METHOD AND CONTROL DEVICE FOR THE LOW-VIBRATIONAL MOVEMENT OF A MOVEABLE CRANE ELEMENT IN A CRANE SYSTEM

摘要

The invention relates to a method and a control device for the low-vibrational control of the movement, by means of a motor (20), of a moveable crane element (14, 16, 18) such as a crane jib (18) in a crane system (10), said crane element being made to vibrate at a natural frequency (f_EIG) and having a damping ratio (ζ). Said moveable crane element (14, 16, 18) is controlled by a control signal (V_SOLL), the spectrum of which is substantially free from natural frequencies (f_EIG) of the crane system (10), and the control signal (V_SOLL) is calculated from an operator signal (S_BED) of an operator, taking into account system parameters of the crane system (10). So as to reduce vibrations in a rotating tower crane structure during the pivoting movement and to simplify configuration of the control device in a method and control device of the type referred to initially, the system parameters in the form of the natural frequency (f_EIG) and the damping ratio (ζ) of the crane system (10) are automatically calculated during operation, and the control signal (V_SOLL) is calculated in real-time, as an active speed-reference profile (V_SOLL), from the operator signal (S_BED) of the operator as well as from the calculated natural frequency (f_EIG) and the damping ratio (ζ) of the crane system (10).