Crane Oscillation Damping via Closed-Loop Feedback Control
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Solution Overview
Problem
Conventional oscillation damping devices for cranes, particularly revolving tower cranes, struggle to effectively dampen unwanted oscillations due to the dynamic effects and elastic deformations of structural parts, leading to unstable vibrations and reduced safety and operability.
Innovation Solution
The implementation of a closed-loop oscillation damping system that considers both oscillation dynamics and structural dynamics of the crane, using sensors to measure system parameters and estimate non-measurable states, with a regulator module that adjusts drive control based on feedback from oscillation and structural dynamics sensors to actively dampen movements and prevent excitation of structural dynamics.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If conventional oscillation damping devices are used to dampen load oscillations, then oscillation reduction is attempted, but structural dynamics are excited leading to unstable vibrations
Solution Approach 1:
The patent implements a closed-loop feedback control system that continuously measures both load oscillation parameters and structural dynamics parameters, then adjusts drive device control commands in real-time to dampen oscillations while avoiding excitation of structural resonances. The feedback loop monitors system response and dynamically modifies control actions to maintain stability.
Solution Approach 2:
The control apparatus acts as an intermediary between the drive devices and the crane structure, processing control commands through oscillation damping logic that considers both load oscillation and structural dynamics. This intermediary function filters and adjusts commands to prevent harmful structural excitation while achieving load stabilization.
2Productivity
If fast travel between destination points is pursued to achieve high work performance, then productivity increases, but oscillating movements of the lifting hook increase
Solution Approach 1:
The oscillation damping device performs preliminary analysis of control commands to predict potential oscillation effects before execution. By evaluating the relationship between drive device actions and expected load oscillation, the system pre-adjusts control parameters to prevent excessive oscillation while maintaining efficient travel speeds.
Solution Approach 2:
The control system dynamically adjusts drive device operation based on real-time oscillation conditions and structural response. Rather than using fixed speed limits, the system continuously adapts control parameters to optimize the balance between travel speed and oscillation control, allowing faster operation when conditions permit.
3Ease of operation
If manual control of drive devices is used with operating elements, then ease of operation is maintained, but operator concentration is required and oscillation control becomes difficult
Solution Approach 1:
The oscillation damping device enables the crane system to self-regulate by automatically monitoring oscillation parameters and adjusting drive device control without continuous operator intervention. The system serves itself by detecting oscillation conditions and independently modifying control commands to dampen oscillations, reducing the cognitive burden on operators.
Data Source
AI summary
The invention relates to a crane, in particular a rotary tower crane, comprising a lifting cable configured to run out from a crane boom and comprises a load receiving component, drive devices configured to move multiple crane elements and displace the load receiving component, a controller configured to control the drive devices such that the load receiving apparatus is displaced along a movement path, and a pendulum damping device configured to dampen pendulum movements of the load receiving apparatus and/or of the lifting cable. The pendulum damping device comprises a pendulum sensor system configured to detect pendulum movements of at least one of the lifting cable and the load receiving component and a regulator module comprising a closed control loop configured to influence the actuation of the drive devices depending on a pendulum sensor system signal returned to the control loop.