Crane Oscillation Damping via Structural Deformation Feedback
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Solution Overview
Problem
Conventional oscillation damping devices for revolving tower cranes struggle to effectively control oscillations due to the dynamic effects and elastic deformations of the crane's structural parts, leading to inadequate damping and potential hazards during load movement.
Innovation Solution
The oscillation damping device considers the crane as a soft structure with elastic deformations, using determination means to account for dynamic deformations of structural elements and a control module that influences drive device control to actively damp oscillations, incorporating sensors and a Kalman filter to adjust drive regulators and maintain load stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional oscillation damping devices control the drive devices without considering structural deformations, then the control system remains simple, but the oscillation damping effectiveness deteriorates due to dynamic effects and elastic deformations of crane structural parts
Solution Approach 1:
The patent implements feedback by using sensors to detect the actual position and oscillation state of the load suspension means, then feeding this information back to the control apparatus. The control apparatus continuously adjusts the drive device commands based on the detected oscillation state, creating a closed-loop control system that adapts to dynamic structural deformations and maintains effective oscillation damping.
Solution Approach 2:
The patent replaces conventional simple oscillation damping control with an advanced control system that uses sensors, control apparatus, and algorithms to detect and compensate for structural deformations. This substitution transforms the control mechanism from a simple mechanical or basic electronic system into an intelligent control system that accounts for dynamic elastic deformations of crane structural parts.
2Productivity
If the crane operator manually controls the drive devices to achieve fast travel between destination points, then productivity increases, but oscillation movements of the lifting hook increase due to lack of concentration and experience
Solution Approach 1:
The patent implements self-service by enabling the oscillation damping device to automatically monitor and adjust the operation of drive devices without requiring continuous manual intervention from the crane operator. The system autonomously detects oscillation conditions and modifies control commands to minimize lifting hook oscillations, allowing the operator to focus on overall task management while the system handles oscillation compensation independently.
Solution Approach 2:
The control apparatus continuously monitors the oscillation state of the load suspension means and automatically adjusts drive device commands in real-time. This feedback mechanism enables the system to maintain fast travel speeds while dynamically compensating for oscillations, resolving the contradiction between productivity and oscillation control by making the system self-regulating.
3Object-affected harmful factors
If the oscillation damping device intervenes in the control of drive devices to prevent oscillations, then oscillation movements are reduced, but the control system becomes more complex requiring additional sensors and control modules
Solution Approach 1:
The patent applies universality by designing the control apparatus to perform multiple functions: it controls the drive devices for normal crane operation, monitors oscillation conditions through integrated sensors, and automatically adjusts control commands to dampen oscillations. This multi-functional integration reduces the need for separate dedicated oscillation damping hardware, thereby limiting the increase in system complexity while achieving effective oscillation control.
Data Source
AI summary
The present invention relates to a crane, in particular to a revolving tower crane, having a load suspension means attached to a hoist rope, drive devices for moving a plurality of crane elements and for traveling the load suspension means, a control apparatus for controlling the drive devices such that the load suspension means travels along a travel path, and an oscillation damping device for damping oscillation movements of the load suspension means, wherein said oscillation damping device has a control module for influencing the control of the drive devices in dependence on oscillation-relevant criteria. It is proposed not only to take account of the actual oscillation movement of the rope per se in the oscillation damping measures, but also the dynamics of the steel construction of the crane and its drivetrains.