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METHOD AND CONTROL DEVICE FOR THE LOW-VIBRATIONAL MOVEMENT OF A MOVEABLE CRANE ELEMENT IN A CRANE SYSTEM
METHOD AND CONTROL DEVICE FOR THE LOW-VIBRATIONAL MOVEMENT OF A MOVEABLE CRANE ELEMENT IN A CRANE SYSTEM
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机译:起重机系统中可移动起重机元件的低振动运动的方法和控制装置
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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 movable 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 (fEIG) and having a damping ratio (ζ). Said movable crane element (14, 16, 18) is controlled by a control signal (VSOLL), the spectrum of which is substantially free from natural frequencies (fEIG) of the crane system (10), and the control signal (VSOLL) is calculated from an operator signal (SBED) 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 (fEIG) and the damping ratio (ζ) of the crane system (10) are automatically calculated during operation, and the control signal (VSOLL) is calculated in real-time, as an active speed-reference profile (VSOLL), from the operator signal (SBED) of the operator as well as from the calculated natural frequency (fEIG) and the damping ratio (ζ) of the crane system (10).
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机译:本发明涉及一种通过电动机( 20 B>)以低振动方式控制活动起重机元件( 14、16、18)的运动的方法和控制装置。 B>),例如起重机系统( 10 B>)中的起重机悬臂( 18 B>),使该起重机元件以固有频率(f EIG Sub>)并具有阻尼比(ζ)。所述可移动起重机元件( 14、16、18 B>)由控制信号(V SOLL Sub>)控制,该控制信号的频谱基本上没有固有频率(f 10 B>)的 EIG Sub>),并且根据操作员信号(S BED < / Sub>),并考虑到起重机系统的系统参数( 10 B>)。为了减小在枢转运动期间旋转塔式起重机结构中的振动并简化控制装置的结构,该方法和控制装置最初是指类型的系统参数,其固有频率形式为(f EIG Sub>)和起重机系统( 10 B>)的阻尼比(ζ)在运行过程中自动计算,控制信号(V SOLL Sub>)为根据操作员的操作员信号(S BED Sub>)以及计算出的自然速度,作为有效的速度参考曲线(V SOLL Sub>)实时计算频率(f EIG Sub>)和起重机系统的阻尼比(ζ)( 10 B>)。
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