmitted to the control unit 100. Also, the user can specify in the form of a target variable that the load is to be hoisted or lowered by the hoisting device HW. The target variable is u * LKsoll , u * DWsoll , and / or u * HWsoll and specifying the drive speeds for the motors of the trolley traveling unit KW, the slewing device DW, and / or the hoisting device HW, which are converted into the movement of the suspension point AUP and the change in the hoisting rope length l1 according to known machine specifications, and the target value x' soll , θ' soll and / or l' soll The target value is x' soll , θ' soll and / or l' soll It can also be specified directly as

[0104] Figure 2 shows a schematic diagram of the double pendulum of the tower crane shown in Figure 1. This double pendulum consists of sections HSL#1 and HSL#2 of the hoisting rope HSL, the load handling device UF, the load rope LSL, and the load. There are two related angles in one direction in this double pendulum: the hoisting rope angle φ1 at the suspension point AUP (the angle with respect to the vertical line passing through the suspension point AUP) and the load rope angle φ2 at the suspension point ANP (the angle with respect to the vertical line passing through the suspension point ANP).

[0105] Figure 3 shows the simplification of a multiple pendulum proposed in this specification to prevent or reduce pendulum motion. The multiple pendulum shown in Figure 2 is treated as a single pendulum in the state control described below. The relevant parameter in this case is the pendulum angle φ of the displacement (deflection) of the load L relative to the trolley LK. Since it is difficult to measure this pendulum angle φ directly using robust sensor technology, it is calculated in one direction using the hoisting rope angle φ1, hoisting rope length l1, load rope length l2, and load rope angle φ2 obtained as described above. The hoisting rope angle φ in the x direction 1x To correct this, the inclination angle Δφ of the trolley jib KA relative to the horizontal direction can be taken into account, which results in the hoisting rope angle φ in the x direction 1x is φ 1x =φ1+Δφ. Note that the hoisting rope angle in the y direction is φ 1y This correction is not necessary for

[0106] Since the mass of the load L is assumed to be significantly larger than the mass of the loading device UF, the inclination of the loading device UF corresponds to the inclination of the suspended load, and therefore is φ2, i.e., φ in the x direction. 2x , φ for the y direction 2y Corresponds to.

[0107] 4 is a diagram showing the operation speed u of the trolley LK, the slewing device DW and the hoisting device HW set by the control unit 100 with reference to FIG. * LK , u * DW , u * HWThe signal flow for determining the speed can be specified, for example, as a percentage of the maximum speed (rated speed) for each drive motor (trolley traveling device KF, swinging device DW, and hoisting device HW).

[0108] Deflection angle φ in the x and y directions x , φ y With reference to FIG. 4, the swing angle calculation block 110 in the control unit 100 can calculate the swing angle in various ways.

[0109] An accurate calculation gives the length l of the double pendulum as follows:

[0110] TIFF2026503624000012.tif10150

[0111] The deflection angles φ in the x and y directions are x , φ y is calculated using the following formula:

[0112] TIFF2026503624000013.tif116155 TIFF2026503624000014.tif21153

[0113] This calculation can be simplified by approximating it in sensor fusion form by the following equation:

[0114] TIFF2026503624000015.tif11153

[0115] TIFF2026503624000016.tif11153 TIFF2026503624000017.tif11153

[0116] Here, the coefficient k x and k ycan be defined as a constant, in particular in the range of 0.25 to 0.75, or can be set according to a characteristic diagram or function based on the hoisting rope length l1 and / or the mass of the load L, for example as follows: TIFF2026503624000018.tif15153

[0117] The control unit 100 includes at least the above-mentioned sensor variables and target variables S soll is provided, and based on this, the speed u is controlled according to the state controller 120. * LK , u * DW , u * HW The target variables may include a target speed or target torque for the trolley traveling unit KW, a target speed or target torque for the slewing device DW, and a target speed or target torque for the hoisting device HW.

[0118] Furthermore, a function block 130 is provided, which controls the operation of the state controller 120 in response to the operation of the operation unit 900 in particular, thereby enabling various operation functions to be performed.

[0119] In the rotation angle calculation block 140, the rotation angle θ determined by the rotation angle sensor device 510 and the rotation angle difference Δθ measured by the rotation angle difference sensor device 410 are added together to provide a corrected rotation angle θ as the actual rotation angle of the trolley jib KA around the vertical axis H.

[0120] The appropriate differential blocks 150, 160, 170, and 190 are used to calculate the deflection angle φ x , φ y , the corrected rotation angle θ, and the time derivative of the speed x' of the suspension point AUP are φ' x , φ' y , θ' and x'.

[0121] Furthermore, the position of the trolley LK (position of the suspension point AUP) is provided by the state control position sensor device 420. The differential block 190 allows the trolley speed x' to be calculated as the time differential as the speed of the suspension point AUP in the state controller 120. Alternatively, the trolley speed can be read out directly from the control unit 900, as it has been calculated very accurately based on the known (measured) motor speed and the known reduction ratio.

[0122] The control parameter block 180 is provided to determine the control parameters for each movement direction (x direction and / or y direction) based on the mass m of the load system measured by the mass sensor device 620, the position x of the trolley LK (or the suspension point) measured by the position sensor device 420, and the hoisting rope length l1 or the total pendulum length l of the multiple pendulum. These control parameters are expressed as Kx = [K1, K2, K3, K4] T , Ky=[K5,K6,K7,K8] T and is calculated from the system matrix A and the input vector b. The system matrix A and the input vector b are determined as functions of the mass m, the pendulum length l, and, if necessary, the position x of the trolley LK (or the suspension point), and are continuously updated. The determined control parameter K is supplied to the state controller 120.

[0123] The system matrix A and the input vector b are updated according to a known state-space parameter determination method when at least one parameter of the mass m, the pendulum length l, and the position x of the trolley LK (or the suspension point) changes, particularly when the change exceeds a predetermined absolute or relative value (e.g., 2%). The control parameter block 180 executes a known pole assignment method or a known LQ method using the system matrix A and the input vector b to determine each of the control vectors Kx and Ky based on the state-space representation.

[0124] The state controller 120 can be described by a state-space representation, which decomposes a linear n-th order system into n first-order subsystems, allowing for a single, simple control parameterization. The state control of the trolley traveling gear KW and the slewing gear DW can be considered separately.

[0125] In the state control of the trolley traveling device KW, the swing angle φ in the x direction x , and its swing angular velocity φ' x , the position x of the trolley, and the velocity x' of the trolley LK are considered as state variables.

[0126] The objective of state control is to calculate the state variables of the state variable vector Z and the specified target variable S soll =u * KWsoll , u * DWsoll , u * HW , or x' transformed as needed. soll , θ' soll , l' soll from the instrumental variable u * LK , u * DW , u * HW In this case, the control deviation of the state variables is multiplied by the control parameters of the updated control vectors Kx and Ky, and the sum of these products becomes the desired manipulated variable.

[0127] The state space representation of the trolley LK is as follows:

[0128] TIFF2026503624000019.tif25153

[0129] where x'' represents the acceleration of the trolley LK (i.e., the suspension point AUP), and φ'' x represents the angular acceleration of the swing angle. LK corresponds to a 4x4 system matrix, and b LK corresponds to the input vector having state space parameters in the state space description of the trolley traveling unit KW. LK and an example parameterization of the input vector b is as follows:

[0130] TIFF2026503624000020.tif23153

[0131] TIFF2026503624000021.tif23153

[0132] where a1, a2, a3, b1, and b2 are system parameters for control, which can be determined by well-known methods, for example, by physical modeling or empirical methods. The control vector K is suitably determined by applying the pole assignment method or the LQ method, and the resulting actuation variable u * LK The formula for periodically calculating is as follows:

[0133] TIFF2026503624000022.tif18155

[0134] In normal operation with the anti-sway function enabled, the target speed of the trolley (i.e., the suspension point AUP) is u * LKsoll is specified in the range of -100 to 100% of a predetermined nominal speed by an operating unit 900, such as a joystick, in particular. This target speed is converted into a speed x' of the trolley or the hanging point AUP according to the mechanical coupling relationship with the trolley or the hanging point AUP.

[0135] In the state control of the swivel device DW, the swing angle φ in the y direction y , and its angular velocity φ' y , the trolley jib's slewing angle θ, and the trolley jib's slewing angular velocity θ' are considered as state variables.

[0136] The state space representation of the swinging device DW is as follows:

[0137] TIFF2026503624000023.tif25153

[0138] Here, θ'' represents the rotational angular acceleration, and φ'' y represents the angular acceleration of the deflection angle in the y direction. DW corresponds to a 4x4 system matrix, and b DW corresponds to the input vector with state-space parameters in the state-space description of the slewing device DW. DW and the input vector bDW An example parameterization of is as follows:

[0139] TIFF2026503624000024.tif23153

[0140] TIFF2026503624000025.tif23153

[0141] Here, a4, a5, a6, b3, and b4 are control parameters for control, which can be determined by well-known methods such as physical modeling or empirical methods. Control vector Ky=[K5, K6, K7, K8] T is appropriately determined by applying the pole assignment method or the LQ method, and the resulting manipulated variable u * DW A formula for periodically calculating is obtained.

[0142] TIFF2026503624000026.tif20155

[0143] In normal operation, when the anti-sway control is active, the desired swing speed of the swing device, u * DWsoll is indicated in the range of -100 to 100% of the nominal speed specified by the operation unit 900, which is particularly composed of a joystick or the like. This nominal speed is converted into the rotation angular velocity θ' of the trolley jib or the angular velocity θ' of the suspension point AUP based on the mechanical connection with the trolley or the suspension point AUP.

[0144] The state controller may also include a winding device HW and may further include the total pendulum length l and the pendulum length velocity l′ as state variables. Accordingly, the control model may have the following configuration:

[0145] TIFF2026503624000027.tif55153

[0146] The state control is the target variable u * DWsoll , u * LKsolland u * HWsoll is used as the target value. The corresponding target value for control is the target variable u * DWsoll , u * LKsoll and u * HWsoll θ' is obtained by converting the speeds of the drive units DW, LK, and HW corresponding to the target value into the horizontal (x, y) speeds of the slewing unit and trolley traveling unit KW and the vertical (h) speeds of the load. soll , x' soll and l' soll is equivalent to

[0147] The control may be performed according to a control period ranging from 10 ms to 500 ms. The control system may have an observer that calculates the state variables prior to the next time step. Observer structures are known from the prior art and will not be described in detail here.

[0148] Unlike conventional control systems, the manipulated variable u * LK , u * DW , u * HW The optimal trajectory of is calculated based on the available state variables. This prevents strong swaying movements from being generated by the crane operator or the crane operation. Therefore, no follow-up damping of the sway system is required. After the load is lifted, the state control is activated to perform the sway prevention function using the corresponding setpoint value Ssoll. The setpoint values ​​are calculated based on the corresponding setpoint values ​​θ' depending on the respective mechanical connections between the trolley traveling gear KW, the slewing gear DW and the hoisting gear HW and the trolley LK, the trolley jib KA and the load handling gear UF. set , x' set and l' set and is taken into account in the control.

[0149] In the x direction it is as follows:

[0150] TIFF2026503624000028.tif16155

[0151] In the y direction it is as follows:

[0152] TIFF2026503624000029.tif20155

[0153] where t is the current time step of the control, and x(t), x'(t), φ x (t), φ' x (t), θ(t), θ'(t), φ y (t), φ' y (t) is the currently measured and calculated state variable.

[0154] The following applies to the anti-sway function during crane operation:

[0155] TIFF2026503624000030.tif11153 TIFF2026503624000031.tif11153 TIFF2026503624000032.tif11153 TIFF2026503624000033.tif11153 TIFF2026503624000034.tif11153 TIFF2026503624000035.tif11153 TIFF2026503624000036.tif11153 TIFF2026503624000037.tif11153

[0156] The function for determining the target position of the suspension point is:

[0157] TIFF2026503624000038.tif8112

[0158] TIFF2026503624000039.tif8116

[0159] where Δt is the control cycle time, for example in the range of 10 ms to 100 ms. Additionally, the functions f() and g() can also take into account ramp functions for velocity to limit the rate of change of the specified variables.

[0160] The entire control system can be described by the above state controller. The state controller is always active while the tower crane is in operation, and continues to operate for a predetermined duration even after the operation command is completed in order to prevent subsequent swings.

[0161] Alternatively, the control may be applied to only one or two of the operational components: the trolley movement (i.e., the movement of the suspension point AUP in the x-direction), the trolley jib rotation movement (i.e., the movement of the suspension point AUP in the y-direction), or the hoisting device movement (h-direction). Accordingly, the states considered in the state controller 120 are reduced by the corresponding parameters.

[0162] Further additional functions for tower crane operation can be implemented to take advantage of the anti-sway functionality provided by state control.

[0163] For this purpose, for example, a first operating element 920 may be provided in the operating unit 900, which can damp existing load sway or residual sway occurring after a load transport operation using an anti-sway function. This anti-sway function corresponds to the conventional anti-sway function described above and is activated when the first operating element 920 (which may be configured as a push button switch, for example) is operated and remains activated for a continuous operating time of, for example, 5 to 30 seconds, preferably 5 to 15 seconds, and particularly 10 seconds, after the operation of the first operating element 920 has ended. This continuous operating time may be predetermined or may depend on the current sway length l. Therefore, the continuous operating time may be variably predetermined using a function or look-up table based on the sway length l.

[0164] By providing the functionality of the first operating element 920, the tower crane operator can reduce the vibrations that occur due to temporary and sudden forces being applied to the load system, for example, when the crane is not being operated, i.e., when no active transport movement is being performed.

[0165] Furthermore, when the first operating element 920 is operated, a target position of the load is first determined, which is used as an additional target value for control. Typically, the position of the load L corresponds to the position x of the trolley (i.e., the lifting point AUP) and the current rotation angle θ of the jib. These data are used to calculate the target value x store , θ store The target value θ' is stored as θ', which means that the crane operation is not controlled to prevent sway. soll =0, x' soll =0, l' soll = 0 and the state control is performed accordingly. The target values ​​in the above control law are as follows:

[0166] TIFF2026503624000040.tif11153 TIFF2026503624000041.tif11153 TIFF2026503624000042.tif11153 TIFF2026503624000043.tif11153 TIFF2026503624000044.tif11153 TIFF2026503624000045.tif11153 TIFF2026503624000046.tif11153 TIFF2026503624000047.tif11153

[0167] FIG. 5 shows a corresponding flow chart for explaining this steady state function.

[0168] In step S1, it is determined whether the sway prevention function is enabled when the crane is in a non-operating state. If it is enabled (Yes), the process proceeds to step S2. If it is not enabled (No), the process returns to S1.

[0169] In step S2, the position x and θ of the trolley (i.e., the suspension point AUP) are temporarily set to x store and θ store and set as the target value for subsequent control.

[0170] In step S3, the state control is performed. At this time, the θ' for the vibration prevention is soll =0, x' soll =0 and l' soll =0 plus x soll =x store , θ soll =θ store , l soll is adopted as the target value and state control is performed.

[0171] In step S4, it is determined whether the steady state function has ended and the continuous operation time has elapsed. If the time has elapsed (Yes), the process ends, and if not (No), the process returns to step S3 and continues state control.

[0172] A disturbance compensation function can be provided by a functional extension that can be activated or deactivated by the second operating element 930. The disturbance compensation function takes into account external influences on the load system, such as wind pressure or ground vibrations, and is able to maintain the current position of the load L even in the presence of (persistent) disturbances. Once activated by operating the second operating element 930, the function remains active until it is deactivated by operating the second operating element 930. The disturbance compensation function remains active only when the crane is not being actively operated, i.e. when the load is not being moved by an external setpoint command.

[0173] FIG. 6 shows a flow chart illustrating the disturbance compensation function.

[0174] In step S11, it is confirmed whether the disturbance compensation function is enabled when the crane is not in operation. If this is the case (Yes), the process proceeds to step S12. If not (No), the process returns to step S11.

[0175] In step S12, the current absolute load position p xsoll , p ysoll is stored as the target value. The current absolute load position p xsoll , p ysoll can be calculated as follows:

[0176] TIFF2026503624000048.tif11153

[0177] TIFF2026503624000049.tif15153

[0178] In step S13, the state control is started, and the trolley position x, which changes according to the control period, is soll and the rotation angle of the jib θ soll The target value of the pendulum length l is given. soll will not change.

[0179] Absolute position of the load p xsoll , p ysoll To maintain this, the following applies:

[0180] TIFF2026503624000050.tif11153

[0181] TIFF2026503624000051.tif15153

[0182] These values ​​are recalculated at each control cycle, i.e., continuously calculated, because the swing angle φ x , φ y and the swing angular velocity φ' x , φ' y This is because it can always change.

[0183] The target values ​​of the state variables when the disturbance compensation function is in operation are as follows:

[0184] TIFF2026503624000052.tif11153 TIFF2026503624000053.tif11153 TIFF2026503624000054.tif11153 TIFF2026503624000055.tif11153 TIFF2026503624000056.tif15153 TIFF2026503624000057.tif11153 TIFF2026503624000058.tif12153 TIFF2026503624000059.tif12153

[0185] where x soll and θ soll is continuously updated according to the control cycle as described above, thereby making it possible to appropriately respond to changing disturbances and maintain the absolute position of the load unchanged.

[0186] State variable φ marked as undefined x , φ' x , φ y , φ' y are not taken into account in the control while the disturbance compensation function is active by setting the relevant element (coefficient) of the corresponding control deviation or control vector K to zero.

[0187] In step S14, it is determined whether the disturbance compensation function has been completed. If it has been completed (Yes), the process ends, and if it has not been completed (No), the process returns to step S13 and continues state control.

[0188] The disturbance compensation function can be deactivated by appropriately operating the second operating element 930 or by operating the joystick to start transporting the load.

[0189] The positioning function can be activated by actuating a third operating element 940 (e.g., in the form of a push button switch). The positioning function is active continuously while the third operating element 940 is operated, and further active for a continuous operating time of, for example, 5 to 30 seconds, preferably 5 to 15 seconds, e.g., 10 seconds. The positioning function is configured to manually push or pull the load within the placement area, thereby guiding the load to a desired precise position with high precision.

[0190] FIG. 7 shows a flow chart illustrating the positioning function.

[0191] In step S21, it is confirmed whether the positioning function is enabled when the crane is not operating. If it is enabled (Yes), the process proceeds to step S22. If it is not enabled (No), the process returns to S21.

[0192] In step S22, the state controller is started, but the target values ​​for the position x, θ and speed x', θ' of the trolley LK and the slewing device DW are not taken into account, and the target values ​​are set as follows:

[0193] TIFF2026503624000060.tif11153 TIFF2026503624000061.tif11153 TIFF2026503624000062.tif11153 TIFF2026503624000063.tif11153 TIFF2026503624000064.tif11153 TIFF2026503624000065.tif11153 TIFF2026503624000066.tif11153 TIFF2026503624000067.tif11153

[0194] State variable x marked as undefined soll , x' soll , θsoll , θ' soll are not taken into account in the control process, since the relevant elements (coefficients) of the corresponding control deviation or control vector K are set to zero in the active disturbance compensation function.

[0195] In step S23, it is confirmed whether the positioning function has been completed. If it has been completed (Yes), the process ends. If it has not been completed (No), the program returns to step S22 and continues state control.

[0196] During positioning, the third operating element 940 must be kept activated throughout the positioning process to prevent unintentional movement of the load L. The deflection angle φ that deviates from zero when the load L or the load handling device UF is pulled is x , φ y forces the state control to make a compensating action in the direction of the pull, so that the load moves in the corresponding direction in response to the pull. When the tension is released, the trolley LK is positioned exactly above the load L, fixing the new load position.

[0197] Furthermore, to increase safety during lifting, a lifting function can be implemented that is either permanently active or can be activated by means of a fourth operating element 950. This function prevents the immediate sway that occurs when lifting a load, depending on the horizontal deviation of the suspension point AUP and the center of gravity if the suspension point AUP of the trolley LK, i.e. the hoisting rope HSL, is not positioned exactly on a vertical line directly above the center of gravity. In practice, this deviation is almost always present, since it is almost impossible for the crane operator to position the loading device UF exactly above the center of gravity of the load.

[0198] By using the above state control, when the loading device UF is fastened before unloading, the lifting point AUP can be accurately positioned directly above the center of gravity of the load.

[0199] The unloading function is described in further detail below with reference to the flow chart shown in FIG.

[0200] In step S31, when lifting a load, the crane operator uses the fourth operating element 950, for example, to specify that the lifting device HW is enabled.

[0201] In step S32, it is confirmed whether the unloading function is enabled. If it is enabled (Yes), the process proceeds to step S33. If it is not enabled (No), the process returns to step S36 and ends.

[0202] In step S33, the hoisting force is monitored using the mass sensor device 620. If the hoisting force exceeds a predetermined hoisting force threshold, which may be determined by the weights of the load handling device UF, the hoisting rope HSL and the load rope LSL, then the hoisting rope HSL can be considered to be in tension and the measured deflection angle φ x , φ y indicates the deviation of the center of gravity relative to the suspension point AUP on the trolley LK. If this is the case (Yes), the process proceeds to step S34; otherwise (No), the process returns to step S33 and continues waiting until the hoisting force threshold is reached.

[0203] Next, in step S54, the following target values ​​are specified to start state control.

[0204] TIFF2026503624000068.tif11153 TIFF2026503624000069.tif11153 TIFF2026503624000070.tif11153 TIFF2026503624000071.tif11153 TIFF2026503624000072.tif11153 TIFF2026503624000073.tif11153 TIFF2026503624000074.tif11153 TIFF2026503624000075.tif11153

[0205] State variables marked as undefined are not taken into account in the control process by setting the relevant element (coefficient) of the corresponding control error or control vector K to zero in the active disturbance compensation function.

[0206] In step S35, the swing angle φ xsoll =0, φ ysoll =0 and the angular velocity φ' xsoll =0, φ' ysoll It is then checked whether the target value of ∇ = 0 has been achieved, i.e. whether all corresponding control deviations are below a predetermined threshold, e.g., less than 0.3° of the corresponding sway angle. Typically, this threshold can be a function of the hoisting rope length, e.g., 0.1° for hoisting rope lengths greater than 20 m, and 0.2° to 0.3° for hoisting rope lengths l1 less than 20 m. If this is the case (Yes), the process proceeds to step S36. If not, the state control continues with step S34.

[0207] Before the hoisting force increases further beyond the actual lifting start point, the state control is continued. This allows the trolley LK to be accurately positioned directly above the center of gravity of the load, and makes it possible to lift the load without initial swing, i.e., along a vertical line.

[0208] Thereafter, unloading is carried out in step S36.

[0209] Furthermore, a position approach function can be implemented by the fifth operating element 960. The position approach function ensures that when approaching a stored position, the stored position is reached and the load L is stopped without swinging. Only after stopping at the stored position is the position approach function deactivated again, and the load can be moved in any direction depending on the operation of the crane operator.

[0210] In step S41, it is checked whether the position approach function is enabled. If it is enabled (Yes), for example, if the fifth operating element 960 is activated, in step S42, the current absolute position of the load L or the trolley LK (i.e., the suspension point AUP) is calculated. TIFF2026503624000076.tif11153, TIFF2026503624000077.tif15153 can be stored (e.g., x store , θ store as).

[0211] If the absolute load position has been stored according to the position approach function, then in step S43 the crane can be operated conventionally.

[0212] In step S44, it is checked by continuous interrogation whether the current absolute position of the load L or the lifting point AUP is approaching the stored position. If this is confirmed (Yes), in step S45, the stored position x soll =p x , θ soll =p y is set as the target position of the load, and state control is executed accordingly. In this case, subsequent operations by the crane operator (or automatic crane control system) do not affect subsequent target value settings. After it is determined that the load is approaching the stored position, only the positions x and θ are set as target values, and the state controller executes pure position control. The target value is as follows:

[0213] TIFF2026503624000078.tif11153 TIFF2026503624000079.tif11153 TIFF2026503624000080.tif11153 TIFF2026503624000081.tif11153 TIFF2026503624000082.tif11153 TIFF2026503624000083.tif11153 TIFF2026503624000084.tif11153 TIFF2026503624000085.tif11153

[0214] State variables marked as undefined are not considered in the control process while the position approach function is active by setting their corresponding control deviation or control vector K element (coefficient) to zero.

[0215] If it is determined in step S46 that the stored position has been reached (Yes), the state control is temporarily ended in step S47. If not (No), the process returns to step S45 and continues.

[0216] If the crane operation is resumed and the crane moves away from the approaching position, the position approach function is re-enabled and the process continues from step S43.

[0217] Additionally, the fifth operating element 960 may be configured to erase the stored load position when it is activated again.

Claims

1. A method for operating a slewing jib crane (2) by state control, in particular implemented using a computer, which controls the movement of a load (L) in at least one direction of movement and is based on a state vector, comprising the steps of: - a hoisting rope (HSL), a load handling device (UF) located at the lower end of the hoisting rope (HSL), and an adjustable lifting point (AUP) from which a load system is suspended, including, if appropriate, a load (L) suspended below the load handling device (UF); Information about the center of gravity of the load system relative to the suspension point (AUP) in the at least one direction of movement; Information about and detecting the state variables of said state vector including: At least one manipulated variable for moving the suspension point (AUP) in the at least one direction of movement based on the state control. To determine. the at least one manipulated variable Operate the slewing jib crane (2) based on the above.

2. 10. The method of claim 1, The state control is performed when there is a change in the state of the crane, in particular when the hoisting rope ( 1 When there is a change in the length of the load system and / or the radial position of the suspension point (AUP), the parameters of the state space description in the state space are updated, in particular as a function of the mass of the load system, and at least one manipulated variable for moving the suspension point (AUP) is The linear combination of the control deviations of the state variables indicated by the control vector (Kx, Ky) used to calculate the method.

3. 3. The method of claim 1 or 2, the at least one manipulated variable teeth, Including the adjustment speed of the trolley traveling unit (KW) of a tower crane, the adjustment speed of the jib (KA) derrick angle of a mobile crane, and / or the adjustment speed of the swing drive unit (DW), method.

4. 4. The method according to any one of claims 1 to 3, The relative position of the center of gravity of the load system with respect to the suspension point teeth, a hoisting rope angle indicating the angular deviation of the hoisting rope attached to the suspension point (AUP) with respect to a vertical line passing through the suspension point (AUP); and, the load rope angle, which indicates the angular deviation of the center of gravity of the load (L) at the suspension point on the loading device (UF) from the vertical line; is shown as a function of In particular, the length of the hoisting rope (l) between the lifting point (AUP) and the center of gravity of the loading device (UF) 1 ), and / or the length of the load rope (l between the suspension point (ANP) and the center of gravity of the load 2 ) is determined as a function of especially, is the center of gravity relative to the vertical line passing through the suspension point (AUP). Or, the horizontal distance of the center of gravity to the vertical line passing through the suspension point (AUP), method.

5. 5. The method according to any one of claims 1 to 4, the state control is activated to perform an anti-sway function, in particular when the speed of the suspension point (AUP) in the at least one direction of movement is specified by a manual or automatic crane operation or when a first operating element (920) is operated to activate the anti-sway function; To prevent sway, the center of gravity of the load system The target values ​​of the information about the above are set to zero, the target value of the speed (x') of the suspension point (AUP) is set to 0, and the target value of the position of the suspension point (AUP) is specified as a position based on the specified speed of the suspension point (AUP); method.

6. 6. The method of claim 5, Continue the steady rest for a predetermined duration even after all target variables have been set to zero. method.

7. 7. The method according to any one of claims 1 to 6, the state control is operative or operable to perform a disturbance compensation function; The state control is continuously provided with a target value for the position of the AUP, determined based on the stored absolute position of the load, and a target value for the speed of the AUP, which is zero; The center of gravity of the load system In particular, during operation of the disturbance compensation function, are not taken into account by setting the corresponding control deviations of In particular, the target value of the position of the AUP is the current value of the center of gravity. and is determined based on the pendulum length (l) of the load system and the current position of the suspension point (AUP). method.

8. 8. The method of claim 7, the disturbance compensation function can be activated and deactivated by a second operating element (930), and is deactivated in particular during crane operation for load transportation, and stores the absolute position of the load (L) in particular when the disturbance compensation function is activated; method.

9. 9. The method according to any one of claims 1 to 8, the state control is operative or operable to perform a positioning function; In the state control, The target value of is set to zero, The suspension point (AUP) are not taken into account, in particular by setting the corresponding control deviation or related factor (coefficient) during operation of the positioning function to zero. method.

10. 10. The method of any one of claims 1 to 9, comprising: the state control is operable or operable to perform a lifting function when hoisting a load (L); The target value of is determined when the hoisting force acting on the hoisting rope (HSL) exceeds a predetermined hoisting force threshold and the load (L) has not yet been hoisted, The state control is and the suspension point (AUP) This is done by setting the target value of to zero, During operation of the lifting function, control deviations for K are not taken into account, in particular by setting the relevant elements (coefficients) of the corresponding control deviation or control vector K to zero. method.

11. 11. The method of any one of claims 1 to 10, the state control is operable or operable to perform a position approach function such that the load (L) approaches and stops at a stored position; The current location is stored in response to a user request; The state control is During crane operation, when the position of the AUP approaches the stored position of the AUP, in particular, within a predetermined threshold distance, The suspension point (AUP) corresponding to the stored position and the target value of Hanging point (AUP) and a target value of zero. and a target value of zero. is performed using method.

12. 1. A device, in particular a control unit (100), for operating a slewing jib crane (2) by state control, the state control controlling the movement of a load (L) in at least one direction of movement and based on a state vector, the device comprising: - A hoisting rope (HSL), a cargo handling device (UF) located at the lower end of the hoisting rope (HSL), and a movable lifting point (AUP) from which a load system including a load (L) suspended below the cargo handling device (UF) is suspended. Information about The center of gravity of the load system relative to the suspension point (AUP) Information about The state variables of the state vector including: At least one manipulated variable for moving the suspension point (AUP) in the at least one direction of movement based on the state control. Determine. the at least one manipulated variable The rotary jib crane (2) is controlled based on the above.

13. one or more drives for moving the suspension points for the load system; An apparatus according to claim 12; Including, A slewing jib crane (2), The slewing jib crane (2) is controlled by controlling the one or more drive units (LW, DW). Slewing jib crane (2).

14. A computer program product comprising instructions which, when executed by at least one data processing device, cause the steps of the method of any one of claims 1 to 11 to be performed.

15. A machine-readable storage medium containing instructions which, when executed by at least one data processing device, cause the steps of the method of any one of claims 1 to 11 to be performed.

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